827b7a2792
Solver parameter docs improvements.
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- Correct the equation for penetration depth. The equation is tested in engine_core_constraint_test.cc.
- Add a tip on scaling damping with stiffness.
PiperOrigin-RevId: 621111712
Change-Id: I8fcc133cbc638ffef2d0ddf4e298ae402dda7b6a
2024-04-02 03:03:02 -07:00
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
d258d5e152
Check all edge pairs in convex-convex.
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PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032
2024-03-28 11:33:46 -07:00
297dc76b32
Merge pull request #1541 from wangcongrobot:main
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PiperOrigin-RevId: 619241318
Change-Id: Ic9e6a13eabc6f8c7cbb6fa387ab97af47557e618
2024-03-26 10:46:38 -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
31d48d3e44
Update fluid.rst
2024-03-22 16:07:57 +01:00
a23cb4d22c
Cite Vaxenburg et al. in fluid force documentation.
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PiperOrigin-RevId: 616114884
Change-Id: I0e7db61820c6ece118dee6871b8a526fdb79fb02
2024-03-15 06:57:49 -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
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
c4562ac61b
Cleanup asset/mesh in XML doc.
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PiperOrigin-RevId: 615156721
Change-Id: Ia2a6051506f9b3f4f2d7919893381f40f3e037df
2024-03-12 13:40:40 -07:00
2ba80206ab
Merge pull request #1479 from jmargeta:fix-record-command-docs
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PiperOrigin-RevId: 613927858
Change-Id: I8fe30db8677811c98ed4f881b51a0f430d93dd3b
2024-03-08 07:29:57 -08:00
b97110967f
Add Performance Tuning section.
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Fixes #1471 .
PiperOrigin-RevId: 613867065
Change-Id: I947284300709e0fd6633068d9690a4b19812141f
2024-03-08 02:31:07 -08:00
22cd96fbbc
Speed up convex-convex collisions.
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PiperOrigin-RevId: 613450874
Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
2024-03-06 21:48:51 -08:00
32dc89b425
Rename depthoverlay to adddepth
2024-03-06 21:17:43 +01:00
f287372467
Add url to relevant offscreen buffer attributes
2024-03-06 19:46:51 +01:00
548177d46c
Rename depthoverlay argument
2024-03-06 19:14:32 +01:00
39edea3a6c
Add an explicit note on recording resolution
2024-03-06 19:01:25 +01:00
be68f90190
Make depth overlay in video recording optional
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Add docs for the record arguments
2024-03-06 18:47:14 +01:00
fe2215384b
Update docs on the video recordings's resolution
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This fixes the the ffmpeg command to correspond to the default humanoid.xml resolution (2560x1440).
2024-03-06 18:47:14 +01:00
106453fa2b
Updated version number to be (v3.1.4) ahead of current release (v3.1.3)
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PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
2024-03-06 09:07:25 -08:00
b475337e02
Update docs of ffmpeg raw video conversion
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Makes it work well with the given humanoid example
2024-03-06 14:34:15 +01:00
8e0998dcbd
Fix docs for the record command
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Renames the non-existent "render" command to "record"
2024-03-06 01:36:13 +01:00
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
e142bca7f2
Remove special handling of mjModel and mjData strings in autogenerated functions.rst
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PiperOrigin-RevId: 612714709
Change-Id: Ie6c139d2c41488cd19c9bf5152b912a51b2f3a34
2024-03-04 23:00:35 -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
789188d51d
Merge pull request #1434 from traversaro:patch-32
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PiperOrigin-RevId: 611046247
Change-Id: I05fa95c13c9c0a9bf5b6b50bb3d201ffbc556dd6
2024-02-28 03:30:02 -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
8c63a8b8c7
Fix mjpResourceProvider example
2024-02-20 23:56:43 +01:00
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
f1d4f8f0a1
Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset.
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PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
2024-02-16 05:09:05 -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
bafe490ea8
Sort assets in schema according to order in docs.
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PiperOrigin-RevId: 607272771
Change-Id: Ifd1220671a59effd0a841babbe746dd23d02eefd
2024-02-15 03:10:43 -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
b6873ec8a2
Move mjModel.mesh_{pos,quat} before mesh_pathadr so all attributes related to original asset data are next to each other.
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PiperOrigin-RevId: 606277473
Change-Id: Ia4f6df552192c8a2847126975b6a1a31df63cf65
2024-02-12 09:37:48 -08:00
72cf304e2b
Improve documentation of mesh pre-processing.
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PiperOrigin-RevId: 606268723
Change-Id: I1d939cbb214036ab477e12ae3fd266a25ff89399
2024-02-12 09:04:18 -08:00
4b8363de6d
Update docs with new Menagerie models.
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PiperOrigin-RevId: 606126764
Change-Id: I677e7860798e60b2b65d7054f60ad2bc5c4c05b1
2024-02-11 20:42:59 -08:00
4ad1dc4b84
Mention the roles of "center" and "extent" in visual/global/{azimuth,elevation}. Fixes #1407 .
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PiperOrigin-RevId: 605649532
Change-Id: I0ca0142a3c164a502fefb6b91d204c4bb3d25a95
2024-02-09 09:22:50 -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
Nimrod Gileadi