84f20ffb66
Automated g4 rollback of changelist 604607692.
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*** Reason for rollback ***
breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's
*** Original change description ***
Move fullinertia from mjCAlternative to mjCBody.
***
PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
2024-02-06 09:47:04 -08:00
737342bdfe
Move fullinertia from mjCAlternative to mjCBody.
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PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
2024-02-06 04:43:12 -08:00
01439f28b3
Add AddFreeJoint and remove isfree from AddJoint.
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PiperOrigin-RevId: 604597442
Change-Id: I2fe03cf0f9a59b425080cc5cc12b236fea9c020d
2024-02-06 03:49:49 -08:00
3b2dd06c54
Add compiler C API for mjmSite.
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PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
2024-02-06 01:50:47 -08:00
f763254a00
Updating Mujoco Release version number to v3.1.3
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PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
2024-02-05 15:59:20 -08:00
f75923a48d
Updated version numbers to cmake files
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build / windows-2022 (push) Has been cancelled
build / macos-12 (push) Has been cancelled
build / ubuntu-20.04-clang-10 (push) Has been cancelled
build / ubuntu-20.04-clang-11 (push) Has been cancelled
build / ubuntu-20.04-clang-12 (push) Has been cancelled
build / ubuntu-22.04-clang-13 (push) Has been cancelled
build / ubuntu-22.04-clang-14 (push) Has been cancelled
build / ubuntu-22.04-gcc-10 (push) Has been cancelled
build / ubuntu-22.04-gcc-11 (push) Has been cancelled
build / ubuntu-22.04-gcc-12 (push) Has been cancelled
build / ubuntu-22.04-gcc-9 (push) Has been cancelled
PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
2024-02-05 12:55:30 -08:00
81adba763e
Update title - Version number and date to Version 3.1.2 (February 05, 2024)
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PiperOrigin-RevId: 604371807
Change-Id: I55638fea18e05a322a99332f020f255be218c763
2024-02-05 11:04:33 -08:00
41ad07c4ff
Fix numbering in changelog.rst
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PiperOrigin-RevId: 604347513
Change-Id: Id9dda4d6de2dc0a6175a8c6137a4b99b1ebe947e
2024-02-05 09:50:19 -08:00
55cbbd00af
Merge pull request #1381 from ryanwhite04:patch-1
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PiperOrigin-RevId: 604293006
Change-Id: Ic81506e82c11c789df95e688ca590769aa88d964
2024-02-05 05:57:19 -08:00
e3dc54f609
Emit only one warning about ARB_depth_buffer_float or ARB_clip_control.
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This code was warning on every frame, which was unhelpful.
PiperOrigin-RevId: 604267726
Change-Id: Ied1d46e3d84d58f3b21201e3752e3c2d43ea3ba9
2024-02-05 03:36:23 -08:00
2bbf5424e4
Improve option/actuatorgroupdisable documentation.
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PiperOrigin-RevId: 604266156
Change-Id: I7fd112085fc46214173628db8ebfd295e13df342
2024-02-05 03:26:52 -08:00
ced37ffbb2
Add refsite to list of non-defaultable attributes.
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PiperOrigin-RevId: 604195547
Change-Id: Id14b5b571e320f995a38d2ad16f3325c70d37d78
2024-02-04 20:47:23 -08:00
66a8bef6fa
Merge pull request #1392 from alefram:fix-mj_forward-link
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PiperOrigin-RevId: 604116464
Change-Id: If4de574e0206c46a98c03949e7123178be73f6c3
2024-02-04 09:49:27 -08:00
eb844a4b77
When computing suitable initial font scale for a display, let 250% be the maximum size. Workaround for #1274 .
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PiperOrigin-RevId: 603791510
Change-Id: I37aa3431dcaf42dae8daa77ed87e108ca4d78ea0
2024-02-02 14:41:12 -08:00
f3b48edf2b
fix metadata and update mj_forward link
2024-02-02 18:26:32 -04:00
d8577bfc9a
Revert "fix link of mj_forward on tutorial"
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This reverts commit 40c0a91a40
2024-02-02 17:39:44 -04:00
1ed8694dbe
Replace xmlpos with info string for mjCError.
