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Author SHA1 Message Date
Nimrod Gileadi 8ecb16abfa Don't run particle.xml in testspeed_test under ASAN. 
Reduce the number of steps for a couple of other slow tests.

PiperOrigin-RevId: 591844569
Change-Id: If722567b91163f1f3c451302f9543a43d05872a1
 2023-12-18 03:33:59 -08:00
Yuval Tassa dc0d0c59d4 Fix bug in simulate where the "LOADING..." label was not properly showing. 
PiperOrigin-RevId: 591257979
Change-Id: Id09754b1e5a87decfb68b9fe305388aa8f0f5ed3
 2023-12-15 08:12:28 -08:00
Yuval Tassa 38fa756a20 Add mjGEOM_LINEBOX, used in visualization of collision trees. 
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
 2023-12-15 05:36:35 -08:00
Yuval Tassa f2a967348c Fix bug introduced in 7942fe957e 
That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed.

PiperOrigin-RevId: 591036252
Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941
 2023-12-14 13:30:38 -08:00
Kyle Bayes 9f6be3135e Modify mjListKeyMap to be a fixed-size array, and add internal object_lists variable to mjCModel to remove redundant code. 
PiperOrigin-RevId: 590997348
Change-Id: I5f4d7de605f44d40a75eb1e9ceec208325fa3be5
 2023-12-14 11:12:01 -08:00
Erik Frey 0915d69c3f Correctly transform site_xmat in MJX get_data/put_data. 
PiperOrigin-RevId: 590750273
Change-Id: I836e1f5d20725ed9b93bf86fe3e8e61954a56b47
 2023-12-13 16:34:42 -08:00
Yuval Tassa da211ddf29 Improve description of the collision detection pipeline. 
PiperOrigin-RevId: 590742091
Change-Id: Idfcc37cece21dcf46401a147a43aa8ec4eeb05aa
 2023-12-13 16:06:30 -08:00
Copybara-Service 11dae6e3a9 Merge pull request #1206 from Balint-H:feature/mouse-spring-qol 
PiperOrigin-RevId: 590741248
Change-Id: I0228a2e6a27fd869f34f3e96163cd29e5ac99f35
 2023-12-13 16:04:24 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Yuval Tassa 537d649e95 Improvements to transmission documentation. 
PiperOrigin-RevId: 590694542
Change-Id: I9dc25655116c9300061095c2a2b701530bbbbeca
 2023-12-13 13:22:40 -08:00
Copybara-Service 4bbb19144e Merge pull request #1275 from TyLindberg:patch-1 
PiperOrigin-RevId: 590693053
Change-Id: Ie1ec8edc2681050f089f150a775612fc8449d948
 2023-12-13 13:17:12 -08:00
Yuval Tassa 1c34553631 Add shortcuts for power function in impedance computation. 
PiperOrigin-RevId: 590692245
Change-Id: I1a49475c9a8299f4845e4ec33c9a7ce21a9c5d2b
 2023-12-13 13:14:27 -08:00
Yuval Tassa 5b2c98f8f1 When saving XMLs, don't round floats that are bigger than INT_MAX. Fixes #1278 
PiperOrigin-RevId: 590692020
Change-Id: Icd11d20f47bc4163eb4378f4cb031b8fd9d13612
 2023-12-13 13:13:15 -08:00
Tyler Lindberg b82c382c53 Use positional arguments with jp.where 2023-12-12 16:28:36 -08:00
Baruch Tabanpour 0d37670698 Fix eigen3 commit hash. 
PiperOrigin-RevId: 590335535
Change-Id: I90819d420e5ef54dfc5b202ce0407e1ea833a8a4
 2023-12-12 14:22:45 -08:00
Google DeepMind 0df1c9c733 Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0 
PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
 2023-12-12 13:17:35 -08:00
Google DeepMind 89d15c48e8 Update version number in third_party/mujoco/doc/changelog.rst for v3.1.0 
PiperOrigin-RevId: 590258202
Change-Id: I1220eb48e7c3871fdf785cf74819aca12d0c75c0
 2023-12-12 10:42:22 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00
Kevin Zakka 53883ce86a Add a close() method to mujoco.Renderer which explicitly frees the gl context. 
PiperOrigin-RevId: 590221484
Change-Id: I07392f9c53f662a37a57ab23acfef9aa5a98a49b
 2023-12-12 08:59:46 -08:00
Nimrod Gileadi e3df84ec3f Include the size limit in error message from mjr_addAux. 
This is to help debug #1274.

