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Author SHA1 Message Date
Kevin Zakka 88d67fd6f6 Add CoRL event as a temporary banner in docs. 
PiperOrigin-RevId: 577246026
Change-Id: I0615eb6ee8d6ac928785877db0ba6703c01e301b
 2023-10-27 10:51:57 -07:00
Alessio Quaglino 40d927c9fa Move 2d and 3d plugin force computation to elasticity.h. 
Change physical properties of `floppy_flex.xml` to resemble `floppy.xml`.

Make `Membrane` backward compatible with `Composite`.

PiperOrigin-RevId: 577190384
Change-Id: I5bc56ec62faa134156e839bec45d685c22eba5c4
 2023-10-27 07:18:08 -07:00
Nimrod Gileadi f8c5ad2ba8 Check for errors when calling std::stod in XML loading. 
PiperOrigin-RevId: 576608985
Change-Id: I148ca67d8960d73c281df2d6f2440d47940a6369
 2023-10-25 12:26:43 -07:00
Alessio Quaglino 034bb62986 Add cam_intrinsic to mjvSceneState. 
Add `frustum.xml` to engine_vis_state_test models.

Fixes #1115.

PiperOrigin-RevId: 576567292
Change-Id: I642c32a87427507580046d2d260263c689d50c99
 2023-10-25 10:17:42 -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 5231a335bf Improve documentation regarding choice of integrator. Fixes #1085 
PiperOrigin-RevId: 576546484
Change-Id: I7192a0c32e1aed8e201d1db953b657e605cd74f0
 2023-10-25 09:04:45 -07:00
Yuval Tassa a89412bb4a Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}. 
PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
 2023-10-25 05:01:45 -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
Yuval Tassa 8eb36d9a7c Improvements to simulate UI 
- Improved Help overlay text, mention shortcuts for UI toggle.
- Removed buttons for UI toggle.
- Moved Spacing / Color / Font to the end of the Option section.

PiperOrigin-RevId: 576480554
Change-Id: Ie1427b97cb784421490c276a8544d570a6042188
 2023-10-25 04:03:38 -07:00
Erik Frey 843360b732 Avoid efc rows for joints with no limit. 
Fixes #1117

PiperOrigin-RevId: 576276387
Change-Id: I7d2a3860b19d83d65acf1995f7be05cb2d1247d4
 2023-10-24 14:12:28 -07:00
Erik Frey 29f6f06788 Bump benchmarks from V100 to A100 to match published numbers. 
PiperOrigin-RevId: 576230623
Change-Id: Ib17ffd210a781e1024f8bb484c75547ee39876f7
 2023-10-24 12:38:01 -07:00
Baruch Tabanpour a4588cee12 Fix https://github.com/google-deepmind/mujoco/issues/1123 
PiperOrigin-RevId: 576159322
Change-Id: I29fc3df294af008f55324bc49c0f597d778e3392
 2023-10-24 09:08:34 -07:00
Erik Frey 612de347d7 Add future support for sensors to MJX documentation. 
PiperOrigin-RevId: 575970420
Change-Id: Iaf0e484903659b3138089ff00ec41763d19964b8
 2023-10-23 17:06:45 -07:00
Nimrod Gileadi 97d99c84ce Delete the temporary mjData if model reference validation fails. 
PiperOrigin-RevId: 575852845
Change-Id: I2146dbc510b48c310ac338adcd5d53cb9f38b383
 2023-10-23 10:07:55 -07:00
Alessio Quaglino 643c1248b8 Skip flex edge Jacobian if not needed. 
When equality constraints and built-in passive forces are not present, edge Jacobians are unused. This gives a 3x speedup in `mj_kinematics` in `floppy_flex` (from 0.2ms/step to 0.06ms/step).

Changed the default options of `floppy_flex` to match those of `floppy` for a fair comparison.

