8e54516071
Fix broken links in changelog.
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PiperOrigin-RevId: 558767417
Change-Id: Ifa2a9fd3f146a0660658099eb9417f866af07cae
2023-08-21 06:13:17 -07:00
8421544add
Added elasticity and sensor subfolders in model/plugin.
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PiperOrigin-RevId: 558751363
Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
2023-08-21 04:48:45 -07:00
ef699d4b6d
Allow mocap bodies to be loaded by the Unity plugin.
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PiperOrigin-RevId: 558735711
Change-Id: Ibc9a81cbf8ec4b979d5b325c822c1bffc1408509
2023-08-21 03:28:45 -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
b5f9628dd7
Reduce mjMAXCONPAIR to 50.
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Use only the first `mjMAXCONPAIR` contacts in SDF-mesh collisions after sorting them using the penetration depth.
PiperOrigin-RevId: 558176217
Change-Id: Ia1ee12bd5ceb81e4c52f143831ad00426e8cf174
2023-08-18 10:02:44 -07:00
ba12a1354b
Optimize and refactor combineSparse and combineSparseCount.
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PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
2023-08-18 06:14:09 -07:00
b1ecc943bb
Fix multiple bugs related to mjvSceneState.
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PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
2023-08-17 10:25:39 -07:00
cf310079e2
Don't allow quat="0 0 0 0" in XML.
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PiperOrigin-RevId: 557535436
Change-Id: Ie71246da5fff67a7cc37cb1801dd88d4a79b5766
2023-08-16 10:47:23 -07:00
15d74ba939
Add missing include to sdf.cc.
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PiperOrigin-RevId: 557529739
Change-Id: Iff85d95b35977f7c329baf9a938f4580efd4b606
2023-08-16 10:30:09 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
6245edae28
Improve island discovery performance
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PiperOrigin-RevId: 557444755
Change-Id: I22a2093b563e8e144de9534917955ac403fa5599
2023-08-16 04:55:42 -07:00
ac3ac0d28f
Fix timing plots issue in simulate.
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Before this change timing plots would report zeros if the render thread was faster than the physics thread, making them unreadable when slowdown was used.
PiperOrigin-RevId: 557432042
Change-Id: Ie9a18fb84cab788d11dfbede4e3052f24441b4c4
2023-08-16 04:03:50 -07:00
8ea690ed70
Remove unused parameters from mju_sqrMatTDSparseInit.
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PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
2023-08-15 06:30:19 -07:00
3f6c694e75
Fix typo in changelog
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PiperOrigin-RevId: 557071510
Change-Id: I96eaf5d0eba91c6f2c85797b186af3bdb7ed3a7a
2023-08-15 02:48:31 -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
e4dddea42a
Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.
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PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
2023-08-14 11:17:47 -07:00
13490962a8
Merge pull request #1015 from aikkala:update-readme-myoconverter
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PiperOrigin-RevId: 556826813
Change-Id: I8f2abff550c2a5ce74db38cb7eb521f9711158a6
2023-08-14 09:59:50 -07:00
f34cb22bd3
Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM.
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PiperOrigin-RevId: 556823353
Change-Id: I650ac83767d60c69859aae6e38aa331f43814378
2023-08-14 09:49:34 -07:00
7e1c65b10e
Improve CRB code:
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- remove mj_crbSkip since this was only utilized during compile time to compute m->dof_m0, replaced with mj_crbDiag to compute only the diagonals for dof_m0,
- change row backward pass to forward pass to optimize processing diagonal blocks,
- and various code refactoring.
PiperOrigin-RevId: 556799924
Change-Id: I0a18d7a45862860fdddd7150540ddc8d64b01b29
2023-08-14 08:32:12 -07:00
8ddef7007f
Disable convex hull visualization for visual geoms.
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This additional check in engine_vis_visualize is necessary for meshes that are shared between visual and colliding geoms.
PiperOrigin-RevId: 556786969
Change-Id: I8270d3f2c0ce497c79b24b282f2f15ece44a423b
2023-08-14 07:45:53 -07:00
a276c49c30
Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively.
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PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
2023-08-14 07:18:57 -07:00
abfa08f6cd
Improve schema order in XML reference
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PiperOrigin-RevId: 556726473
Change-Id: I157dd170d66708a59510e5656468aef498bff7be
2023-08-14 03:17:01 -07:00
81d0e56185
Reduce font size in schema reference, make 4 columns
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PiperOrigin-RevId: 556719771
Change-Id: Ie1cf7ef02dab7fdd1eed40ce77ddaa71918a9754
2023-08-14 02:45:59 -07:00
6862cd7d1b
Fix broken link in README
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PiperOrigin-RevId: 556158264
Change-Id: Ib9292b384b50c4116d490992df2f8d443cff478f
2023-08-11 18:01:27 -07:00
70952f5f1c
Updates to README
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PiperOrigin-RevId: 556018026
Change-Id: I1feee93727a92079905d80288b5fd706e3ce800c
2023-08-11 11:07:15 -07:00
5b65f91bb9
Replace O2MConverter with improved MyoConverter
2023-08-11 10:02:14 +03:00
93012bf164
Remove legacy MacOS support in mju_alignedMalloc. As of MuJoCo 2.3.7, MacOS 11 is the oldest supported version of MacOS.
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PiperOrigin-RevId: 555090388
Change-Id: I57d7abf17952da250f1165f24dfcbb112aea92f9
2023-08-09 01:58:10 -07:00
631b16e7ad
Add better user error messages to Python renderer update_scene along with missing unit tests.
