b85f419fcb
Add video with clips from least-squares tutorial to docs.
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PiperOrigin-RevId: 620144313
Change-Id: I79faa6a1446e9e6c88e16a238029f45c518c16d1
2024-03-28 21:00:14 -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
4f0293c6cb
Added support for msh2.2
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Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.
Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark
PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
2024-03-26 10:12:13 -07:00
bb42ff1657
Fix order of enable flag strings. Before this change, using the UI to toggle the "InvDiscrete" and "Sensornoise" flags would toggle the opposite flag.
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PiperOrigin-RevId: 618658133
Change-Id: I35d4b9da2fdf68fed24efd518a30af60d3a806eb
2024-03-24 13:13:21 -07:00
2386353b02
Throw an error for margin/gap with meshes.
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PiperOrigin-RevId: 615937263
Change-Id: I3289cf1b1fec93385cc78a01e53866427453db59
2024-03-14 16:21:05 -07:00
02c62c118c
Fix bug where treedef for mjx.make_data doesn't match mjx.put_data.
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PiperOrigin-RevId: 615928973
Change-Id: I08af97ac0300b9d51c1f4b46d48dde98d24197fa
2024-03-14 15:51:15 -07:00
f2e107f7aa
Fix deep penetration for sphere/capsule-convex.
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PiperOrigin-RevId: 615539264
Change-Id: I6a5aac0574ddcb39bae8aafaf63f9561ca69288b
2024-03-13 14:12:42 -07:00
adc4b92c1b
Document nonlinear least-squares tutorial.
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PiperOrigin-RevId: 615496587
Change-Id: I97975a4dc99a599afd1eb6964d0ca0cf3d9fcc0e
2024-03-13 11:56:42 -07:00
22cd96fbbc
Speed up convex-convex collisions.
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PiperOrigin-RevId: 613450874
Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
2024-03-06 21:48:51 -08:00
eb2e064915
Updated version number to match the latest release v3.1.3 and date for mujoco release v3.1.3
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PiperOrigin-RevId: 612899279
Change-Id: I891a2a86a3d03491210e1dc259549d6484041928
2024-03-05 10:55:21 -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
49ddb7ca2e
Update changelog for 3.1.0.
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Fixes #1472 .
PiperOrigin-RevId: 612787350
Change-Id: Ia5609266462b5d537ce0c03efa764f1f32bc9389
2024-03-05 04:13:52 -08:00
3d24bdb217
Small improvements to MJX performance tuning section.
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PiperOrigin-RevId: 612377295
Change-Id: I542aba7a33372556b62e3cdb4bf0c1c4d97dc98a
2024-03-04 02:49:11 -08:00
419be4c605
Add crude broadphase impl.
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PiperOrigin-RevId: 611643683
Change-Id: Id7816dadd7e9f1b8855268b815353c61540c4e0c
2024-02-29 17:12:58 -08:00
2067e2083a
Add cameras to MJX. Fixes #1422
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PiperOrigin-RevId: 610870732
Change-Id: Iaa39bd00f56046c595dc961281ac23446ca5bdf2
2024-02-27 14:17:21 -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
abf6d41b7f
Fix incorrect data types in Python bindings of certain arrays.
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The mismatch between the `py::array_t` template argument and the type of the MuJoCo struct member being wrapped caused the `py::array_t` to be constructed via an unintended constructor overload, which in turn triggered `use-after-poison` under asan.
This bug affected the `geom`, `flex`, `elem`, and `vert` arrays in `mjContact`, and all array members in `mjrContext`.
PiperOrigin-RevId: 608632860
Change-Id: Ic227f691041b004a0fcf0cb6fa3d62c44861d9aa
2024-02-20 09:26:19 -08:00
05150546e3
Add inheritrange attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:42:44 -08:00
6a346c42e8
Adds support for mjOption.impratio to MJX.
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PiperOrigin-RevId: 607456034
Change-Id: I7f6549a4332fd2bc0331d76a8906b971ce28dbcf
2024-02-15 14:28:36 -08:00
47bb4a828e
Fixes to the MJX Euler integrator and Newton solver, and test improvements to catch future bugs like this.
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PiperOrigin-RevId: 606389094
Change-Id: I50d0143f338fe29a823c930dba82995ce8a64ce2
2024-02-12 15:46:27 -08:00
e77c3cb258
Update MJX viewer to use mjx.get_data_into and fix bad function parameters.
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PiperOrigin-RevId: 605461208
Change-Id: I7a4f6a1ed92382e522d50224e7b5cd73d8842750
2024-02-08 16:32:27 -08:00
4933a2c7b6
Improve performance of getting and putting MJX device data by reducing cost of ncon.
