96a8f002bc
Remove nroll argument from rollout
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nroll can always be implied from the other arguments of rollout.
Add tests for nroll inference.
2024-11-25 14:10:42 -05:00
7e46e21ef3
Add mju_mat2Rot.
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This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.
PiperOrigin-RevId: 700006006
Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
2024-11-25 09:19:10 -08:00
e9a2f055f0
Copybara import of the project:
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--
9d63ebca419496e36f94fbfec6f97f0227846cf5 by Balint-H <bkh16@ic.ac.uk >:
Throw exception if OBJ file is referenced in MJCF when loading in Unity
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a50486c19a3483cd914e7957d7d4a5efaab9d977 by Balint-H <bkh16@ic.ac.uk >:
Adjust line length
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2248 from Balint-H:fix/unity-obj-warning a50486c19a3483cd914e7957d7d4a5efaab9d977
PiperOrigin-RevId: 699962619
Change-Id: I2edff691fd5cedf79e2564f2ac5f2115393a4bf6
2024-11-25 06:39:15 -08:00
38e4c4812f
Merge pull request #2231 from Balint-H:fix/unity-tendon-import
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PiperOrigin-RevId: 699962497
Change-Id: I6284c0a3da4ecc907551c948290229f796448800
2024-11-25 06:38:09 -08:00
c6ba8f27fd
Add bind() method to MjModel and MjData.
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This method allows users to bind a spec to a model or data object, making it less verbose to access its arrays.
PiperOrigin-RevId: 699952211
Change-Id: I6b71a88d5a6968bc0f902bd49db7c568b46a4dfb
2024-11-25 05:53:58 -08:00
13b6055098
Add material namespacing to sites.
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Fixes #2243 .
PiperOrigin-RevId: 699713625
Change-Id: I1b45e43f2a6ccfa64c46489c9426fcc2acdc94c3
2024-11-24 08:39:29 -08:00
f909d63cdf
Enable to attach a spec to a frame.
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PiperOrigin-RevId: 699703988
Change-Id: Idbddcbce1e68286248458eb0bd24d5080451a58a
2024-11-24 07:35:14 -08:00
3a12db9ad2
Remove id attribute from mjSpec objects in Python bindings.
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Using ids is error prone in scenarios of repeated attachment and detachment. Python users are encouraged to use names for unique identification of model elements.
PiperOrigin-RevId: 699227286
Change-Id: Ifd83e6d85d36ff72ea43caf8b82eab9e4d552440
2024-11-22 11:05:14 -08:00
1d64362adc
Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization.
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This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.
PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
2024-11-22 09:38:08 -08:00
74dcd51d83
Update changelog with Python 3.13 support (upcoming release)
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PiperOrigin-RevId: 699127095
Change-Id: I098d1e91e59642f27a764d055c6ae9b77a8b1000
2024-11-22 04:34:33 -08:00
38ee55a957
Remove unused userfacenormal field from mjSpec.
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PiperOrigin-RevId: 698739284
Change-Id: I6407356ac12ad49454d15ecf9056f2c0bef713d5
2024-11-21 05:08:39 -08:00
cedd602bc1
Compress dense rows in mjData.actuator_moment
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PiperOrigin-RevId: 698516133
Change-Id: Idd861c2b63d77748a6282d72f8241eaeeb88006c
2024-11-20 14:10:28 -08:00
1767c11d46
Direct assignment of mjData.moment_rownnz
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This allows for better sanitizer coverage, errors will be caught upon read rather than upon use.
PiperOrigin-RevId: 698458735
Change-Id: I3003f3a122b83bbf42a6510260abbb8353c56a40
2024-11-20 11:24:36 -08:00
a1b18e707a
Compress actuator_moment memory using nJmom <= nu x nv.
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PiperOrigin-RevId: 698446692
Change-Id: I49c9633e12129a1e690724db82d1f11204e41d9c
2024-11-20 10:53:07 -08:00
aae5fd6906
Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.
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PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:30:47 -08:00
cd84011d7b
Default to nativeccd for geomDistance test.