PiperOrigin-RevId: 575850622
Change-Id: I4c618536fd17ef930153bbd1f1da7d9e0e44abbe
 2023-10-23 10:02:00 -07:00
Yuval Tassa 2bb8652bf6 Add User Interface documentation. 
PiperOrigin-RevId: 575800982
Change-Id: I9b2e03932d0d3b1844b90e5da7c32a640d999e69
 2023-10-23 06:35:34 -07:00
Alessio Quaglino c6ef4f71c3 Add flex fields to mj_validateReferences. 
PiperOrigin-RevId: 575779915
Change-Id: I14d22092e7d712dcc3d474cf0c2a85ef4d6a4aee
 2023-10-23 04:44:32 -07:00
Kevin Zakka a53b5be956 Allow pre-release mujoco installs in mjx source install. 
PiperOrigin-RevId: 575629464
Change-Id: I47615dee0e965c6016d90871fa100f52bb74bf0c
 2023-10-22 10:19:24 -07:00
Saran Tunyasuvunakool 179ea8ef03 Add MJX to the doc title. 
This should make the listing clearer on search engines.

PiperOrigin-RevId: 575618744
Change-Id: I79feea95c31466dfb373e42a547116044ce2ac08
 2023-10-22 08:20:19 -07:00
Yuval Tassa f6ed57e9e8 Fix typos in changelog 
PiperOrigin-RevId: 575618675
Change-Id: I51a8e5aee124c632ff17d0cb0610ca95822bf859
 2023-10-22 08:19:21 -07:00
Baruch Tabanpour e57b34303a Reformat notebook and add back sim2sim. 
PiperOrigin-RevId: 575246433
Change-Id: I8627916e7dedd5cf64dab6e0151f41c3153e7a68
 2023-10-20 09:53:53 -07:00
Baruch Tabanpour ebe081f27e Add contact disable flag to collision driver. 
PiperOrigin-RevId: 575245746
Change-Id: If2ea8a5de6f6c751729c9b8dd5efc42e7bdd51ea
 2023-10-20 09:51:24 -07:00
Alessio Quaglino 01a932e052 Fix flex constraint Jacobian for edges belonging to a single body. 
PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
 2023-10-20 02:49:34 -07:00
Baruch Tabanpour e4a9f535a4 Make MJX device_put type validation more verbose. 
PiperOrigin-RevId: 575050350
Change-Id: I7cab4ee54d462b61e9478dbd58d99bb9fb662daf
 2023-10-19 17:30:33 -07:00
Baruch Tabanpour dd841c9283 Fix bug in joint range for MJX. 
PiperOrigin-RevId: 575023489
Change-Id: I717333064ed4d6971a841bec60e8afd3019120a7
 2023-10-19 15:40:09 -07:00
Baruch Tabanpour dc8bac2f4d Fix supported equality constraint in doc. 
https://github.com/google-deepmind/mujoco/issues/1105

PiperOrigin-RevId: 574950690
Change-Id: I1c029e9b31235fdcaa8e8f35b5117fec373fa25f
 2023-10-19 11:43:02 -07:00
Saran Tunyasuvunakool 1178bad339 Run MJX tests on GitHub Actions. 
PiperOrigin-RevId: 574939328
Change-Id: Ic6e5650ef6a7df8c94a189206fddf06bd9c4eb97
 2023-10-19 11:12:54 -07:00
Baruch Tabanpour 79e9589515 Change test_box_box slightly. 
PiperOrigin-RevId: 574937448
Change-Id: If84c8e192b230fea0e858fdd12beceedaa280f30
 2023-10-19 11:07:42 -07:00
Baruch Tabanpour 7a802a1820 PUBLIX: Fix typo in mjx doc. 
https://github.com/google-deepmind/mujoco/issues/1106

PiperOrigin-RevId: 574928021
Change-Id: I8f3f096ba71c41da1fdfdae8bd0f88f160d2678e
 2023-10-19 10:44:41 -07:00
Baruch Tabanpour 9decb7389f Make humanoid default in colab. 
PiperOrigin-RevId: 574925299
Change-Id: I619438b4c61b882db27c3984fb8c061ec0c39e4d
 2023-10-19 10:38:09 -07:00
Saran Tunyasuvunakool 2970a2575d Change assertTrue to np.testing.assert_array_less. 
This gives a more informative error message on failure, e.g. in https://github.com/conda-forge/mujoco-feedstock/pull/31#issuecomment-1770195171

PiperOrigin-RevId: 574879703
Change-Id: I1936c16264b00d6f80c4817d982b0ab4ab6d4b5d
 2023-10-19 08:27:08 -07:00
Nimrod Gileadi 9393c690d4 Correctly handle full screen and vsync buttons. 
Fixes #1110.

