38fa756a20
Add mjGEOM_LINEBOX, used in visualization of collision trees.
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PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
2023-12-15 05:36:35 -08:00
da211ddf29
Improve description of the collision detection pipeline.
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PiperOrigin-RevId: 590742091
Change-Id: Idfcc37cece21dcf46401a147a43aa8ec4eeb05aa
2023-12-13 16:06:30 -08:00
c2c76195dd
Updating Mujoco Release version number to v3.1.1
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PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
2023-12-13 14:26:08 -08:00
537d649e95
Improvements to transmission documentation.
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PiperOrigin-RevId: 590694542
Change-Id: I9dc25655116c9300061095c2a2b701530bbbbeca
2023-12-13 13:22:40 -08:00
89d15c48e8
Update version number in third_party/mujoco/doc/changelog.rst for v3.1.0
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PiperOrigin-RevId: 590258202
Change-Id: I1220eb48e7c3871fdf785cf74819aca12d0c75c0
2023-12-12 10:42:22 -08:00
fcebdf4d09
Update MuJoCo to v3.1.0 for release.
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PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
2023-12-12 10:37:47 -08:00
28a9e6d9a2
Add mjNOBJECT value to mjtObj enum.
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PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
2023-12-12 05:15:00 -08:00
64c33cefcf
Correct formula for solref direct stiffness. Fixes #732 .
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PiperOrigin-RevId: 590144795
Change-Id: I94def777c7456243509374caecea2a335859f1f2
2023-12-12 03:56:18 -08:00
07e05b4c55
Fix typo. Fixes #1221
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PiperOrigin-RevId: 589835888
Change-Id: Iacedbe642709d5fbd43b7f0f1f9daa6447ce6155
2023-12-11 08:42:06 -08:00
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.
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Fixes #982 .
PiperOrigin-RevId: 589556339
Change-Id: I3e7ff185a089715a386694321d4b89d09d481cf9
2023-12-10 03:27:44 -08:00
762371c3e4
Add kv damping attribute to position and intvelocity actuator shortcuts.
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PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
2023-12-06 04:28:30 -08:00
899ba4b7ec
Add missing period in documentation.
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PiperOrigin-RevId: 588127219
Change-Id: Ib39808f303cebb6c619d1119024e9a1352326473
2023-12-05 11:02:26 -08:00
3c05f9fafc
Add a note to future change log about releasing 10.16 macOS wheels.
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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
c0b7b9873d
Store paths for hfields, textures, and skins similar to meshes.
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PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
2023-12-02 03:51:25 -08:00
67fa7c1dc2
Add put_model, put_data, and get_data to MJX.
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These io functions replace device_put, device_get_into. These new functions correctly copy intermediate fields such as efc_J, which the old functions could not.
PiperOrigin-RevId: 586712273
Change-Id: Ia3a4104af17db2ebd41b41a2ca501c5de9ac5d05
2023-11-30 10:14:46 -08:00
822b03446c
Improve pipeline documentation, expose mj_implicit function to public header.
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PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
2023-11-29 10:18:57 -08:00
7d8d4d398e
Make elasticity plugins compatible with flex pins. Fixes #1235 .
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Before change:
poncho 18.20s
poncho_flex 44.60s
floppy 4.70s
floppy_flex 6.43s
After change:
poncho 18.23s
poncho_flex 44.62s
floppy 4.67s
floppy_flex 6.57s
PiperOrigin-RevId: 585952587
Change-Id: I0e7c1513f64c7ab1e6ad71e2168b4467c042b46f
2023-11-28 06:13:43 -08:00
35c90844ae
Add sites to MJX.
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PiperOrigin-RevId: 585691582
Change-Id: I6cc594daf436231f91534f137ff259e7b39811d9
2023-11-27 10:28:50 -08:00
ca046cbf64
Fix rendering bug in changelog.
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PiperOrigin-RevId: 585627863
Change-Id: I238b9d7eb13dbc8660f15f45efe6a84ccbb84c66
2023-11-27 05:59:53 -08:00
eb9568a48b
Add frame element to MJCF.
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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
2023-11-27 03:32:18 -08:00
8010aad7be
Add flex_elemlayer to mjvSceneState. Fixes #1193 and #1219 .
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PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
2023-11-27 02:25:05 -08:00
e33adaca9c
Fix typos in mju_boxQP documentation.
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PiperOrigin-RevId: 585462325
Change-Id: Ib1c15c3d5af8475ec1a62b50c66b729579a23e60
2023-11-26 11:23:52 -08:00
002b427a32
PID Controller as an actuator plugin.
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Implement a configurable PID controller.
PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
2023-11-25 08:41:01 -08:00
d070b1893e
Improved SDF objective function.
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For two colliding SDFs `A` and `B`, the function is `(A+B)+abs(max(A,B))`. This can also be written as `clearance + abs(intersection)`. This function has the following properties:
- On the penetrating surface, it is equal to `A+B`, i.e. the clearance field which is the penetration depth.
- The object boundary is a set of local minima in 3D space, since `abs(max(A, B))>0` away from the surface.
- Along the penetrating surface, the maximum penetration is a local minimum of the clearance since this field is orthogonal to the midsurface field `A-B`, which acts as a support plane for the contact.
[Level sets of the improved function for two colliding circles](https://www.wolframalpha.com/input?i=plot+sqrt%28x%5E2%2By%5E2%29-1+%2B+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1+%2B+max%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+-+min%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+ ).
