19388eee0c
Fix type errors in engine and plugins.
...
- Preparation for a float32 build of MuJoCo.
- Fix use of `float`-typed `fabs` in `mju_eig3`.
PiperOrigin-RevId: 643804942
Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
2024-06-16 12:35:05 -07:00
6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
...
These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
2024-06-16 10:02:36 -07:00
3d63c873aa
Improve 2D texture documentation.
...
PiperOrigin-RevId: 643347176
Change-Id: Ice83a723776092c762dac6e6bc440ef1b1d673b5
2024-06-14 08:04:09 -07:00
c9bcf8371e
Add mj_setKeyframe function to save current state in k-th model keyframe.
...
Fixes #1719 .
Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.
PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
2024-06-12 09:22:52 -07:00
5ed464b489
Support spherical joint in URDF.
...
PiperOrigin-RevId: 642326650
Change-Id: Iec766800bc9ab7e022bd586fc5881df576d01331
2024-06-11 11:08:00 -07:00
07fc95ca9a
Add orthographic cameras.
...
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
2024-06-11 09:23:18 -07:00
171b0d6e06
Improve order and categorization in function API reference.
...
Also, move macros to the globals section.
PiperOrigin-RevId: 641936967
Change-Id: I5b1f6aa52c69e68cc6310093c5811f0f20828bab
2024-06-10 10:01:09 -07:00
7a06bcfdaf
Make model editing API public, fixes #364
...
Still missing:
- Detailed documentation.
- Python bindings.
PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
2024-06-07 22:28:01 -07:00
4c3d9461ae
Elliptic friction in MJX.
...
PiperOrigin-RevId: 641384367
Change-Id: I510c565940324fbbf392ce537ce27e0cb9af3eb1
2024-06-07 16:05:58 -07:00
ace0c8f0a3
Add maxhullvert.
...
PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
2024-06-06 19:05:16 -07:00
4debe1344a
Add WidowX 250 6-DoF. Closes #28 .
...
PiperOrigin-RevId: 640239380
Change-Id: I94c126f9d4f8711b6f8ab7d9b7cc1dace864a153
2024-06-04 12:09:34 -07:00
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
...
PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
21bc6e5ce4
Trimmed underline to match the current format.
...
PiperOrigin-RevId: 639873230
Change-Id: Id065af04b6364e720d14873ab55fabff75e94efb
2024-06-03 12:25:11 -07:00
ff167e91d9
Updated the version number and release date to be current release v#3.1.6
...
PiperOrigin-RevId: 639864767
Change-Id: I94a2c81fe125c99bdcfca07b557eebeadca542e9
2024-06-03 11:58:17 -07:00
2830a4071f
Add dampratio attribute to position and intvelocity actuators.
...
PiperOrigin-RevId: 639745135
Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
2024-06-03 05:28:35 -07:00
8fa0fea02d
Allow partial specification of polycoef attribute of equality constraints.
...
- Usually the user only wants to tweak `polycoef[1]`, after this change `"0 2"` is equivalent to `"0 2 0 0 0"`.
- Also improve documentation of this attribute.
- Tighten margins of documentation display equations.
PiperOrigin-RevId: 639720742
Change-Id: Ibafa0e093cebe1c1c75bf2e47ff3bd2ad7619414
2024-06-03 03:43:13 -07:00
814deb0e9f
Fix bug in hyperlink.
...
PiperOrigin-RevId: 639255722
Change-Id: I0419169ac6d82e2fa64a36a33538ee33a2e22c50
2024-05-31 22:33:27 -07:00
16e9db3ad6
Add Franka Robotics FR3 robot.
...
PiperOrigin-RevId: 639104288
Change-Id: Ib8c834f9f07f36bcbb62d92cbeba8c28ffd8da67
2024-05-31 11:49:12 -07:00
5c71c7de5d
Add Boston Dynamics Spot.
...
PiperOrigin-RevId: 639086847
Change-Id: I8ef6d87d93dc730135a46ce361efbee1bf68c6c8
2024-05-31 10:58:03 -07:00
0d1c92b20a
Add documentation on pipeline stages and mjData self-consistency. Fixes #1667
...
PiperOrigin-RevId: 638619787
Change-Id: Ic8dd0fbd178c4946757a07d74fca3b2c905f9080
2024-05-30 05:38:05 -07:00
c511d02265
Add hfield. Fixes #1655 #1491 #1695
...
PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
2024-05-29 16:21:34 -07:00
255a59487c
Corrects function reference in class comments.
...
PiperOrigin-RevId: 637070006
Change-Id: I0d9dcf0401a107de67cd0a663df6c876287ba772
2024-05-24 16:53:56 -07:00
9e0a437e2a
fixed minimal example shown at mjx.rst
2024-05-21 16:32:54 +09:00
f2732c336e
Add Unitree G1 to model docs.
...
PiperOrigin-RevId: 635464942
Change-Id: I970351ebc3723bff6ae14e08595a7365c861004e
2024-05-20 08:34:43 -07:00
292745000a
Merge pull request #1675 from peterdavidfagan:pr-fix-mjx-put-data-docs
...
