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Author SHA1 Message Date
Levi Burner 8cc983af5b Remove stray build option 2022-10-04 15:11:19 -04:00
Levi Burner e12343ae51 remove stray #include 2022-10-04 14:55:26 -04:00
Levi Burner 95a4b1c551 simulate python: fix cmake, glfw usage, update Python version of physics loop 2022-10-04 14:37:06 -04:00
Levi Burner 0b6bf42840 WIP Python bindings for Simulate tested on Linux only 2022-10-04 12:34:49 -04:00
Saran Tunyasuvunakool 5ef8cb6bbc Disable contact in the temporary mjData created during mjCModel::TryCompile. 
PiperOrigin-RevId: 478793238
Change-Id: I28ed324b70931eb416ca57574570bf02c977f337
 2022-10-04 08:21:11 -07:00
Alessio Quaglino bc1490b7a8 Add realtime parameter to visual global. 
PiperOrigin-RevId: 478775714
Change-Id: Ic2d178a5c57d298d005215219ce8470392c4651b
 2022-10-04 07:09:15 -07:00
Kevin Zakka f85cfb8ed2 Fix broken simulate links. 
PiperOrigin-RevId: 478775551
Change-Id: I1c4f43c7cbe01f267948f5915a7511744eb0d158
 2022-10-04 07:07:57 -07:00
Saran Tunyasuvunakool f9b4593d11 Add macro for dynamic library plugin initializer definition. 
PiperOrigin-RevId: 478544478
Change-Id: Idc899eef25261f2cb0b8317a84989cea2d8c2243
 2022-10-03 10:40:30 -07:00
Saran Tunyasuvunakool 7072b61cc5 Make Simulate app scan for plugin libraries on launch. 
PiperOrigin-RevId: 478502151
Change-Id: I9057e74af4d207cfc551e701134820100bdeee78
 2022-10-03 07:47:42 -07:00
Kevin Zakka 7e89d8dab0 In simulate UI, clear shortcut string for flags with no shortcuts. 
PiperOrigin-RevId: 478467279
Change-Id: Icc4317d9e35b41871143572275d03adf7e13d956
 2022-10-03 04:31:17 -07:00
Alessio Quaglino 52c415eb80 Move schema from XMLReference to the new XMLschema RST file. 
PiperOrigin-RevId: 478436495
Change-Id: Ib1db879eef2720f897360810eccb198bb9946f72
 2022-10-03 01:18:57 -07:00
Kevin Zakka cce35e1816 Add assetdir compiler option. 
PiperOrigin-RevId: 478117894
Change-Id: I4a93108e00558034aa02d22047da80adfa4232b2
 2022-09-30 17:59:25 -07:00
Nimrod Gileadi 8a8305d3ca Avoid unnecessary copies after of mju_mulQuat. 
Since fdbbc8bbe0, mju_mulQuat allows in-place computations.
There were a few places where the result was unnecessarily assigned to a temporary variable.

PiperOrigin-RevId: 477746005
Change-Id: I7351ef4796e7d70a4a54b930037bfaadee781f12
 2022-09-29 09:33:50 -07:00
Kevin Zakka 48f2ed99a5 Enforce strict positivity of extent and znear attributes at parse time. 
PiperOrigin-RevId: 477597498
Change-Id: Ic927655cd5ba2fd8fdb1a1a5f7e54ff5040c3370
 2022-09-28 17:53:05 -07:00
Nimrod Gileadi d3dbc554b9 LQR.ipynb: Don't refer to global model from Renderer. 
PiperOrigin-RevId: 477444216
Change-Id: I1e71d823428b1c4f60751720fe5b85d5ae98c5c2
 2022-09-28 07:11:50 -07:00
Saran Tunyasuvunakool 323d6e96fd Fix typo and weird indentation in documentation. 
PiperOrigin-RevId: 477285765
Change-Id: I90dd05c85898193f67fa1ec94e9d3ffdaa7701e8
 2022-09-27 15:09:24 -07:00
Yuval Tassa a6b338db64 mju_boxQP only reads from the lower triangle of the input Hessian. 
- Before this change, an asymmetric Hessian would lead to solver failure. After this change the Hessian is symmetric by definition (upper triangle is ignored).
- API documentation was updated to reflect this contract.