PiperOrigin-RevId: 585106580
Change-Id: I5b18a1ef262ceb0a1ab8abcad8acfd6dc1992e2c
2023-11-24 09:07:17 -08:00
6a83b86553
Update M1 Pro with M3 Max benchmarks in MJX docs
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PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125
2023-11-23 10:46:54 -08:00
f2025c6abf
Allow plugin actuators to have activation state.
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Accept new attributes on the plugin/actuator tag:
- dyntype
- dynprm
- actlimited
- actrange
- actearly
This addresses some of the requests in #1098 .
PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
2023-11-23 05:14:03 -08:00
b41f6d0942
Correct documentation of eulerseq attribute w.r.t URDF conventions.
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PiperOrigin-RevId: 584394256
Change-Id: I0afcb6ced81b98898988cc66f46742175a9a55c5
2023-11-21 12:11:05 -08:00
2bc2bc902f
Clarify that the contact disable flag also disables collision detection.
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PiperOrigin-RevId: 584300974
Change-Id: I740fd6833b2ea1b77bdb70dc210a1bd1f7eb6f17
2023-11-21 05:57:51 -08:00
cd56a41f83
Fix bug in Cartesian actuation with movable refsite.
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PiperOrigin-RevId: 584035818
Change-Id: I005f6bbbe02f8b36d287ecada0406a6ae4d720ba
2023-11-20 08:37:29 -08:00
8ca51b5318
Backtracking line search for SDF collisions.
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Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.
This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.
PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
2023-11-20 06:33:01 -08:00
dbf44fe2b4
New SDF objective function.
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This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).
The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29 )
PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
2023-11-20 05:06:33 -08:00
98082ae7f9
Add description of eq_active state variable to documentation. Fixes #1208 .
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PiperOrigin-RevId: 583712793
Change-Id: I6f4adca5692fd181bb8f6c0f34ae09a756a84fc1
2023-11-18 20:06:33 -08:00
530058cadb
Clarify support for muscles/tendons in future MJX. Add details to the large scene benchmark.
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PiperOrigin-RevId: 583018058
Change-Id: I3d93a73b4bd71ade1ecf28b8cff9a114259e71e1
2023-11-16 06:10:34 -08:00
1554048856
Bump dev version number to 3.0.2.
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PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
2023-11-15 12:51:04 -08:00
8d5966eec9
Update changelog for 3.0.1 release.
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PiperOrigin-RevId: 582705280
Change-Id: I6d2a8df7bccfa2ecb76b7ef3ef8d5a7377927589
2023-11-15 09:30:35 -08:00
2d2b6ecf93
Fix formatting bugs in XMLreference doc page.
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PiperOrigin-RevId: 582661350
Change-Id: I85a67b1286e9d70dc253e541d95fdfc58ce8f451
2023-11-15 07:00:37 -08:00
e3b3f96373
Add flex_texcoordadr to mjvSceneState. Fixes #1193 .
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PiperOrigin-RevId: 582630943
Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
2023-11-15 05:02:05 -08:00
f5285e0b23
Add flex to dm_control schema.
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PiperOrigin-RevId: 582323853
Change-Id: I4ce25bf29d0a883bca286954a14c4a07a500f145
2023-11-14 08:05:29 -08:00
c8146372cf
Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts.
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PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
2023-11-13 16:48:49 -08:00
f1bf394415
Add missing commas in attribute lists in XML reference.
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PiperOrigin-RevId: 581984255
Change-Id: Ie834a9578357bba68839d5172892cd9d6329122e
2023-11-13 09:08:43 -08:00
cdf55e2ae9
Do not override search bar text color when data-theme="auto" in light mode.
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PiperOrigin-RevId: 580546595
Change-Id: If39cd937e9288c860b8b713911f0ef5114aee5f5
2023-11-08 08:46:08 -08:00
1881c2d881
Improve sorting of samples in documentation.
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PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
2023-11-06 08:12:24 -08:00
8a5e2b19a8
Improve mjContact documentation. Fixes #1136
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PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
2023-11-06 07:28:51 -08:00
dafd041ad8
Minor documentation improvements.
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PiperOrigin-RevId: 579825348
Change-Id: Iba81616fe9fc7d57a640775efd46afb5fc2f27bf
2023-11-06 06:36:13 -08:00
0f37deca0d
Documentation improvements.
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Fixes #598 #691 #1071 #1072
PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
2023-11-06 05:56:02 -08:00
5a9239e11c
Improve inline documentation of mj_passive and mj_subtreeVel.
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PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
2023-11-06 05:12:11 -08:00
c45996bba8
Add cell to tutorial colab demonstrating procedural camera control.
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https://youtu.be/cE3s_IfO4g4
PiperOrigin-RevId: 579466532
Change-Id: I433db285bcfa2b9fab0c11e1fef1e25af8187901
2023-11-04 07:43:06 -07:00
7b9a0cdce6
Correct passive viewer pane argument documentation. Resolves #1166 .
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PiperOrigin-RevId: 579360444
Change-Id: I9fffa9d466f57eed1cfd5b4b86110739e8e66399
2023-11-03 18:57:07 -07:00
f70cec5775
Remove temporary banner
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PiperOrigin-RevId: 579317175
Change-Id: I26444eb467919e40d249ee5befee0164250a28d7
2023-11-03 15:07:40 -07:00
7a7cfc0f60
Improve flex docs.
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Fixes #1141 and #1152 .
PiperOrigin-RevId: 578855375
Change-Id: I44746c3ae331edcb22b7e16744fb38369039e888
2023-11-02 08:05:12 -07:00
Yuval Tassa