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PiperOrigin-RevId: 603759456
Change-Id: I0d86d8e61e31a70da77169107268728d6c052778
2024-02-02 12:34:52 -08:00
df76b55fe0
Add line error check to user_objects and xml_native_reader tests.
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PiperOrigin-RevId: 603714614
Change-Id: Ic031f33a9a6eb45b3e61cb666e0d4890bfe08275
2024-02-02 09:57:49 -08:00
fe57ae498f
Fix typo and improve code snippet in documentation for user_scn.flags.
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PiperOrigin-RevId: 603685657
Change-Id: Ia6af7a62db3d8955048fae4cbc30209bb1f7efd7
2024-02-02 07:50:38 -08:00
914a001753
Update UI when rendering flags are changed via user_scn.
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PiperOrigin-RevId: 603679619
Change-Id: If094836f97c8086a7f70bd235b8c8cc8ab69c639
2024-02-02 07:16:37 -08:00
7bb0ce4211
[Python Viewer] Allow users to override rendering flags via user_scn.
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Fixes #1190
PiperOrigin-RevId: 603672602
Change-Id: I3ff1bb0dca7e913b36f1b241aaea8b8bb95cadff
2024-02-02 06:39:08 -08:00
40c0a91a40
fix link of mj_forward on tutorial
2024-02-01 23:28:40 -04:00
bfa359cb2e
Revert "fix mj_forward link typo"
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This reverts commit 9f006dccdb
2024-02-01 23:25:56 -04:00
9f006dccdb
fix mj_forward link typo
2024-02-01 22:45:36 -04:00
92c161a61b
Add ncon to __init__.
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PiperOrigin-RevId: 603468404
Change-Id: I20c622b8f6f84ecacb9f3cdd26ac9560cf2788be
2024-02-01 13:38:23 -08:00
58e9fb0baa
Docs: fix link to slider-crank example model.
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PiperOrigin-RevId: 603400948
Change-Id: I49e4a58ba0cd450950a35cccb749f04d34190cfc
2024-02-01 09:56:37 -08:00
b3f93d436b
Convert mjmStruct to a C-struct.
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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
2024-02-01 06:57:47 -08:00
7a98038e88
Move mjCSite attributes to mjmSite struct.
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PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948
2024-01-31 08:07:48 -08:00
38b441b777
Update XMLreference.rst
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eq_active is a member of mjData, not mjModel
2024-01-31 19:45:19 +08:00
fae1f3e56d
Merge pull request #1369 from Balint-H:feature/unity-events
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PiperOrigin-RevId: 602671446
Change-Id: I7a21230152a0139e37f44578ca19ec5eaa02296e
2024-01-30 03:33:47 -08:00
8be966cdf9
Avoid NaN in gradient of where. Fixes #1349 .
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PiperOrigin-RevId: 602461299
Change-Id: I7c976d3b7262027bdc63967dcc00674fb2802e70
2024-01-29 12:09:29 -08:00
508669a9f2
Raise not implemented for frictionloss for now. #1344
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PiperOrigin-RevId: 602453907
Change-Id: I0ea506b54f96c4fadc0f29f9ed0a21b0b6a7e5d9
2024-01-29 11:45:36 -08:00
4fe16dd44e
Merge pull request #1353 from Balint-H:fix/unity-mesh-import
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PiperOrigin-RevId: 602391543
Change-Id: I6d93c2beb672e8de7d5c9d17e77b4185dd137cb3
2024-01-29 08:13:04 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
e6847f843d
Copybara import of the project:
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--
18821cb87ded727ef38e1bac8ba8561b19632899 by josephrocca <1167575+josephrocca@users.noreply.github.com >:
Ellipsoid has 3 sizes rather than one
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1374 from josephrocca:patch-1 18821cb87ded727ef38e1bac8ba8561b19632899
PiperOrigin-RevId: 602370557
Change-Id: I014226a1cbae926c8ad02f27b706fa0b3e8f2c8e
2024-01-29 06:39:53 -08:00
70021a7236
Improve ordering of asset documentation, sort by category and usefulness.