The code was using outdated indices since 48eb75ae92. It now uses the more stable pdata pointer.

PiperOrigin-RevId: 574805349
Change-Id: If6112fb2af7d60f17b35599233b24f33b6a8cac6
 2023-10-19 03:38:11 -07:00
Baruch Tabanpour 44ba099fd6 Fix bug with single actuator in transmission. 
PiperOrigin-RevId: 574637727
Change-Id: Ibfc01ff3bc80afe5da253fd9d6d76609b8e9198d
 2023-10-18 16:18:21 -07:00
Baruch Tabanpour b989a85364 Remove block in colab. 
PiperOrigin-RevId: 574595549
Change-Id: I3814a8ecb909a581d96b614edd99002c05de014b
 2023-10-18 14:19:05 -07:00
Copybara-Service 48ec2d465b Merge pull request #1102 from johannespitz:main 
PiperOrigin-RevId: 574531155
Change-Id: I92c5cbd735ac29680b8532a0f0901bbc5d5072ce
 2023-10-18 11:05:56 -07:00
Kevin Zakka 2fefa7dd8a Improve MJX Colab description in README. 
PiperOrigin-RevId: 574521404
Change-Id: If236aa97a7d5ef6fa3884728652011f1311031cb
 2023-10-18 10:37:37 -07:00
Yuval Tassa 553f2bd953 Update overview.rst 
PiperOrigin-RevId: 574510917
Change-Id: I7aef5bdf0c2d9d135322502fd2470d47595e1eb1
 2023-10-18 10:06:30 -07:00
Alessio Quaglino 83515446b6 Add missing models to all_models and all_test_models. 
PiperOrigin-RevId: 574491634
Change-Id: I943043b21056d7f22dd1c50454deee3f49e7eac0
 2023-10-18 08:59:54 -07:00
Johannes Pitz 56006355b2 Fix link 2023-10-18 16:12:35 +02:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Yuval Tassa 3c6b573f78 Add flex model to test/testdata 
PiperOrigin-RevId: 574431067
Change-Id: Ide06b145afeca5df80acfc05e290e7bc54786a8e
 2023-10-18 04:11:46 -07:00
Alessio Quaglino d0294b7cc0 Initialize contact frame in planeVertex contact. 
PiperOrigin-RevId: 574416404
Change-Id: I305f7113364ad9198947c5aa7346bb832fc43146
 2023-10-18 02:56:14 -07:00
Google DeepMind 98cc3a6fb2 Typo and minor changes. 
PiperOrigin-RevId: 574403633
Change-Id: I1798f91e27911e351ee99c749c6dd62d851b61cf
 2023-10-18 02:55:49 -07:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00
Alessio Quaglino 3f3d5a3b49 Fix contactcompare swapping condition. 
PiperOrigin-RevId: 574276137
Change-Id: Iafbb6a99c1fb57907d3cb1d0796b6ad718e549d2
 2023-10-17 15:05:20 -07:00
Yuval Tassa d0bdb78207 Disable island discovery for models with flexes. 
PiperOrigin-RevId: 574244981
Change-Id: I7c08b23cf5f29338a04ec684ad7a0d4d8a0397df
 2023-10-17 13:17:24 -07:00
Yuval Tassa 18e4e10142 Mention fluid force documentation in the changelog. 
PiperOrigin-RevId: 574206986
Change-Id: Ia5246f369070c463c10a2d63cf2ae29b40317724
 2023-10-17 11:08:49 -07:00
Alessio Quaglino 50b4f0277d Add elasticity plugin README. 
PiperOrigin-RevId: 574195554
Change-Id: Ib57614aaef66cdb26e3667c66df2426e63dacac4
 2023-10-17 10:36:34 -07:00
Google DeepMind 65e66d0fc9 Fluid force documentation: Rename d to r, update description of passive viscous forces. 
PiperOrigin-RevId: 574195315
Change-Id: Ic045a2d1606c85a7d87b0000f505c792b6477917
 2023-10-17 10:35:12 -07:00
Alessio Quaglino 317d6d9ebe Move edge creation after element reordering in mjCFlex. 
PiperOrigin-RevId: 574193046
Change-Id: If2fb01b3494d637d4b220d03e7d7d84e4a9f7a2d
 2023-10-17 10:28:43 -07:00