PiperOrigin-RevId: 590215990
Change-Id: I356675be84f9cb2892d31d4dc7639adf49fe4a0f
 2023-12-12 08:41:10 -08:00
Yuval Tassa 35f095d7c5 When paused in simulate, add index of history scrubber if not 0. 
PiperOrigin-RevId: 590184966
Change-Id: Id0914c41a1339cf71ebdea02ec486c52c3d37179
 2023-12-12 06:43:37 -08:00
Yuval Tassa 28a9e6d9a2 Add mjNOBJECT value to mjtObj enum. 
PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
 2023-12-12 05:15:00 -08:00
Yuval Tassa 64c33cefcf Correct formula for solref direct stiffness. Fixes #732. 
PiperOrigin-RevId: 590144795
Change-Id: I94def777c7456243509374caecea2a335859f1f2
 2023-12-12 03:56:18 -08:00
Nimrod Gileadi aed4254d65 Fix the table formatting in plugin/actuator/README.md. 
The line continuation format that was used is not supported on GitHub.

PiperOrigin-RevId: 590141362
Change-Id: I0ab0dabfb8977bdf79682476376dda435787eba0
 2023-12-12 03:42:45 -08:00
Copybara-Service 5c8f22609a Merge pull request #1263 from limymy:main 
PiperOrigin-RevId: 589857317
Change-Id: I5f241f5c798811b0d082ba4bed9ca8c8233e4052
 2023-12-11 09:59:59 -08:00
Yuval Tassa 07e05b4c55 Fix typo. Fixes #1221 
PiperOrigin-RevId: 589835888
Change-Id: Iacedbe642709d5fbd43b7f0f1f9daa6447ce6155
 2023-12-11 08:42:06 -08:00
Yuval Tassa 1885d518eb Use the string (rot:lin) in mjdata.h to clarify where 6D motion vectors use the Featherstone convention. Also add clarifying text to the appropriate note in the documentation. 
Fixes #982.

PiperOrigin-RevId: 589556339
Change-Id: I3e7ff185a089715a386694321d4b89d09d481cf9
 2023-12-10 03:27:44 -08:00
Yuval Tassa b22919543d Fix bugs related to saving of <statistics> values. 
Before this change:
- User-modified values of `mjModel.stat.{meanmass, meaninertia}` would not be saved to XML.
- Non-user-modified values of `mjModel.stat.{meansize, extent, center}` would always get saved to XML.

After this change values are saved to XML only if provided by the user, either in the XML or by changing values in `mjModel` before saving.

PiperOrigin-RevId: 589473351
Change-Id: I4dcf4892ef61c35edf424226e731232d861bad8d
 2023-12-09 16:06:39 -08:00
Baruch Tabanpour e7d637f375 Fix issue with foot vel in MJX notebook 
PiperOrigin-RevId: 589276253
Change-Id: I2c8c24e42d037d8c59667364a298f8b669d779b6
 2023-12-08 16:44:36 -08:00
Copybara-Service 263451a3f2 Merge pull request #1267 from JamieMair:updated-3rd-party-mujoco-bindings 
PiperOrigin-RevId: 589268337
Change-Id: Ia3f3c392f6df5a6d778b2e0b1f9278195b0a42c3
 2023-12-08 16:11:49 -08:00
Yuval Tassa 7942fe957e Circumvent bug in mjc_BoxBox. 
The box-box collider sometimes outputs bad contact points which are far outside one of the two boxes. This happens at configurations which are very rare numerically, but rare configurations (e.g. perfect box alignment) are often induced by the designer and the physics, making them actually not-so-rare.

Since the box collision functions are very difficult to understand, we circumvent the issue by extending the post processing code to detect and remove such contacts.

PiperOrigin-RevId: 589178197
Change-Id: I82b8a888ef04f9196111c960757e3314d0ab6d8e
 2023-12-08 10:39:27 -08:00
Alessio Quaglino a006b15958 Add map from objects names to their index. 
Also some minor cleanup of repeated code in user_model.

PiperOrigin-RevId: 589135294
Change-Id: I16f22c4dbdde961cedc042af3bdc9d3577d33459
 2023-12-08 08:14:16 -08:00
Alessio Quaglino 623201ec76 Throw error if scale attribute is used with an SDF. 
Fixes #1210.

