bae5175cf2
Accumulate rotation after updating pos and quat in replicate.
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Fixes #2501 .
PiperOrigin-RevId: 737929158
Change-Id: I0cad2de37190f1d30d427ae646acbde335b5be56
2025-03-18 02:51:05 -07:00
d646ba8de1
Update MuJoCo changelog with a video of the 100_humanoids model.
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Improve the model's rendering FPS by reducing the number of shadow-casting lights from 7 to 2.
https://youtu.be/e8lUuykQPGs
PiperOrigin-RevId: 686118052
Change-Id: If376564fdc23ad8d754dac1e5825079c0b806063
2024-10-15 08:40:06 -07:00
2dd518734f
Stop over-allocating memory in Newton solver.
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PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
2024-10-11 05:09:33 -07:00
395129bbd3
Improvements to lighting and replication logic in humanoid.xml and 22_humanoids.xml.
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Minor fix to memory usage printing in simulate.
PiperOrigin-RevId: 683787943
Change-Id: I0a42dacc8af0e659c3817df57bceb76d9e4d5ae3
2024-10-08 15:36:22 -07:00
4e3dc14f8e
Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>)
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PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
2024-09-10 15:14:04 -07:00
27b9ddda5b
Add attach tag to MJCF.
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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
2024-07-10 12:41:43 -07:00
19d505d847
Remove unused texture attribute in some models.
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PiperOrigin-RevId: 648497401
Change-Id: I9f9a843abfb710afaf25798fa659efd92bcd7007
2024-07-01 15:05:02 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
7c534a066c
Sort humanoid actuators in the same order as the joints.
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PiperOrigin-RevId: 608558353
Change-Id: I84015a92c39c187f65d59623f2793c29bf24b8ef
2024-02-20 04:41:17 -08:00
8d1b05bbd2
Fix markdown hyperlink.
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PiperOrigin-RevId: 595383191
Change-Id: Ia11b962c68ed33cc0fd6c5279f571f4b21d81570
2024-01-03 06:19:32 -08:00
cd972bbeee
Document humanoid model changes in changelog section of its README + minor cosmetic improvements.
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PiperOrigin-RevId: 595367344
Change-Id: I17483de71c6cbcf6a66e2fad762cc32f8cbee8b5
2024-01-03 04:47:05 -08:00
e07ea625ac
Add keyframes to humanoid model.
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PiperOrigin-RevId: 595175659
Change-Id: I2aae405a5dfbd9b14253d6330cb12003bd4f6c08
2024-01-02 12:00:46 -08:00
37bb03f435
Move humanoid geoms to group 1
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PiperOrigin-RevId: 585632746
Change-Id: I832804b9c0d090506c3b4ed5c0eeeb5e4cae412a
2023-11-27 06:23:54 -08:00
55cc9d1e95
Fix what appears to be a typo in humanoid texture size.
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Note that for builtin cube textures, MuJoCo ignores the height setting anyway.
PiperOrigin-RevId: 522000719
Change-Id: Ida34b1b2d25a59ac3f4f111aa44218aa9cd9da30
2023-04-05 03:07:22 -07:00
5004a4c8c5
Better memory setting and reporting, updated example models.
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- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples ).
- `<size>` top-level section does not get written if empty.
PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
2022-11-07 10:36:37 -08:00
d1027eff75
Minor fix to Humanoid model
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Use default class for left_upper_arm geom.
2022-09-20 18:20:45 +09:00
a86fc66f1a
Increase offscreen render buffer resolution of the humanoid to 2560x1440
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PiperOrigin-RevId: 475005167
Change-Id: I8cdc2af8e73dc1491b317e5b587333f450f96e87
2022-09-17 05:04:40 -07:00
04d44e1e0b
Modifications to humanoid model.
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- Increased hip flexion maximum.
- Symmetrised shoulder and ankle joints.
- Added hamstring tendons which couple the hip and knee at large flexion values.
- Moved duplicated values into defaults.
- Added two keyframes.
- Improved lighting.
- Changed naming convention.
- Moved description into README.md
PiperOrigin-RevId: 473745371
Change-Id: I95bf915c4caf3d5cf06c325cd73284d78a3d836e
2022-09-12 07:41:17 -07:00
3577e2cf8b
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
ee39340ae7
Remove inappropriate executable bits and minor reformat of code and changelog.
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PiperOrigin-RevId: 416854656
Change-Id: I554d2c5667282567a129d79d91d8f2e97146d6f5
2021-12-16 20:58:26 +00:00
a499b38120
Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.
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Closes #2
Closes #42
Closes #59
PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
2021-12-16 14:40:33 +00:00
4bf5630558
Move a number of files ahead of 2.1.1 launch.
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This commit explicitly moves files around without modifying any content
so that Git can track them correctly.
Change-Id: I087d6d61d4e2d82ce06ad9ac0adf7327db94dd9c
2021-12-16 14:35:55 +00:00
Alessio Quaglino