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- Old: texture, hfield, mesh, skin, material.
- New: mesh, hfield, skin, texture, material.
Rationale: First 3D assets, then surface assets. Mesh is the most common asset type. Materials reference textures so should come right after.
PiperOrigin-RevId: 602075615
Change-Id: I13e4404640184fb0717a442827cd76da31705648
2024-01-27 17:24:31 -08:00
3b0a680fa7
Refactor GlobalModel class in the XML API.
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PiperOrigin-RevId: 601761425
Change-Id: I9c24f670c1e9766867ec75aab56cec1c0b4f5703
2024-01-26 07:33:47 -08:00
669ee0ee48
Fix migration instructions for option/collision.
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Fixes #1367 .
PiperOrigin-RevId: 601754379
Change-Id: Ifb0b8fab4da44e161e463a71eec050c6635f3340
2024-01-26 07:03:00 -08:00
ee071242c6
Constrain MjScene EventHandlers as events, consistently use MjStepArgs
2024-01-26 14:35:03 +00:00
fb8f77df74
Throw error if qhull is called with NaNs.
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PiperOrigin-RevId: 601745538
Change-Id: I590673ca7975e4abc171f98704a6c8f8d08f8327
2024-01-26 06:13:27 -08:00
076db5d366
Copy face_ into facetexcoord_ if not specified and needed.
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PiperOrigin-RevId: 601732448
Change-Id: Iffe01076db22201dba2611ea36174f808ae00c1e
2024-01-26 04:54:43 -08:00
4f53d9a0d7
Add AddVector and GetVector to user cache.
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PiperOrigin-RevId: 601485067
Change-Id: I1a31f15c2495de4f057316022dcddf4df39afd64
2024-01-25 10:13:13 -08:00
a1e5ede266
Allow Brax data structures to inherit from MJX data structures.
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PiperOrigin-RevId: 601290735
Change-Id: I6dad1b6d7e6b3e71acecc36189ab59cc81ab90b4
2024-01-24 18:03:17 -08:00
e59605135a
Make benchmarks and viewer more accessible.
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- Drop google_benchmark module dependency, wasn't really using it.
- Move benchmark models into test_data
- Rename benchmark => testspeed, make default output more like MJ testspeed.
- Update viewer to use new io functions and add get_data_into.
- Add "mjx-testspeed" and "mjx-viewer" bin scripts
PiperOrigin-RevId: 601277135
Change-Id: I782f666c58a96ac1a0a1c5ffc8ecf29d9fcd810f
2024-01-24 17:04:02 -08:00
64b042369b
Readd axis swizzling to the mesh writer
2024-01-24 18:32:55 +00:00
c8e839a666
Do not create contact if there are no DOFs.
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PiperOrigin-RevId: 601146599
Change-Id: I68b1975a3217b266bbbfb0a15c85a65cfa46facb
2024-01-24 09:37:40 -08:00
aede8cf5cf
Rename user_asset_cache to user_cache.
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PiperOrigin-RevId: 601097322
Change-Id: Iea3d6481cd214028ef63ed72868999ecb0b1eeb4
2024-01-24 06:05:56 -08:00
0a7be1732c
Adds support for explicit dense/sparse mass matrices to MJX.
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This increases performance, particularly for the Newton solver on TPU.
PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
2024-01-23 00:32:07 -08:00
aceb52bd09
Improvements to mujoco.rollout:
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- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time.
- User-defined control spec.
- Stop squeezing: outputs always have dim=3.
PiperOrigin-RevId: 600445256
Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
2024-01-22 07:01:53 -08:00
042e3c9c4c
Reuse indices in mesh parsing, remove trailing nulls in mesh writing
2024-01-20 19:06:15 +00:00
Matthew Bennice