PiperOrigin-RevId: 477135411
Change-Id: I60d011d36853afebac26c359771c217baf101360
 2022-09-27 04:32:40 -07:00
Copybara-Service f433776c9b Merge pull request #504 from engnadeau:build/phony-targets 
PiperOrigin-RevId: 477022393
Change-Id: I3c808e475e7af4fabb09d4cb1b045538dced3045
 2022-09-26 16:44:00 -07:00
Nicholas Nadeau f637dd76d5 build(makefile): added proper .PHONY target 2022-09-26 10:49:08 -04:00
Nicholas Nadeau 0ca12b3171 build(makefile): added proper .PHONY target 2022-09-26 10:48:38 -04:00
Nicholas Nadeau f3b9536c89 build(makefile): .PHONY targets are cumulative 2022-09-26 10:48:00 -04:00
Nicholas Nadeau ea3b48afeb build(makefile): explicit DEFAULT_GOAL 2022-09-26 10:47:18 -04:00
Kevin Zakka c13b9e89b6 Fix typos. 
PiperOrigin-RevId: 476632296
Change-Id: I136556acc43d3cd24273fb975a515e72a3cf23d7
 2022-09-24 15:25:39 -07:00
Saran Tunyasuvunakool b1a79aa01b Replace internal-only imports and comments that aren't valid externally. 
PiperOrigin-RevId: 476492651
Change-Id: I310a21a73a65da3a5939f5cb8a1c8a67c8595863
 2022-09-23 16:58:58 -07:00
Saran Tunyasuvunakool 6acc111c48 Remove internal-only paths from Colab notebook. 
PiperOrigin-RevId: 476416594
Change-Id: I54e7b27d30da76f7690341e70f182e7e5d0dec96
 2022-09-23 11:15:39 -07:00
Kevin Zakka fe9bd74d3f Fix doc typos. 
PiperOrigin-RevId: 476353794
Change-Id: I37db6c440893db55b2d02f78ce52e554b150fa32
 2022-09-23 06:28:54 -07:00
Kyle Bayes 36b47e56d0 Use squared distance for sphere comparison in collision filtering. 
PiperOrigin-RevId: 476165394
Change-Id: Id53493fc7cf4c10a22f5f885baeec0ed4b1d8574
 2022-09-22 12:18:23 -07:00
Saran Tunyasuvunakool c13979cd17 Add id and name properties to MjModel and MjData indexers. 
PiperOrigin-RevId: 476078133
Change-Id: I905cc8ec147ac595cd56f0a42e38013ae1ac6903
 2022-09-22 06:19:03 -07:00
Yuval Tassa 6e256c03b7 Fix location of LQR colab notebook. 
PiperOrigin-RevId: 475562228
Change-Id: Ifa51caee6c573a15814b57fb1237d0fdb859c4b8
 2022-09-20 08:35:22 -07:00
Yuval Tassa f151e84a1d Add LQR tutorial colab notebook. 
PiperOrigin-RevId: 475551810
Change-Id: Iac8ca4fff88331f325e34fef01b41307603a6416
 2022-09-20 07:41:16 -07:00
Copybara-Service f13a58326d Merge pull request #492 from rohanpsingh:topic/fix-humanoid-xml 
PiperOrigin-RevId: 475530310
Change-Id: I2740af8f61cc9d0ffd2c58333880e638a1ef12a6
 2022-09-20 05:35:52 -07:00
Rohan P. Singh d1027eff75 Minor fix to Humanoid model 
Use default class for left_upper_arm geom.
 2022-09-20 18:20:45 +09:00
Yuval Tassa 8774f903ec Fix broken link. 
PiperOrigin-RevId: 475159831
Change-Id: I5fb397f751aa1a3d5b5a3f3c141e0545780d9f00
 2022-09-18 14:38:22 -07:00
Yuval Tassa 5dc26cf4a0 Fix bugs in actuator parsing. 
- Adhesion actuator defaults were not parsed, now fixed.
- Both damper and adhesion actuators were requiring `ctrlrange` at parse time, which prevented this attribute from being inherited from defaults, now fixed.
- Added tests for all 3 cases.

