ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
7479312218
Use LaTeX macros for prettier uppercase subscripts in documentation.
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PiperOrigin-RevId: 798547203
Change-Id: I039886fd15ee022de780a19d0ad6e17d01c306f4
2025-08-23 05:39:36 -07:00
fde479736e
Finalize built-in mesh example model and documentation
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PiperOrigin-RevId: 791227350
Change-Id: Ibdcdb8a4ee5b3f78c9ae93e1db2a9a2f9d55a80c
2025-08-05 08:32:51 -07:00
bb1d313780
Update docs reflecting MJX now has good support for implicitfast.
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PiperOrigin-RevId: 772660862
Change-Id: I2ba27b39bb6885b48f65ca1afdc6b83ec027a26d
2025-06-17 16:08:12 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
6c8cf82f27
Docs: fix mixed-up forward dynamics stages.
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PiperOrigin-RevId: 732465925
Change-Id: I8d350e398d749076cc5f24cd33fa1ee87876e426
2025-03-01 09:34:23 -08:00
7fdee13874
Fix typo.
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PiperOrigin-RevId: 731484375
Change-Id: I63859249dc60ca065a94996b52530b57fd975d0b
2025-02-26 15:50:47 -08:00
ed16f2daf2
Set nativeccd as default.
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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
cf1784bb79
Fix typo.
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PiperOrigin-RevId: 730410150
Change-Id: I0b2de4aea15cb630585f8c15dc29f368729adc3e
2025-02-24 05:25:25 -08:00
b90ff3f0b1
Improve integrator documentation.
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PiperOrigin-RevId: 729710349
Change-Id: I8bf1727b8cd3ea45bb16e3607c9d8f58e4a69007
2025-02-21 17:30:55 -08:00
8c22181156
Fix documentation typos.
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PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
2025-01-27 10:58:22 -08:00
69c66aa1bb
Fix typo.
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PiperOrigin-RevId: 716820809
Change-Id: I51f8608f0c01f4fc8016b4be779d98c8972bc913
2025-01-17 15:39:56 -08:00
cf721def3a
Missing renames of mpr_ -> ccd_
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PiperOrigin-RevId: 673330801
Change-Id: I1cd67454660aaea6dd41eb50a12638358676b8d0
2024-09-11 04:09:57 -07:00
2cb601c98d
Improve documentation w.r.t smoothness, differentiability and finite-differencing.
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PiperOrigin-RevId: 662848709
Change-Id: Icb7dc03a2c53d43d0d3a9e4ac95d963e5bc6853c
2024-08-14 03:11:38 -07:00
70d70bc3b7
Fix typos in MuJoCo documentation.
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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
2024-07-25 13:31:13 -07:00
70f86617f8
Fix typos in documentation.
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PiperOrigin-RevId: 650191926
Change-Id: I84d098782c6e4585a31e1de6bb1a7af3b3698f94
2024-07-08 03:49:12 -07:00
0d1c92b20a
Add documentation on pipeline stages and mjData self-consistency. Fixes #1667
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PiperOrigin-RevId: 638619787
Change-Id: Ic8dd0fbd178c4946757a07d74fca3b2c905f9080
2024-05-30 05:38:05 -07:00
3e35eebbb9
Documentation updates:
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- Added a section on preventing slip in the modeling chapter.
- Added more intuitive descriptions of friction coefficients in the Computation chapter.
- Fixed some en-dashes and em-dashes.
PiperOrigin-RevId: 630856003
Change-Id: I8e767e6c5a95affdeb72ef9bc424bdd18f58e4df
2024-05-05 12:10:06 -07:00
bcee4e9954
Add more details to reproducibility section.
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PiperOrigin-RevId: 624186625
Change-Id: Ibceace5b2b3d84c9cf0a179adfb6638450f9cb9f
2024-04-12 08:27:30 -07:00
feccf7ec96
Document mj_fwdPosition in pipeline docs, fix ordering error.
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PiperOrigin-RevId: 622829902
Change-Id: I2f1da9939aac38e4a662757f5c4bccf38a51e3da
2024-04-08 06:49:20 -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
58e9fb0baa
Docs: fix link to slider-crank example model.
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PiperOrigin-RevId: 603400948
Change-Id: I49e4a58ba0cd450950a35cccb749f04d34190cfc
2024-02-01 09:56:37 -08:00
b643c08c0d
Recommend CoACD for convex mesh decomposition in the docs.
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PiperOrigin-RevId: 596917392
Change-Id: I3fa6d22b879bf6b4d16e037bb2b8896df8d682a2
2024-01-09 06:45:37 -08:00
c79e1e5d01
Add documentation image variants compatible with dark mode. Fixes #587
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PiperOrigin-RevId: 596265596
Change-Id: Iedd076fbb7a6dca77a91e52e538be1c764d1f8fb
2024-01-06 14:02:34 -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
537d649e95
Improvements to transmission documentation.
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PiperOrigin-RevId: 590694542
Change-Id: I9dc25655116c9300061095c2a2b701530bbbbeca
2023-12-13 13:22:40 -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
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
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
893c404230
Runtime disabling of actuators according to group.
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Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.
- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.
https://youtu.be/H9qG9Zf2W44
Fixes #1092 .
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
2023-10-31 16:24:38 -07:00
0f94b4a5ad
Documentation improvements.
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PiperOrigin-RevId: 577620389
Change-Id: Ib104a57a2b2b35c334855782d548ff064e74e9d2
2023-10-29 06:56:59 -07:00
5231a335bf
Improve documentation regarding choice of integrator. Fixes #1085
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PiperOrigin-RevId: 576546484
Change-Id: I7192a0c32e1aed8e201d1db953b657e605cd74f0
2023-10-25 09:04:45 -07:00
98cc3a6fb2
Typo and minor changes.
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PiperOrigin-RevId: 574403633
Change-Id: I1798f91e27911e351ee99c749c6dd62d851b61cf
2023-10-18 02:55:49 -07:00
65e66d0fc9
Fluid force documentation: Rename d to r, update description of passive viscous forces.
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PiperOrigin-RevId: 574195315
Change-Id: Ic045a2d1606c85a7d87b0000f505c792b6477917
2023-10-17 10:35:12 -07:00
95fec9f84e
Add derivation of ellipsoid projection lemma in collapsible element.
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PiperOrigin-RevId: 572243118
Change-Id: I7b6c97dcf046f1bec85a0970bc018411d3009ae7
2023-10-10 07:34:59 -07:00
7b7cf5e86c
Add cards.xml model.
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PiperOrigin-RevId: 571341445
Change-Id: I3a02bb01099cacb62e0c599e6198ed90b48baad0
2023-10-06 08:13:33 -07:00
35e7bb354d
Add documentation of ellipsoid-based fluid drag model.
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PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
2023-09-20 05:41:44 -07:00
Yuval Tassa