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PiperOrigin-RevId: 554482720
Change-Id: Ief3ba496fb5720668f98fb9d44a5c82e6a14b9cc
2023-08-07 08:22:34 -07:00
2d7d5319f7
Rework sparse addM function to support compressed sparse matrices.
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Note:
- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.
PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
2023-08-07 06:07:24 -07:00
6d7b49ccf5
Remove collision pruning statistics from simulate info panel.
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PiperOrigin-RevId: 554452244
Change-Id: I4f9f1d5e38d4b4bc37b5a2f0980b352db04a73c6
2023-08-07 06:05:13 -07:00
574ae6ab91
Add an actuator with actearly and dyntype="filterexact" to the test model.
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PiperOrigin-RevId: 554441792
Change-Id: Ibd67b2516bf0f01417936ce183856756885002c2
2023-08-07 05:08:46 -07:00
2c3297b3e7
Add filterexact and actearly options to MuJoCo.
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When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.
When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.
PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
2023-08-07 04:50:33 -07:00
f0f535ed04
Improve order and clarify declarations of arena variables in mjdata.h
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PiperOrigin-RevId: 554419319
Change-Id: I83b83c56be4b74060f4a108c35ce481b8f354c5e
2023-08-07 03:07:11 -07:00
4a519b9dd8
Raise an error if invalid camera name is provided to renderer update_scene. Fixes #870 .
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PiperOrigin-RevId: 553211464
Change-Id: I00ab01a9929160dd40a2a789b104a8a6ed0d5a61
2023-08-02 11:46:37 -07:00
a063e2f0ef
Add private functions and associated tests related to constraint island discovery.
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PiperOrigin-RevId: 553156672
Change-Id: Ifd73e3df443f7955359c5243d5f7756069335c05
2023-08-02 08:43:11 -07:00
efca1a76aa
Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names ), and fix a couple of typos.
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PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
2023-08-02 16:07:44 +01:00
dac34c91bb
Set tendon_invweight0=0 for models with no dofs.
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PiperOrigin-RevId: 551851674
Change-Id: I9d2fd1728b4b654e5bb91ac8f0d203e275b7b93a
2023-07-28 07:54:08 -07:00
455a081ee7
Cache triangles, vertices and normals from the mesh outside of the triangle loop so we don't have to request them inside the loop.
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This is because each time we call mesh.triangles or similar, the data gets copied from the native memory to a c# structure.
PiperOrigin-RevId: 551851115
Change-Id: Ie7820f61639f0d727ecf9716044ce18b3277913b
2023-07-28 07:50:54 -07:00
5f246ef210
Add ReadAttrVec, ReadAttrArr, ReadAttrStr, and ReadAttrNum to XML utils.
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Moving forward, the compiler objects should have encapsulated data, therefore the old ReadAttr* methods are being deprecated as they require raw pointers to read into.
No external changes other than minor improvements to ReadAttr and ReadVector.
PiperOrigin-RevId: 550880401
Change-Id: I632f40322ccd935f9af9b69e66b056c5cda6face
2023-07-25 07:31:23 -07:00
5b4b3415fa
Fix a typo: availabe -> available
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PiperOrigin-RevId: 550529748
Change-Id: I1277e096809bc4d66c98da726aa14a0cbfe18e56
2023-07-24 05:48:33 -07:00
65c827d422
Fix typo in key_callback example.
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PiperOrigin-RevId: 550013932
Change-Id: I418f49eee97e73d1b0218acc7e9259acaefb5edd
2023-07-21 12:12:53 -07:00
bbbf30ee47
Fix typo in docs.
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PiperOrigin-RevId: 549594904
Change-Id: I96c3964367081a8da0324c9989c9eb5414fa411f
2023-07-20 04:46:23 -07:00
eaf78b798b
Bump dev version number to 2.3.8.
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PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
2023-07-20 03:27:50 -07:00
c9246e1f50
Release version 2.3.7.
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PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
2023-07-20 02:13:55 -07:00
06b70832ce
Add keyboard event callback for Python passive viewer.
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Fixes #766
Fixes #846
PiperOrigin-RevId: 549449372
Change-Id: I37d17f1162c66d0e8482d402aae22d9a16b59deb
2023-07-19 15:54:44 -07:00
f7847ba73e
Fix GLFW crash when Python exits while the passive viewer is running.
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Fixes #790
PiperOrigin-RevId: 549440435
Change-Id: I808f6aaab6662225e5fe1131e0da72eca6011ba9
2023-07-19 15:20:46 -07:00
8386b28877
Change "MIME type" to "Media Type".
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MIME type is the historic nomenclature for Media Type, see e.g. https://www.iana.org/assignments/media-types/media-types.xhtml .
PiperOrigin-RevId: 549394435
Change-Id: I000e044a35ec44392e9c41bab6383aa89cdefc49
2023-07-19 12:35:57 -07:00
51aa375af0
Improvements related to models where joint-actuator relationship is not one-to-one:
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- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping ) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.
PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
2023-07-19 10:29:32 -07:00
7603b07a20
Fix broken Linux build in 5fcdae771b.
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PiperOrigin-RevId: 549338643
Change-Id: Icb2de7aa77ddb5d6c9bbf6a1140ef388ead5368c
2023-07-19 09:27:25 -07:00
Alessio Quaglino