PiperOrigin-RevId: 475145255
Change-Id: I8dd6196e20734136d990f522893ebd4d156cd7a8
 2022-09-18 11:10:02 -07:00
Yuval Tassa 142c0eb200 Fix typo. 
PiperOrigin-RevId: 475014408
Change-Id: I2dd467d12905f640ee6fa131fdee059a89e01ccc
 2022-09-17 07:09:36 -07:00
Yuval Tassa a86fc66f1a Increase offscreen render buffer resolution of the humanoid to 2560x1440 
PiperOrigin-RevId: 475005167
Change-Id: I8cdc2af8e73dc1491b317e5b587333f450f96e87
 2022-09-17 05:04:40 -07:00
Saran Tunyasuvunakool 26bdb7c8b8 Replace __attribute__((constructor)) with C++ constructor. 
The use of __attribute__((constructor)) made the previous commit fail to build in MSVC.

PiperOrigin-RevId: 474891117
Change-Id: I86a71bb8f3226ee49a8b5e8c07adc613623042b3
 2022-09-16 13:39:39 -07:00
Saran Tunyasuvunakool 1e2a9a53bc Implement plugin mechanism for actuators and sensors. 
PiperOrigin-RevId: 474874088
Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
 2022-09-16 12:21:29 -07:00
Nimrod Gileadi f556d4d94f Avoid out-of-bounds access when checking file extensions. 
Include the '.' in the file extension check.

PiperOrigin-RevId: 474866478
Change-Id: I809ae975e4c8b00f17278735975a7d07e0748643
 2022-09-16 11:49:33 -07:00
Tom Erez 68718e76b1 Ensure that memory allocated by mju_malloc is freed by mju_free. 
Previously, `vfs->filedata` memory was allocated via `mju_malloc` in C and released using `Marshal.FreeHGlobal` in C#. In 5cc73c30bf, `mju_malloc` started returning 64-byte aligned pointers, which should not be freed by a deallocator that isn't aware of this alignment.

Fixes #479.

PiperOrigin-RevId: 474596441
Change-Id: I8a8383c7eaa2c1ec516d81f92a2f90e7aedfe2ee
 2022-09-15 10:26:09 -07:00
Alessio Quaglino 0e05e7ce52 Do not raise an error for flipped triangles if their area contribution is negligible. 
PiperOrigin-RevId: 474552367
Change-Id: I9727a74e50a9bab9b04bb0de0b64e11587ed36f1
 2022-09-15 07:07:00 -07:00
Nimrod Gileadi c8517e63a4 Mark mjCError and mjXError as [[nodiscard]]. 
This lets the compiler catch the mistake of creating an exception without throwing it.

PiperOrigin-RevId: 474536776
Change-Id: I5bd18258ce6ddd266adb1c852b1ba9e3063cd0b2
 2022-09-15 05:28:57 -07:00
Yuval Tassa 0a0acb3419 Display real-time percentage in paused mode, if different than 100% 
PiperOrigin-RevId: 474519561
Change-Id: I54eea97f305dc9b57b9513d6ab5cd75368c2cd45
 2022-09-15 03:26:12 -07:00
DeepMind 549437ca52 Fix typo in MuJoCo docs. 
PiperOrigin-RevId: 474414621
Change-Id: I0585d0f087fcf82ddb0b606f9680a9ffebeddc67
 2022-09-14 16:06:04 -07:00
Alessio Quaglino 0d5a1019a5 Update author list and fix doc typo. 
PiperOrigin-RevId: 474411316
Change-Id: Ifcfe1ba90ed6d04db9731f96919c78e63fbd43e0
 2022-09-14 15:51:56 -07:00
Tom Erez b1eb1fccef Update bindings to latest version of headers. 
PiperOrigin-RevId: 474353426
Change-Id: I749b459c7dc284bf80dd05cb0e6c7ef682a100a8
 2022-09-14 11:58:31 -07:00
Yuval Tassa f4e7fa97af Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x. 
PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
 2022-09-14 08:05:28 -07:00
Tom Erez ee9eccc992 Update Unity bindings to latest headers. 
PiperOrigin-RevId: 474291658
Change-Id: I3d92a83face0e6f05defbb7dd5d883cf8180ae98
 2022-09-14 08:00:45 -07:00
Yuval Tassa 8957976674 Add mju_boxQP solving box-constrained quadratic programs. 
PiperOrigin-RevId: 474256629
Change-Id: I87d70fe6899608122fe0688b017420a3e81afae2
 2022-09-14 04:31:34 -07:00
Yuval Tassa 04d44e1e0b Modifications to humanoid model. 
- 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