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139 Commits

Author SHA1 Message Date
Copybara-Service 55cbbd00af Merge pull request #1381 from ryanwhite04:patch-1 
PiperOrigin-RevId: 604293006
Change-Id: Ic81506e82c11c789df95e688ca590769aa88d964
 2024-02-05 05:57:19 -08:00
Yuval Tassa 2bbf5424e4 Improve option/actuatorgroupdisable documentation. 
PiperOrigin-RevId: 604266156
Change-Id: I7fd112085fc46214173628db8ebfd295e13df342
 2024-02-05 03:26:52 -08:00
Tom Erez ced37ffbb2 Add refsite to list of non-defaultable attributes. 
PiperOrigin-RevId: 604195547
Change-Id: Id14b5b571e320f995a38d2ad16f3325c70d37d78
 2024-02-04 20:47:23 -08:00
Ryan White 38b441b777 Update XMLreference.rst 
eq_active is a member of mjData, not mjModel
 2024-01-31 19:45:19 +08:00
Yuval Tassa e143b3dbc0 Allow height-field elevation data to be specified in XML. 
PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
 2024-01-29 06:59:28 -08:00
josephrocca e6847f843d Copybara import of the project: 
--
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
Yuval Tassa 70021a7236 Improve ordering of asset documentation, sort by category and usefulness. 
- 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
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Yuval Tassa 3c1907e678 Fix rendering of links in documentation. 
PiperOrigin-RevId: 598855374
Change-Id: I19c1ef73d23f0c2fedb8f0a6754bb9edd91f4c20
 2024-01-16 08:54:38 -08:00
Alessio Quaglino 1e2e0b3053 Remove all visual-only assets if discardvisual is selected, not only the geoms. 
PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
 2024-01-15 06:39:25 -08:00
Nimrod Gileadi 2a46ca3787 Update the documentation on the maximum number of contacts from hfield collisions. 
The docs were incorrectly asserting that the limit is 9 contacts, which hasn't been true since version 1.5.

This fixes #1285.

PiperOrigin-RevId: 592526249
Change-Id: Id45d73666fec8dcfd18d11605975e787f2cfeba2
 2023-12-20 05:03:35 -08:00
Yuval Tassa 07e05b4c55 Fix typo. Fixes #1221 
PiperOrigin-RevId: 589835888
Change-Id: Iacedbe642709d5fbd43b7f0f1f9daa6447ce6155
 2023-12-11 08:42:06 -08:00
Yuval Tassa 762371c3e4 Add kv damping attribute to position and intvelocity actuator shortcuts. 
PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
 2023-12-06 04:28:30 -08:00
Kevin Zakka 899ba4b7ec Add missing period in documentation. 
PiperOrigin-RevId: 588127219
Change-Id: Ib39808f303cebb6c619d1119024e9a1352326473
 2023-12-05 11:02:26 -08:00
Alessio Quaglino eb9568a48b Add frame element to MJCF. 
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
 2023-11-27 03:32:18 -08:00
Yuval Tassa 6a83b86553 Update M1 Pro with M3 Max benchmarks in MJX docs 
PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125
 2023-11-23 10:46:54 -08:00
Nimrod Gileadi f2025c6abf Allow plugin actuators to have activation state. 
Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
 2023-11-23 05:14:03 -08:00
Yuval Tassa b41f6d0942 Correct documentation of eulerseq attribute w.r.t URDF conventions. 
PiperOrigin-RevId: 584394256
Change-Id: I0afcb6ced81b98898988cc66f46742175a9a55c5
 2023-11-21 12:11:05 -08:00
Yuval Tassa 2bc2bc902f Clarify that the contact disable flag also disables collision detection. 
PiperOrigin-RevId: 584300974
Change-Id: I740fd6833b2ea1b77bdb70dc210a1bd1f7eb6f17
 2023-11-21 05:57:51 -08:00
Alessio Quaglino dbf44fe2b4 New SDF objective function. 
This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).

