1a47a97040
Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114 .
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Added `frustum` to `rgba` and `scale` in the `visual` section.
PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
2023-10-25 09:08:20 -07:00
269d88ad92
Bump dev version number to 3.0.1.
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PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
2023-10-18 15:01:21 +01:00
8f9c690c85
Add MJX and bump version number to 3.0.0.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
2023-10-18 10:33:29 +01:00
e90b347cbf
Add mesh conversion utilities.
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PiperOrigin-RevId: 573343028
Change-Id: I4b258f91a11d1994659b0129de5ddb2077689f01
2023-10-13 16:13:24 -07:00
efdc89e347
Update dependency versions.
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PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
2023-10-13 14:41:48 -07:00
59164702ab
Merge pull request #978 from aftersomemath:depth-precision-in-place
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PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
2023-10-12 11:18:36 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
649a474788
Migrate to pyproject.toml.
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PiperOrigin-RevId: 572726851
Change-Id: Iad254df70d15c962a5e58c8caf82b32530d26b06
2023-10-11 16:55:34 -07:00
f32219c37c
Install locally built wheels with --no-deps --no-index.
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PiperOrigin-RevId: 572665469
Change-Id: I65c93e42155024d8dbfb42e45fd5b4be09f3528e
2023-10-11 13:13:59 -07:00
7e549495d9
Fix macOS mjpython launcher to suppoer show_{left,right}_ui.
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PiperOrigin-RevId: 572377315
Change-Id: Iee734a6e49821b42e94dc19d9ed92a45ee605ea7
2023-10-10 15:04:02 -07:00
a84499e904
Fix non-graceful exiting behaviour in launch_passive.
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The viewer currently hard crashes when the user script loops on the passive viewer handle without paying attention to `is_running`. This is considered user error, however this change makes the user script hang on the loop rather than hard crashing.
Startblock:
diffbase is submitted
PiperOrigin-RevId: 572336261
Change-Id: Id53126a158242b947584da1f946304ae8e792d4a
2023-10-10 12:39:37 -07:00
a1d0cbd654
Add show_{left,right}_ui kwarg to viewer.launch(_passive).
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Fixes #857
PiperOrigin-RevId: 572333909
Change-Id: I12247fe856afddf808eb8f386a594acac47c34b5
2023-10-10 12:31:11 -07:00
2e15574b58
Allow user-defined visualization geoms to be added to the passive viewer.
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Fixes #1023 , #1082
PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
2023-10-10 10:52:21 -07:00
df48624d0d
Place mjx tutorial correctly in copybara excludes.
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PiperOrigin-RevId: 571390140
Change-Id: I8d0b9ac7b30391e4abaa1ba03fd941e028fd2991
2023-10-06 11:29:54 -07:00
06670155c4
Add MJX training colab.
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PiperOrigin-RevId: 571066455
Change-Id: I8b0638181cdc751cf9fbacfb84c1ac551d7ce4bd
2023-10-05 10:45:36 -07:00
e9613f0cc9
Rename simulate.fully_managed_ to simulate.is_passive_ with flipped semantics.
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PiperOrigin-RevId: 570815258
Change-Id: Iaffdb0e52bcdb31cff7bd29cb820913e3838f0ee
2023-10-04 14:49:52 -07:00
3e12f0d50c
Add history scrubbing mechanism to simulate.
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[screen capture](https://www.youtube.com/watch?v=YSvWn_poqWs )
PiperOrigin-RevId: 570676968
Change-Id: Id9a1fccc9418b851e007ddcf3fa89acd4edff3e9
2023-10-04 06:36:34 -07:00
ee78b8f76b
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
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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
639e77876d
Improved unpause behavior in simulate.
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PiperOrigin-RevId: 570030315
Change-Id: I5822f8686ba2fd7c5c59a9fa73fc29000a8406ec
2023-10-02 05:00:40 -07:00
9e51f20ce2
More fixups to mjtDepthMap names
2023-09-29 19:53:58 -04:00
56403b4dce
Fixups to comments and flags for reversed Z rendering
2023-09-29 19:53:58 -04:00
2e52bf807b
Add flag to mjrContext to support legacy depth mapping by default
2023-09-29 19:53:57 -04:00
d32eb6bd12
In place change to reverse Z rendering and 32 bit float offscreen depth buffer
2023-09-29 19:53:47 -04:00
14f1386fc0
renderer.py improve accuracy and support depth precision and mapping flags
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By more carefully inverting the operations performed when OpenGL
transforms metric distance to window coordinates, more accurate
depth values can be estimated from the depth buffer
2023-09-29 19:53:07 -04:00
fc7b212369
Support reversed Z rendering and float32 offscreen depth buffer
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Combined, both options greatly improve camera depth accuracy compared to
OpenGL default Z mapping and int24 depth buffer.
Requires GL_ARB_clip_control and ARB_depth_buffer_float extensions
2023-09-29 19:52:09 -04:00
8e00f8029e
Disable -Wmaybe-uninitialized in GCC versions 12 and later.
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https://gcc.gnu.org/bugzilla/show_bug.cgi?id=109561
PiperOrigin-RevId: 569204628
Change-Id: I34ccb84a0afc60ccfcc47c820438d15dfa0a5f42
2023-09-28 09:25:27 -07:00
36d2ffe4f2
Specify camera parameters using standard robotics conventions.