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PiperOrigin-RevId: 698340192
Change-Id: I814286903e1726462b24390eb2c3dc5b3b76899e
2024-11-20 04:14:24 -08:00
867e8b8adb
Fix ARM issues with tests with nativeccd.
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Note: frameless_contact_hfield.xml doesn't work with libccd nor nativeccd on ARM as expected.
PiperOrigin-RevId: 698317464
Change-Id: I4c57e04639b9870b416c67d79a16a313c5276cf6
2024-11-20 02:30:15 -08:00
34c6f9b76b
Update build_requirements_usd.txt.
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PiperOrigin-RevId: 698138884
Change-Id: I8a3d093b460bd4acad1fa18806a59c29aaffd4c6
2024-11-19 14:07:21 -08:00
58d68d08d3
Refactor CopyPlugins() out of TryCompile()
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PiperOrigin-RevId: 698072233
Change-Id: I2138d9d8383838328611eef463448fe2f15bd173
2024-11-19 10:46:53 -08:00
821f1d3f98
Do not namespace empty actuator strings during attach.
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Fixes #2233 .
PiperOrigin-RevId: 698070772
Change-Id: I19613acfd407ba6a8ede40dad85324a70db480a8
2024-11-19 10:42:24 -08:00
e18567545b
Update various requirements.txt files.
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PiperOrigin-RevId: 698009096
Change-Id: Iaa2cdadaf31c16c580ce5c2060c8bf2b8377956e
2024-11-19 07:32:00 -08:00
5c23ae11ef
Fix bug in material texrepeat attribute, fixes #2223 .
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Was mistakenly cast from float to int, bug introduced in 3.2.0
PiperOrigin-RevId: 697993181
Change-Id: I643a07e2b0866a4af56d7cbd3344e764a7caf56f
2024-11-19 06:30:55 -08:00
072039ac60
Update Google Benchmark library to v1.9.0.
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The old version doesn't build under LLVM 19 with -Werror.
PiperOrigin-RevId: 697919386
Change-Id: I6cfa64936af9e2ea3b2c03e724b33f5bde7c799a
2024-11-19 01:27:36 -08:00
1feaf8fd67
Add *rgba fields as jax.Arrays for visual domain rando.
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PiperOrigin-RevId: 697038459
Change-Id: Ic6eae248e916329daa8fbbeb0770cf689f06b87b
2024-11-15 16:55:44 -08:00
0cb35a0fe1
Populate missing fields in mjCCDStatus in GJK code.
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PiperOrigin-RevId: 696965759
Change-Id: Idf0799a44876e95fc8d688dd39663a34f1808b27
2024-11-15 12:24:37 -08:00
f91588a171
Fallback to polytope3 if tetrahedron from GJK has the origin on a face (most likely due to a numerical issue).
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PiperOrigin-RevId: 696872633
Change-Id: I58edb0fdc30ad472c8f1338df728e8d42c25fc39
2024-11-15 06:53:00 -08:00
386662106b
Reshape arrays for LQR notebooks for Mujoco sparse2dense
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Without reshape the collabs results in an error due to incompatible function arguments
PiperOrigin-RevId: 696554177
Change-Id: Id4317ee6fccbe2ac912af7a8b07228ddebebbbcf
2024-11-14 09:42:37 -08:00
6b3d34d9be
Fix swapped params in tendons on XML import
2024-11-14 17:32:28 +00:00
0a0de6615d
Back out of gjkIntersect when convergence fails due to algorithm oscillating between two support points. Also, fix related bug in box support function.
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PiperOrigin-RevId: 696482893
Change-Id: Icedaf5489b761b8bf03ec30558b5d1128668a647
2024-11-14 05:12:32 -08:00
536c60a0ac
Print arena usage percentage in mjData print.
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PiperOrigin-RevId: 696464274
Change-Id: Ib794148e037521118138bd72c021dbe086c9681a
2024-11-14 03:52:41 -08:00
9f51ba50db
Fix field ordering in mjModel.
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`nnames_map` is not required for `mjModel` construction, it is set during construction.
PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
2024-11-14 03:45:34 -08:00
0e8cca93e1
Refactor nativeccd interface.
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- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).
PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
2024-11-13 10:28:45 -08:00
c68ee8055e
Fix ordering in mjxmacro.h.
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PiperOrigin-RevId: 696058596
Change-Id: I6359c082e528c1f53591033ea61c352ba5e13763
2024-11-13 03:12:24 -08:00
45f908c165
Enable attaching plugins not instantiated in the extension section.
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Fixes #2217 .
PiperOrigin-RevId: 695766524
Change-Id: I534b63400810bd6ef888f39f6665213280fd93ac
2024-11-12 09:36:06 -08:00
eb77d5b933
Fix bug in mesh hillclimbing support function.
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PiperOrigin-RevId: 695710616
Change-Id: I2127aee584c13efb44d70cc4e267354ca0b80bf0
2024-11-12 06:36:55 -08:00
f7cc1c2e5b
Read solref from jnt_solref when the user calls model.joint.solref.
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Same for solimp. Fixes #2221 .
PiperOrigin-RevId: 695416121
Change-Id: I962dc12b13fa4d02dc349ecad1a1ddc7085565db
2024-11-11 11:15:00 -08:00
0f381a9ebd
Add muscle actuators to MJX.
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PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
2024-11-11 07:46:20 -08:00
414b677eb8
print memory footprint of model and data
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PiperOrigin-RevId: 694088011
Change-Id: I3b743df2a59f554414b440aebfa6bf0d0e29b2d8
2024-11-07 05:56:02 -08:00
d6d3d6bb25
Fix typo in changelog.
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PiperOrigin-RevId: 694009875
Change-Id: I0ecafe467347a54b54c29c486b98516d1a53e5ea
2024-11-07 00:19:42 -08:00
18f88efe17
Contact visualization: if penetration is deeper than height, extend cylinder to show computed depth.
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PiperOrigin-RevId: 693869892
Change-Id: I1c873e3803286d6a636336246f498552617e978b
2024-11-06 14:46:31 -08:00
a2a0b95de0
Print arena memory usage in testspeed
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PiperOrigin-RevId: 693681047
Change-Id: Ica5b516d0141199f701567d64e2ea1446491e232
2024-11-06 04:50:42 -08:00
276f5b04cd
Bump MuJoCo version to 3.2.6.
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PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
2024-11-05 14:13:08 -08:00
f9569cdab0
Fix #2212 .
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PiperOrigin-RevId: 693294401
Change-Id: Ifef2b268f61b90f557580f61316786c50dc9698d
2024-11-05 04:17:48 -08:00
b7bbb2b25c
Update the MuJoCo changelog for the 3.2.5 release
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PiperOrigin-RevId: 693032354
Change-Id: I675424a3feeda8037a9559753dc93c05b812257c
2024-11-04 11:19:46 -08:00
298ce31e39
Update docs to highlight nativeccd
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PiperOrigin-RevId: 692918061
Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758
2024-11-04 04:34:53 -08:00
c168ac3397
Add source code links in docs for remaining API functions.
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PiperOrigin-RevId: 692728907
Change-Id: I145eb47453e6aa017505d53d3e17215959252e3d
2024-11-03 11:09:56 -08:00
efa5709c94
Fix broken link in XMLreference.
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PiperOrigin-RevId: 692669798
Change-Id: I8f61d1032d11c63945264a1b9dc1c034b7401d98
2024-11-03 04:18:43 -08:00
831d9881d3
Remove box, cylinder and ellipsoid composite types.
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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013 .
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
2024-11-02 11:14:13 -07:00
ebe60b9ad5
Add const to mjsDefault when used as function argument.
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Fixes #2197 .
PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
2024-11-01 18:18:42 -07:00
47ebb0614e
Set some visual params as jax.Arrays for visual domain rando.
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PiperOrigin-RevId: 692273879
Change-Id: I80475aa65744de06a6bfebbfb95a44faa751595f
2024-11-01 13:24:29 -07:00
Levi Burner