871a2a7c8e
Check that all face indices of a mesh exist in the vertex array.
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PiperOrigin-RevId: 532049715
Change-Id: Ic42f6ef49f136aa89fb83527db0867afa8be7f08
2023-05-15 02:55:44 -07:00
39723891ce
Use the correct string length argument to mj_loadXML.
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PiperOrigin-RevId: 531941053
Change-Id: Ia85b779b603a673b8e1d6f22d4bc183311204c4b
2023-05-14 14:40:36 -07:00
770b4b363a
Added optional smoothing to muscle dynamics:
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- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.
PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
2023-05-12 04:58:53 -07:00
777cad52b4
Merge pull request #860 from PeterMitrano:main
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PiperOrigin-RevId: 531458260
Change-Id: I551e6c6be5d6a15426e6aa60beb27d64591bc66a
2023-05-12 03:34:33 -07:00
0d0a41d549
Fix locale management on Windows.
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We are currently passing a value previously returned by setlocale to a later call to setlocale, but the spec says that we should be making a copy of it.
PiperOrigin-RevId: 531300386
Change-Id: I9531cfe738fc71fb26b4140a4129dfe67f5f6112
2023-05-11 14:01:31 -07:00
3d71b160e6
Add 3x3x3 cube to model collection.
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PiperOrigin-RevId: 531224451
Change-Id: Ibdfe5b89a5b2895500265199906a364768d606f0
2023-05-11 09:28:18 -07:00
bf81d1e6a5
Fix typo.
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PiperOrigin-RevId: 531167948
Change-Id: I5fcfe77fd69a050ef9dd88f748973c4a9233cbdb
2023-05-11 04:55:53 -07:00
133b8d0978
Make MuJoCo buildable with Visual Studio 2019 update 7 and earlier.
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Also enable MSVC 2019 builds on GitHub Actions.
Fixes #862 .
PiperOrigin-RevId: 531167754
Change-Id: I17687fb287c38a7f2245c6f7ba59a22b772e3a8c
2023-05-11 04:54:53 -07:00
09a8e59824
Create half-edge structure before converting from the C++ array userface to the C array face.
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PiperOrigin-RevId: 531161474
Change-Id: I77d425f4b5e52b2e41c6c9a2ef187495fefda5b8
2023-05-11 04:15:59 -07:00
41a7049920
Use shell inertia to compute mesh aabb and frame if volume is invalid.
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PiperOrigin-RevId: 530925161
Change-Id: I94b97efc7198e2b750480df8687e91bc047a6fc9
2023-05-10 09:12:11 -07:00
73fde667a5
fix typos
2023-05-09 20:59:43 +00:00
1aadef5927
Fix unused variable error from GCC.
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PiperOrigin-RevId: 530591696
Change-Id: I0b1d647bb4dc343eca4966ba54a90a992ea9544f
2023-05-09 06:25:37 -07:00
b36c611745
Fixes to touch_grid config parsing.
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PiperOrigin-RevId: 530561729
Change-Id: I67f6dfd137aa54ce2141e5d5c30b5b888665c4a2
2023-05-09 03:42:06 -07:00
4c487e07ed
Add mesh BVH.
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PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:31:06 -07:00
49066e1794
equivalent but clearer quat-diff call in mj_differentiatePos
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PiperOrigin-RevId: 530075836
Change-Id: I3bbe5dec17ccdf53c372bb81087dddde30a24c5c
2023-05-07 02:21:52 -07:00
ff1fa84d32
Cosmetic documentation improvements
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PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
2023-05-07 02:10:18 -07:00
f204e03575
Fix tendon.xml example model.
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PiperOrigin-RevId: 530073629
Change-Id: I1fbfa55bc1ec9bbf11ab5a33771ad56537a16c07
2023-05-07 02:01:44 -07:00
49efa9cc15
Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment.
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Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
2023-05-06 09:22:37 -07:00
26ff1fc4b5
Merge pull request #304 from traversaro:patch-5
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PiperOrigin-RevId: 529843317
Change-Id: Iad4a3df7d8c61f536890f9760e441793d6d884dc
2023-05-05 16:38:02 -07:00
496755a55d
Fix mju_getfiledir when the path contains a mixture of / and \.
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PiperOrigin-RevId: 529754511
Change-Id: Ifce2b86bc339a8cae584db639b7901b270e56384
2023-05-05 10:35:55 -07:00
7998fc7fca
Fix typo.
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PiperOrigin-RevId: 529719905
Change-Id: I7ad8b333465db5f453b0d6b2ade02fbfc39a96a9
2023-05-05 08:12:11 -07:00
67f0f5154f
Add various improvements for resource providers.
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PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
2023-05-05 07:03:49 -07:00
b798f89212
Fix bug with the position of bounding sphere in mj_multiRay.
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PiperOrigin-RevId: 529665457
Change-Id: I486a094303b3b26c8067f8be7aca03afbe8e6217
2023-05-05 02:53:11 -07:00
e38fb136e7
Shorten title in Programming chapter.
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PiperOrigin-RevId: 529505191
Change-Id: I148960357263ce874ec2099ffde63303e56eb52f
2023-05-04 13:51:18 -07:00
90813b8198
Add mjd_subQuat (private function)
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PiperOrigin-RevId: 529418945
Change-Id: I6764ae866b13482ef3aa951f427b58cae007c301
2023-05-04 08:40:34 -07:00
88ec9b202e
Fix link in documentation.