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PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:19:19 -07:00
b8a91a00ce
Merge pull request #1070 from aftersomemath:simulate-load-message
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PiperOrigin-RevId: 568995214
Change-Id: Iac7644c4b35a916aa6a7d1bb158ba15a024b43ac
2023-09-27 16:36:40 -07:00
ac74c72657
Fix issue where unpausing the simulation (especially under slowdown) causes a jump in simulation time, in both native simulate and Python viewer.
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PiperOrigin-RevId: 568948943
Change-Id: I2f401508555e272f348e97627aeb85cb3e9cf017
2023-09-27 13:46:19 -07:00
e7d1f2f110
simulate: fix display of loading message
2023-09-27 16:04:36 -04:00
cbb07a4c32
Bump Python dependencies.
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PiperOrigin-RevId: 567908445
Change-Id: I6be821afda655e3461c9904cfdcbcdcb11ef23b6
2023-09-23 15:24:24 -07:00
81c5e61b1e
Correct OpenGL library path on macOS.
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Although the path doesn't exist on disk, dlopen seems to be previously redirecting to the correct file, but this stopped working in macOS 14.
PiperOrigin-RevId: 567684115
Change-Id: I21894302e87803d06bfd27ba123eacbdfec0ec56
2023-09-22 12:09:31 -07:00
7f8018a3f3
Update XML parsing to store asset path so that assets can be recovered and sent to external renderers
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PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
2023-09-21 10:27:52 -07:00
4f34cacf35
Add maxuse_threadstack to mjData
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PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
2023-09-21 09:41:00 -07:00
be75dda8d1
Fix arena memory leak in _realloc_con_efc.
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PiperOrigin-RevId: 567093603
Change-Id: I0a00da461b495cc13e54381862d740333a43f82b
2023-09-20 15:16:04 -07:00
9902b73502
Rename mj_stackAlloc to mj_stackAllocByte.
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PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
2023-09-18 10:53:35 -07:00
86d8b912f4
Rejigged solver statistics in preparation for islanding.
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- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.
BEGIN_PUBLIC
Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.
- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.
END_PUBLIC
PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
2023-09-13 06:18:37 -07:00
8faf47dd16
BEGIN_PUBLIC
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Add missing `ctrl` attribute to keyframe indexer.
END_PUBLIC
Context: Making an LQR notebook for the Skydio drone and wanted to read the ctrl attribute in the keyframe stored in the XML.
PiperOrigin-RevId: 564806350
Change-Id: I5af3189cc8be87915f9d320d95f0fab551ef87fa
2023-09-12 12:54:48 -07:00
7e5a7b76fc
Change GitHub org name to google-deepmind.
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PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
2023-09-07 12:34:20 -07:00
48d0bfde44
Replace glfw.get_time with time.time in the Python viewer timing logic.
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PiperOrigin-RevId: 563134207
Change-Id: Ic548701fc78336d8d87e94ea48833f94ee6395b8
2023-09-06 09:52:12 -07:00
33f51856c1
Check that alignment is power of 2 in mj_stackAlloc.
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PiperOrigin-RevId: 562024496
Change-Id: I9230c6dc05ebb78e935f9b2f606aa77c921d67e5
2023-09-01 12:45:35 -07:00
4c899b92cc
Rename mj_stackAllocByte to mj_stackAlloc and make it public.
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PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
2023-08-29 14:07:54 -07:00
daa2ac7f8b
Rename nstack to narena, change it and pstack to count bytes.
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PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
2023-08-29 10:13:33 -07:00
819b5cb982
Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.
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PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
2023-08-25 12:08:37 -07:00
b92a9d599c
Fix type errors in mujoco Python library.
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PiperOrigin-RevId: 559473920
Change-Id: I45056b4a86a062f223d39c60fbc849ef69a5866b
2023-08-23 10:38:50 -07:00
a2de04f5be
Sanitize function parameter names that are Python keywords.
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PiperOrigin-RevId: 559436458
Change-Id: I56b8a595885f3f3d3ecb7a00db5f1bd70e5f95d9
2023-08-23 08:34:41 -07:00
90f58ebe5d
Rename mj_stackAllocBytes to mj_stackAllocByte
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PiperOrigin-RevId: 559071711
Change-Id: I19072e07ac86ee0486703aa48b0dceb297f5f893
2023-08-22 04:43:53 -07:00
59138af10b
Refactor stack allocations to have a clean byte allocation interface.
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PiperOrigin-RevId: 558881470
Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
2023-08-21 13:18:29 -07:00
ed4bb2aab5
Change _Alignof to alignof in functions.cc
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PiperOrigin-RevId: 558388811
Change-Id: I40f394d6dd05215a7499ede5903841a07cd1c9f0
2023-08-19 05:11:40 -07:00
488041d362
Add a private function for resizing contact and efc-sized arrays in Python.
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This function is currently used for internal experimentation.
PiperOrigin-RevId: 558238153
Change-Id: I32eec8f13ac2d995e90c5421f2a157412e2148f2
2023-08-18 13:53:04 -07:00
Alessio Quaglino