PiperOrigin-RevId: 589101807
Change-Id: I3f2796de3438fbcdaf9221bddc5c9bd82aedb7cb
 2023-12-08 05:41:22 -08:00
Yuval Tassa b1a912e9e2 Improve readability of test. 
PiperOrigin-RevId: 589048504
Change-Id: I5087cfd67481df90103da2d7f5f06e421fc28e11
 2023-12-08 01:18:59 -08:00
Alessio Quaglino 1db0a9946f Fix frame accumulation order for <frame> meta-element. 
PiperOrigin-RevId: 588803425
Change-Id: Id0289c34d1a6cfb6007540a29cc1f32d879e43ed
 2023-12-07 08:37:20 -08:00
Alessio Quaglino d12fe594d9 Add suffix to duplicated assets. 
PiperOrigin-RevId: 588775467
Change-Id: I3a0d2a14601cf018b0c8c56728bd3ae22adb8ec2
 2023-12-07 06:46:51 -08:00
Jamie Mair 14e9607d3a Edited README to update the entry for the Julia 3rd party bindings 2023-12-07 11:16:10 +00:00
limymy 08c6233912 fix gcc warning "stringop-truncation" 2023-12-07 14:36:29 +08:00
Copybara-Service e4359c04df Merge pull request #1253 from Balint-H:feature/unity-hmap 
PiperOrigin-RevId: 588420615
Change-Id: I2340f2fc025017133644eeedacf94b5c83e04669
 2023-12-06 07:32:45 -08:00
Yuval Tassa 762371c3e4 Add kv damping attribute to position and intvelocity actuator shortcuts. 
PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
 2023-12-06 04:28:30 -08:00
Erik Frey b3ccf67ebf Cleanup MJX tests and migrate them to put_model/put_data. 
PiperOrigin-RevId: 588304729
Change-Id: I58075383e6eed64ae00cea305a568eba6465b0b0
 2023-12-05 23:08:05 -08:00
Kevin Zakka 899ba4b7ec Add missing period in documentation. 
PiperOrigin-RevId: 588127219
Change-Id: Ib39808f303cebb6c619d1119024e9a1352326473
 2023-12-05 11:02:26 -08:00
Nimrod Gileadi 5e9906be84 s/paramters/parameters/ 
PiperOrigin-RevId: 588113325
Change-Id: I1b7e754c747baedb8d2b154c3dc395a7062e8fc5
 2023-12-05 10:20:04 -08:00
Nimrod Gileadi 3c05f9fafc Add a note to future change log about releasing 10.16 macOS wheels. 
This change relates to #1213, and should fix it when we push the next release.

PiperOrigin-RevId: 588099974
Change-Id: Ic1c4164f8a6400e92b5f509c3e03ff9fbc1c6033
 2023-12-05 09:39:52 -08:00
Alessio Quaglino 8c7c39a211 Lock the sim mutex in PhysicsLoop and PhysicsThread. 
This prevents an invalid memory access when the stack is used in engine_vis.

Fixes #1219.

PiperOrigin-RevId: 588017796
Change-Id: I1ee18c5aa5e96ccaeebb0a467cd384355882b80b
 2023-12-05 03:56:52 -08:00
Nimrod Gileadi c062a8db19 Allow multiple actuators to use the same PID plugin. 
Maintain separate state for each actuator in the Plugin object.

PiperOrigin-RevId: 587760569
Change-Id: I633a1b94f0dde9377120145066a26aef6a4033b8
 2023-12-04 10:08:07 -08:00
Nimrod Gileadi 236dcb4ffd Fix a bug with PID actuators, when plugin definition order differs from actuator order. 
PiperOrigin-RevId: 587729879
Change-Id: If71c7e374f36ef08c5147e7316066d6f5365925f
 2023-12-04 08:31:45 -08:00
Bálint Hodossy f5a2879f9d Fix braces convention 2023-12-04 14:00:24 +00:00
Bálint Hodossy 8ec1e4e2b8 Add heightfield geom type with Unity terrain, import not yet supported 2023-12-04 13:55:38 +00:00
Matthew Bennice c0b7b9873d Store paths for hfields, textures, and skins similar to meshes. 
PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
 2023-12-02 03:51:25 -08:00