The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29)

PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
 2023-11-20 05:06:33 -08:00
Yuval Tassa 2d2b6ecf93 Fix formatting bugs in XMLreference doc page. 
PiperOrigin-RevId: 582661350
Change-Id: I85a67b1286e9d70dc253e541d95fdfc58ce8f451
 2023-11-15 07:00:37 -08:00
Alessio Quaglino f5285e0b23 Add flex to dm_control schema. 
PiperOrigin-RevId: 582323853
Change-Id: I4ce25bf29d0a883bca286954a14c4a07a500f145
 2023-11-14 08:05:29 -08:00
Nimrod Gileadi f1bf394415 Add missing commas in attribute lists in XML reference. 
PiperOrigin-RevId: 581984255
Change-Id: Ie834a9578357bba68839d5172892cd9d6329122e
 2023-11-13 09:08:43 -08:00
Yuval Tassa dafd041ad8 Minor documentation improvements. 
PiperOrigin-RevId: 579825348
Change-Id: Iba81616fe9fc7d57a640775efd46afb5fc2f27bf
 2023-11-06 06:36:13 -08:00
Yuval Tassa 0f37deca0d Documentation improvements. 
Fixes #598 #691 #1071 #1072

PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
 2023-11-06 05:56:02 -08:00
Alessio Quaglino 7a7cfc0f60 Improve flex docs. 
Fixes #1141 and #1152.

PiperOrigin-RevId: 578855375
Change-Id: I44746c3ae331edcb22b7e16744fb38369039e888
 2023-11-02 08:05:12 -07:00
Yuval Tassa e82cb9f420 Delete mentions of MuJoCo 2.0 in the docs. 
PiperOrigin-RevId: 578501679
Change-Id: Ie1fdd1d11d2e1e12b3f9f1e59bd4da705b3a7c7e
 2023-11-01 06:44:20 -07:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Yuval Tassa 86d9c84e59 Fix bug in implementation of torquescale 
PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
 2023-10-28 08:25:25 -07:00
Alessio Quaglino 1a47a97040 Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114. 
Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
 2023-10-25 09:08:20 -07:00
Yuval Tassa 190bfac2d6 Rephrase documentation in places where "parent body" creates ambiguity between "the body which contains the element" and "the parent body of the body which contains the element". 
Fixes #1127

PiperOrigin-RevId: 576486971
Change-Id: I54d0c351e95101c5f7907a3c5bb6be18904c03ad
 2023-10-25 04:32:09 -07:00
Alessio Quaglino 139a8ae298 Add flex and elasticity documentation. Fixes #873. 
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
 2023-10-17 09:46:07 -07:00
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp. 
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
 2023-10-16 03:03:06 -07:00
Yuval Tassa d88675a034 Change the default of <compiler autolimits> from "false" to "true". 
PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
 2023-10-13 05:05:24 -07:00
Alessio Quaglino 389e13938e Fix typos in docs. 
PiperOrigin-RevId: 573172715
Change-Id: I0073d0872597b01d84151b9eea578cc0ae0a5013
 2023-10-13 04:05:30 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Yuval Tassa 1e94c12cdd Fix typos in docs. 
PiperOrigin-RevId: 570643723
Change-Id: I20a999c7a5ff79bdb67ced209105cca6751a50dc
 2023-10-04 03:32:49 -07:00
Yuval Tassa ee78b8f76b Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints. 
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
 2023-10-03 09:32:24 -07:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Alessio Quaglino dd5a7115cf Add shell plugin. 
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges

PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
 2023-09-20 09:00:20 -07:00
Yuval Tassa 35e7bb354d Add documentation of ellipsoid-based fluid drag model. 
PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
 2023-09-20 05:41:44 -07:00
Yuval Tassa 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. 
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
 2023-09-18 15:15:54 -07:00
Yuval Tassa ee8da5babe Fix indentation bugs in docs, improve attribute order in schema. 
PiperOrigin-RevId: 566230568
Change-Id: I0f536a2048d3e35d8ee510d86b6eba7a74c4e80a
 2023-09-18 01:48:14 -07:00
Kevin Zakka de5c3b1a09 PUBLIC: Update model gallery with new Menagerie models. 
PiperOrigin-RevId: 565329315
Change-Id: I819ba429aacf5cd68d2b101047879319fba259be
 2023-09-14 04:28:58 -07:00
Yuval Tassa 976a6df78d Fix typo in docs. 
PiperOrigin-RevId: 565097458
Change-Id: I7a4440d72665d5db2853c18f72e83b130dde8d1a
 2023-09-13 10:48:16 -07:00
Alessio Quaglino b0abafe3bb Set camera origin at top-left of the first pixel. 
PiperOrigin-RevId: 564768176
Change-Id: Ieef632f0f6888390acca91b6de01c8951c747fe4
 2023-09-12 10:44:51 -07:00
Alessio Quaglino 8064ad59c8 Add camera projection sensor. 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
 2023-09-12 08:16:20 -07:00
Matthew Bennice 0ba10cc4f0 Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat} 
Fixes #409

PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
 2023-09-10 15:25:59 -07:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Google DeepMind 040d3efce2 Add options for controlling early termination criteria of CG/Newton linesearch. 
Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
 2023-09-06 12:02:58 -07:00