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PiperOrigin-RevId: 605454760
Change-Id: I5c52a84c12ab67d042fe43f6ada284b51a762294
2024-02-08 16:06:58 -08:00
3e2d62c248
Improve performance of getting and putting MJX device data with large numpy arrays.
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ndarray.tobytes() is faster than converting arrays to tuples by orders of magnitude.
PiperOrigin-RevId: 605437697
Change-Id: I7d42c10e178b1aec80ff38a82e863e0701c15e62
2024-02-08 15:02:21 -08:00
81adba763e
Update title - Version number and date to Version 3.1.2 (February 05, 2024)
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PiperOrigin-RevId: 604371807
Change-Id: I55638fea18e05a322a99332f020f255be218c763
2024-02-05 11:04:33 -08:00
41ad07c4ff
Fix numbering in changelog.rst
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PiperOrigin-RevId: 604347513
Change-Id: Id9dda4d6de2dc0a6175a8c6137a4b99b1ebe947e
2024-02-05 09:50:19 -08:00
7bb0ce4211
[Python Viewer] Allow users to override rendering flags via user_scn.
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Fixes #1190
PiperOrigin-RevId: 603672602
Change-Id: I3ff1bb0dca7e913b36f1b241aaea8b8bb95cadff
2024-02-02 06:39:08 -08:00
508669a9f2
Raise not implemented for frictionloss for now. #1344
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PiperOrigin-RevId: 602453907
Change-Id: I0ea506b54f96c4fadc0f29f9ed0a21b0b6a7e5d9
2024-01-29 11:45:36 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
669ee0ee48
Fix migration instructions for option/collision.
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Fixes #1367 .
PiperOrigin-RevId: 601754379
Change-Id: Ifb0b8fab4da44e161e463a71eec050c6635f3340
2024-01-26 07:03:00 -08:00
0a7be1732c
Adds support for explicit dense/sparse mass matrices to MJX.
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This increases performance, particularly for the Newton solver on TPU.
PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
2024-01-23 00:32:07 -08:00
aceb52bd09
Improvements to mujoco.rollout:
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- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time.
- User-defined control spec.
- Stop squeezing: outputs always have dim=3.
PiperOrigin-RevId: 600445256
Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
2024-01-22 07:01:53 -08:00
e0864ab7f2
Fix formatting bugs in changelog.
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PiperOrigin-RevId: 599815807
Change-Id: I67d3eb2fd30c94a9d498ba605243e0b87b1d4ca8
2024-01-19 06:29:26 -08:00
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
a14a584f1d
Fix bug in muscle length-gain curve. Fixes #1342
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PiperOrigin-RevId: 599165049
Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
2024-01-17 07:20:01 -08:00
a02fc405af
Add naive ray mesh implementation.
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PiperOrigin-RevId: 598993152
Change-Id: I708505bf20a89d5a4840451a11b99771195003e6
2024-01-16 16:29:11 -08:00
1e2e0b3053
Remove all visual-only assets if discardvisual is selected, not only the geoms.
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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
2024-01-15 06:39:25 -08:00
feb92bf535
MJX ray for planes, spheres, capsules, and boxes.
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PiperOrigin-RevId: 596004453
Change-Id: I6c15268f7ec6afc1aadd370a78ef225ab9c5fd04
2024-01-05 08:42:17 -08:00
63ec34f9f8
Add plugins to flex parent body if there are pinned vertices.
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Fixes #1270 .
PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
2024-01-03 09:53:22 -08:00
77b4132c47
Add site transmission to MJX.
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PiperOrigin-RevId: 592373042
Change-Id: I54d941f4ee6f74404fe2aea7253f5b426d097e23
2023-12-19 16:19:17 -08:00
80f50c943c
Add filterexact to MJX.
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PiperOrigin-RevId: 592026712
Change-Id: Ia73d67f36db5a4a1786a2532b5daa9e9a36f714c
2023-12-18 15:29:18 -08:00
1c31676e2d
Fix formatting error.
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PiperOrigin-RevId: 592018049
Change-Id: If0b59d18c380997c4c94795e275b56d2f6293c22
2023-12-18 14:57:15 -08:00
3ed81f864c
Update version number in third_party/mujoco/doc/changelog.rst for v3.1.1
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PiperOrigin-RevId: 591962782
Change-Id: I7c498e1339013e9207ef8c21e793c1d80f55d16d
2023-12-18 11:35:28 -08:00
d39ed1d3c8
Update changelog.
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PiperOrigin-RevId: 591932297
Change-Id: I9131400fee6839e9311baf28a069fc1e7237ee86
2023-12-18 10:05:27 -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
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
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
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
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
Yuval Tassa