6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
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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
c9bcf8371e
Add mj_setKeyframe function to save current state in k-th model keyframe.
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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
07fc95ca9a
Add orthographic cameras.
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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
7a06bcfdaf
Make model editing API public, fixes #364
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Still missing:
- Detailed documentation.
- Python bindings.
PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
2024-06-07 22:28:01 -07:00
18397e61ec
Replace calls to mj_makeEmptyFileVFS with mj_addBufferVFS in MuJoCo Unity bindings.
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PiperOrigin-RevId: 640168011
Change-Id: Ic592b5cbedb89981ac24d4b8d2c864ceaf415e46
2024-06-04 08:50:12 -07:00
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
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PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
d6712f2944
Merge pull request #1646 from Balint-H:fix/unity-sensornoise
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PiperOrigin-RevId: 639722238
Change-Id: I80a941e97923169150f665fb3411605affcc0702
2024-06-03 03:49:20 -07:00
2aa30b188c
Adjust formatting
2024-05-27 11:49:26 +01:00
adbbcc4ff5
Track separate kv property for position actuators
2024-05-27 11:48:11 +01:00
161ed22299
Fix Unity tests for sensornoise attribute
2024-05-27 11:29:04 +01:00
a9308a4420
Remove sensor noise properties
2024-05-10 16:12:51 +01:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
8ebc9ed2c8
Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.
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PiperOrigin-RevId: 627087335
Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
2024-04-22 10:45:43 -07:00
546a27ca72
Fix memory allocation error when memory size is larger than 2G. Fixes #1606
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PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
2024-04-22 09:15:46 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
7b3f1a0261
Add mjModel.mesh_scale: scaling applied to asset vertices.
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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:26:06 -07:00
225619c964
Update MuJoCo internal version to be the external version +1
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PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
2024-04-10 14:32:54 -07:00
5a365603f8
Add mju_euler2Quat.
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PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
2024-04-10 06:02:50 -07:00
5d26b50fce
Remove native sensor noise sampling.
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PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
2024-03-28 15:33:03 -07:00
47ba72ea59
Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.
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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
c2bef232b6
Handle the implicit auto value for limits now written by the compiler to the xml
2024-03-14 12:38:56 +00:00
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
106453fa2b
Updated version number to be (v3.1.4) ahead of current release (v3.1.3)
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PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
2024-03-06 09:07:25 -08:00
0631a406c4
Merge pull request #1470 from Balint-H:bugfix/unity-tendon-rendering
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PiperOrigin-RevId: 612839845
Change-Id: Idf5b5cec4adc350b3ed36e902e2e52fbe9080281
2024-03-05 07:49:57 -08:00
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
f70db6b0ee
Remove unnecessary using
2024-03-04 13:51:08 +00:00
2f64cf36c5
Conditional compilation for Tendon visualization
2024-03-04 13:49:00 +00:00
1baa478b64
Fix rendering of tendons
2024-03-04 13:41:50 +00:00
73f65ec408
Merge pull request #1428 from Balint-H:feature/unity-plugins
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PiperOrigin-RevId: 612144507
Change-Id: Ie355c0da2b4a51331aadcfce865a1edd720381b5
2024-03-03 02:16:08 -08:00
a4a621f6e3
Add checksums (used as a timestamp) to VFS.
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Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.
PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
2024-02-21 02:25:36 -08:00
c65410a92d
Preliminary support for plugins. Load all plugins in plugin folder.
2024-02-18 14:45:54 +00:00
b6873ec8a2
Move mjModel.mesh_{pos,quat} before mesh_pathadr so all attributes related to original asset data are next to each other.
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PiperOrigin-RevId: 606277473
Change-Id: Ia4f6df552192c8a2847126975b6a1a31df63cf65
2024-02-12 09:37:48 -08:00
f763254a00
Updating Mujoco Release version number to v3.1.3
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PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
2024-02-05 15:59:20 -08:00
ee071242c6
Constrain MjScene EventHandlers as events, consistently use MjStepArgs
2024-01-26 14:35:03 +00:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
2feefbc5d2
Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID.
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PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
2024-01-17 10:54:23 -08:00
67a00a3a51
Rename mjMAXTHREADS -> mjMAXTHREAD (consistency).
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PiperOrigin-RevId: 599130235
Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
2024-01-17 04:33:44 -08:00
3b440921df
Merge pull request #1268 from Balint-H:feature/unity-hmap-dyn
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PiperOrigin-RevId: 598652839
Change-Id: I3285f041c5c2e3e9286f1bb106825ee20e7147e3
2024-01-15 12:54:06 -08:00
2388b651e8
Unity plug-in: Fix for when xml file has no <compiler> section.
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PiperOrigin-RevId: 598646137
Change-Id: Id27635dc3064f8568ae0d86c2cdee8c2d414dd2f
2024-01-15 12:04:26 -08:00
c77f984d9b
Merge pull request #1330 from Balint-H:fix/unity-joint-limits
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PiperOrigin-RevId: 598603093
Change-Id: I441631e33e812988694f8eed48c719c6bab86148
2024-01-15 07:08:03 -08:00
66a0cd3b0b
Perform autolimit check on actuators
2024-01-11 16:29:08 +00:00
3a00450d00
Rephrase condition for default limited definition so it's more intuitive
2024-01-11 16:20:13 +00:00
56b30d9d15
Check the autolimits attribute before assigning default values for joint limitedness
2024-01-11 16:09:06 +00:00
2c024164ea
Edit hfield_data in Unity
2023-12-21 16:04:25 +00:00
1028051d1a
Merge branch 'main' of https://github.com/google-deepmind/mujoco into feature/unity-hmap-dyn
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Merge with main to keep branch up to date
2023-12-21 11:45:49 +00:00
d0b505c67b
Reformat scripts to better follow guidelines
2023-12-19 13:54:49 +00:00
7fb448613f
Post release version update: Update to V3.1.2
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PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
2023-12-18 15:03:37 -08:00
7cb7c87f70
Fix a few issues with the passive viewer.
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1. Create an arena for the mjData instance used by the passive viewer visualization.
When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.
2. Add missing a missing field in scene state for flex visualization.
3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.
4. Add some locks in places where the render thread and Simulate::Sync collide.
This fixes #1280 .
PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
2023-12-18 07:33:19 -08:00
Yuval Tassa