5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
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
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
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
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
3e034e38b2
Add constraint island discovery
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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
5cfbb6ac8b
Add mjd_quatIntegrate, expose mjd_subQuat.
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PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
2023-07-07 05:33:24 -07:00
ac1f41160d
Add engine internal error macro mjERROR to prepend calling function to error function.
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PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
2023-06-19 03:29:31 -07:00
f67e359532
Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.
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PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:56:48 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -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
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
db28c31f05
Rename <required> tag to <plugin>.
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PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
2023-02-13 08:41:52 -08:00
cd99fbd59d
Fix test failures under NumPy 1.24.
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The use of `np.empty` triggers an msan use-of-uninitialized-value error when upgraded.
PiperOrigin-RevId: 503975799
Change-Id: I337c8227c8c1e3bd415d7a798fc5e764c88c0875
2023-01-23 07:04:33 -08:00
a173e01f42
Prevent division by zero in Ornstein–Uhlenbeck control noise.
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PiperOrigin-RevId: 498753494
Change-Id: Ib43e165a4da524c12fab4ea05848b084b2e7713c
2022-12-31 10:29:03 -08:00
3a00e025ce
Merge pull request #619 from traversaro:fixpypytests
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PiperOrigin-RevId: 494129535
Change-Id: I301cb505a224eaa26df4896924d36c623b1a4a26
2022-12-09 03:39:22 -08:00
bfe1017fc8
Skip tests that cannot run on PyPy
2022-12-07 19:19:21 +01:00
c83be2bc05
Add mju_clip, mju_fill, mju_eye and mju_symmetrize to python bindings.
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- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.
PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
2022-11-02 09:22:28 -07:00
ec6ea6a69e
Fix a memory leak when using Python callbacks.
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Fixes #527 .
PiperOrigin-RevId: 481173711
Change-Id: Ie176a8bda09727b6be8b6641d3be9a75c675d566
2022-10-14 10:12:11 -07:00
95fe2fbc40
Add plugin support to Python bindings.
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PiperOrigin-RevId: 480675078
Change-Id: I2967654b6662efced8ae62cae9b03c6c8e65c67c
2022-10-12 11:30:15 -07:00
58fd72f53d
Dynamically allocate contact and efc_ arrays on a new memory arena.
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- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
2022-10-06 10:03:05 -07:00
c13979cd17
Add id and name properties to MjModel and MjData indexers.
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PiperOrigin-RevId: 476078133
Change-Id: I905cc8ec147ac595cd56f0a42e38013ae1ac6903
2022-09-22 06:19:03 -07:00
f4e7fa97af
Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x.
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PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
2022-09-14 08:05:28 -07:00
8957976674
Add mju_boxQP solving box-constrained quadratic programs.
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PiperOrigin-RevId: 474256629
Change-Id: I87d70fe6899608122fe0688b017420a3e81afae2
2022-09-14 04:31:34 -07:00
3a3ca37615
Fix msan bugs in bindings_test.py.
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PiperOrigin-RevId: 465321721
Change-Id: Ie5bfbf5fb0cd3f2b3db3adc86bff3cb1c4df3da0
2022-08-04 08:36:05 -07:00
41bcf2d621
Python bindings: Add __repr__ implementations to grouped views.
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PiperOrigin-RevId: 457704673
Change-Id: Idf0d2132ce0872e6ae3eef319b4c3119ab769cd0
2022-06-28 05:23:16 -07:00
e14cf7ddf1
Python bindings: Give a detailed error message when passing non-existent name.
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List all valid names in the error message.
Fix an off-by-one error when accessing elements by numeric index (rather than name).
PiperOrigin-RevId: 457702283
Change-Id: I6e4f1518b4ecd9ca91ac9b0bf6b0963fc0a9bd18
2022-06-28 05:06:28 -07:00
185b79f664
Make msan treat mjData buffer as uninitialized in mj_resetData.
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Indiscriminate memset into d->buffer and m->buffer previously caused msan to not detect uninitialized reads.
Also fix tests with uninitialized read bugs that are detected by msan after this change.
PiperOrigin-RevId: 451508224
Change-Id: I1f4b080a8ef765c34ba7a0adc2c686419f6e5516
2022-05-27 16:34:33 -07:00
87539dbd24
Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD.
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PiperOrigin-RevId: 441482552
Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
2022-04-13 16:22:26 +01:00
55c1c91382
Don't return ndarray with empty shape through named indexers.
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NumPy arrays with an empty shape cannot be assigned via the usual syntax.
Fixes : #238 .
Related: #237 .
PiperOrigin-RevId: 441265437
Change-Id: Ib0de22c83f9babe9a97682dc5a32660c198ad68c
2022-04-12 20:57:16 +01:00
90dea1bdfb
Version 2.1.4: Switch to GLAD, minor improvements to simulate.
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PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
2022-04-04 13:53:21 +01:00
3c71720d83
Revert commit d627374545.
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This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.
Fixes #217 .
Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
2022-03-31 11:54:51 +01:00
d627374545
Add contact frame visualisation.
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This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.
PiperOrigin-RevId: 437256700
Change-Id: I5eab737fc98018399e151552778c6109088bf614
2022-03-29 13:08:05 +01:00
df202d23b1
Implement reversed arithmetic operators for enums and fix division behavior.
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PiperOrigin-RevId: 435408435
Change-Id: Ifeeff679cff658d5aae96a9ba5fee19d499656a3
2022-03-23 16:57:25 +00:00
295602b3eb
Implement binary operations between enums and numbers.
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PiperOrigin-RevId: 435352475
Change-Id: I95ffab7d35898b8e04e00e2f37933b7959b90097
2022-03-23 16:57:25 +00:00
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
Alessio Quaglino