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PiperOrigin-RevId: 529400443
Change-Id: I696dac60ef6f421e9308097593c8afe883fe90e7
2023-05-04 07:16:41 -07:00
267299fb59
Change elevation to [0,pi] in mj_multiRay.
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PiperOrigin-RevId: 529393944
Change-Id: I23f3113fd91e909fa1dc23b620d66e963db59355
2023-05-04 06:43:16 -07:00
7e49d935ba
mj_multiRay: Reset elevation angle if crossing the coordinate singularity.
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PiperOrigin-RevId: 529341397
Change-Id: I0ca6ed5b97bcc585b0f426d6fb8a6b4cf9367a2b
2023-05-04 01:50:38 -07:00
3d82d2a40f
Increase maximum number of UI elements per section in Simulate.
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PiperOrigin-RevId: 529079121
Change-Id: Ia81418e45c855649e1d9654bbc522f7dffd7dfdc
2023-05-03 07:06:06 -07:00
42fbc2ec7b
Skip CI on README changes.
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PiperOrigin-RevId: 529067951
Change-Id: Icca59b5abd89d131066b99780e4bc2b575d7810e
2023-05-03 06:03:38 -07:00
42a16f65c2
Fix typo in mjd_inverseFD documentation.
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PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
2023-05-03 01:30:44 -07:00
e59720833e
Add ReadVector function to touch_grid plugin, use it for size and field-of-view attributes.
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PiperOrigin-RevId: 528783871
Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
2023-05-02 08:01:10 -07:00
8686339726
Fix typo.
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PiperOrigin-RevId: 528763706
Change-Id: Ia8c92fdd7e21ecd456684b4ea443aea017971972
2023-05-02 06:24:18 -07:00
b0bc330b54
Add utility functions for banded-then-dense symmetric matrices.
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PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
2023-05-02 05:58:08 -07:00
2ad82d5998
Add mj_multiRay function to perform multiple ray intersection with the same source.
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PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
2023-05-01 23:02:45 -07:00
4d2bf636ea
Improve touch_grid sensor documentation.
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PiperOrigin-RevId: 528473107
Change-Id: I2fecc10667b1b94a4b2b32653685f0a6d9da4ba9
2023-05-01 08:01:52 -07:00
ced9e0872f
Load DM Mono font in CSS file
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PiperOrigin-RevId: 528360725
Change-Id: I32cde6dc6c9cdc5dbd8ba1d8d22586027b0476f0
2023-04-30 19:30:08 -07:00
15e77b13dd
Add mjCBoundingVolume class to represent an element of mjCBoundingVolumeHierarchy (for example an mjCGeom).
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PiperOrigin-RevId: 527906004
Change-Id: Ibc3bdac0ec6d85c7fd56fd2057f5a63970e8b1d4
2023-04-28 09:29:58 -07:00
c50177d301
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
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Fixes #703 .
PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
2023-04-28 09:04:41 -07:00
90e14ac8d0
Bump version number to 2.3.6.
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Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.
PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
2023-04-27 14:40:32 -07:00
b397b3123e
Added touch grid sensor plugin.
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PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:03:03 -07:00
139328f86e
Clarify error messages when Unity fails to step the scene.
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PiperOrigin-RevId: 527486144
Change-Id: I4e889977e035e13557c114e875ea0ba32da79002
2023-04-26 23:30:06 -07:00
e3cdc410d6
Rename centered argument of mjd_transitionFD to flg_centered, to conform with the rest of the API.
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PiperOrigin-RevId: 527258079
Change-Id: I77817be8ee007a572c79e9cd41f7c5728a091fb3
2023-04-26 07:18:52 -07:00
a8d202a0c2
Reword "undefined" to "unspecified" on the topic of units.
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To a software engineering audience, "undefined" has a strong connotation that the concept is fundamentally ill-defined or ill-behaved (c.f. "undefined behaviour").
PiperOrigin-RevId: 527192289
Change-Id: I8e81d1256c1330cd0e29c00f9913b9772d5344e6
2023-04-26 01:10:59 -07:00
d23c5e784e
Update changelog for 2.3.5.
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PiperOrigin-RevId: 526984300
Change-Id: I40f0280c5366f3a7f9f61862fe6c9adc123c67fb
2023-04-25 09:09:36 -07:00
23961e24b7
Refactor user codebase to use LoadResource helper method.
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* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).
PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
2023-04-25 07:24:45 -07:00
c2115a1f51
Fix a mjvSceneState leak in the passive viewer.
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PiperOrigin-RevId: 526957248
Change-Id: I4f30faf097da64189607a4b98c6dff04fec773fa
2023-04-25 07:11:42 -07:00
db3b49b60f
Bump version number to 2.3.5.
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PiperOrigin-RevId: 526918869
Change-Id: I9f19600b0c1b855ef0834e5c026b204bf1dc06c4
2023-04-25 03:52:12 -07:00
d65bffd8ff
Shorten section title
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PiperOrigin-RevId: 526727580
Change-Id: Ibfeb752e5cde480beee04032df047c1124983d54
2023-04-24 12:47:34 -07:00
51126caf3f
Cosmetic improvements to Actuation Model documentation.
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PiperOrigin-RevId: 526659426
Change-Id: If0ca9a505bb77e496739938a946ead5780b93d0f
2023-04-24 09:03:26 -07:00
Alessio Quaglino