PiperOrigin-RevId: 635177941
Change-Id: I1f2685a8b0574929c2625a7ba2e70c5568a364fd
2024-05-19 00:40:23 -07:00
727893f0f2
Add timeconst attribute to position actuator.
...
PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
2024-05-18 03:38:20 -07:00
848c33e16b
fix put_data function signature
2024-05-17 12:22:58 +01:00
6e58cedb47
Fix typo in sensor documentation.
...
PiperOrigin-RevId: 633872551
Change-Id: I033a8227c19da2feebf286f4b3c24635f5625372
2024-05-15 03:03:40 -07:00
b8a8d811e1
Update documentation for URDF parsing, noting different default values for compiler attributes.
...
PiperOrigin-RevId: 633556582
Change-Id: Ibf99b034706afc14f54bfc34e082465d025719d2
2024-05-14 06:01:38 -07:00
3809951172
Add sensor to replicate example model. Fixes #1654
...
PiperOrigin-RevId: 633213086
Change-Id: I1672cf31871637497bcb0f26880e0a41a9f510bc
2024-05-13 08:06:44 -07:00
65d4f04cd4
Add some missing const qualifiers.
...
PiperOrigin-RevId: 632463634
Change-Id: Id3e3e53371f8ed53d970ad7c471bbefd2a70cf5a
2024-05-10 05:20:37 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
...
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
1d181786a2
Prevent visualization of SDF iterations from writing outside the maximum allocated vector. Fixes #1539 .
...
PiperOrigin-RevId: 632071103
Change-Id: Idf91ede1661e717ad338f601a5482ab171d7f625
2024-05-09 01:42:35 -07:00
96844db926
Update BVH during fusestatic. Fixes #1069 and #1577 .
...
PiperOrigin-RevId: 631748750
Change-Id: I4e1ae01207568c90fc49bcd7d9f760f5187f1afa
2024-05-08 04:13:16 -07:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
...
PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
e001975f08
Update changelog for MuJoCo 3.1.5
...
PiperOrigin-RevId: 631497384
Change-Id: I04bf6d0a4e744ab61becda5212e76b30c392f5b2
2024-05-07 11:47:15 -07:00
24bc1c8b52
Add new differentiable physics tutorial to readme.
...
PiperOrigin-RevId: 631458983
Change-Id: Ic0ef9e93397a974be50f0616571a4a5fea6f2b21
2024-05-07 10:00:45 -07:00
ad0459680d
Enable compiler asset cache for public use, and add changelog entry.
...
PiperOrigin-RevId: 631352810
Change-Id: If6208327499e3e4bd37cbb2a1b0cdcfb912c1056
2024-05-07 02:50:50 -07:00
93b57c1421
Update Python documentation.
...
PiperOrigin-RevId: 631189628
Change-Id: I17d0fbe476fc14bbad525a302f588bf773a2244b
2024-05-06 14:40:59 -07:00
3e35eebbb9
Documentation updates:
...
- Added a section on preventing slip in the modeling chapter.
- Added more intuitive descriptions of friction coefficients in the Computation chapter.
- Fixed some en-dashes and em-dashes.
PiperOrigin-RevId: 630856003
Change-Id: I8e767e6c5a95affdeb72ef9bc424bdd18f58e4df
2024-05-05 12:10:06 -07:00
131b1745db
Added support for GMSH22 surface loading
...
PiperOrigin-RevId: 629734063
Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
2024-05-01 08:44:05 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
...
PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
719476c274
Fix bug in `mjx.ray` and speed up ray-mesh by ~30% for large meshes.
...
PiperOrigin-RevId: 629209303
Change-Id: I39466e9a2dc55ec48dcca1780e8abef903d1c754
2024-04-29 15:48:00 -07:00
e9709900b4
Add gravcomp.
...
PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
2024-04-24 11:19:34 -07:00
68e33f4c4e
Merge pull request #1601 from Andrew-Luo1:main
...
PiperOrigin-RevId: 627779916
Change-Id: I656984b53556360b1ba88ca6adc8ea1cf2e9d215
2024-04-24 10:49:13 -07:00
b56d7d6e30
Add more info to doc about static fields. Fixes #1615 .
...
PiperOrigin-RevId: 627528282
Change-Id: I88aa1ece0e530a53a3ae18c8dc935d3ea9c56c09
2024-04-23 15:47:49 -07:00
d15db54537
Add support functions for id2name and name2id.
...
PiperOrigin-RevId: 627525330
Change-Id: Ic8069f64c94ef4b8f96f62b88ece62a8b296d870
2024-04-23 15:35:59 -07:00
938a62f476
update apg diagram
2024-04-23 08:10:11 +02:00
e6b95f3cfc
Merge branch 'google-deepmind:main' into main
2024-04-23 06:12:20 +02:00
71333938ec
Add support for condim to MJX.
...
PiperOrigin-RevId: 627136131
Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
2024-04-22 13:20:57 -07:00
Yuval Tassa