ace0c8f0a3
Add maxhullvert.
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PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
2024-06-06 19:05:16 -07:00
fb8bf206d9
Update MJX colab with hfield example.
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PiperOrigin-RevId: 641061897
Change-Id: Ia1002173adce7b7b12203857abed18568ae236f1
2024-06-06 16:43:34 -07:00
f6084b4328
Change user_api handle types.
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PiperOrigin-RevId: 640978033
Change-Id: I53496671ac823b50e6f90ceee15bf3b314b06db8
2024-06-06 12:06:10 -07:00
9a140bad14
Use suffix instead of prefix underscore for private members in user_api.h.
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PiperOrigin-RevId: 640866779
Change-Id: Ifab04d8cdfe7e4c416d1916eb66f7d3584259f30
2024-06-06 05:44:12 -07:00
ba8a2d4c8a
Dynamic model editing.
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PiperOrigin-RevId: 640838852
Change-Id: I559b1d60f2a3a2d866788d4006be31757454c619
2024-06-06 03:30:59 -07:00
40755e165d
Reduce VeryLargeMemory test memory allocation in engine_io_test.cc
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An upcoming LLVM update is due to make this test fail under msan, since msan touches most of the memory allocated for the mjData arena. This causes an OOM failure on memory-limited testing infrastructure.
An 8G allocation is sufficient to catch errors that arise from the use of 32-bit integers to handle sizes.
PiperOrigin-RevId: 640504620
Change-Id: Ia1949b04a1428f01e1075e26b421facb3babedb6
2024-06-05 06:27:01 -07:00
a56b9c8bbd
Roll back workaround for upcoming libc++ bug which has since been fixed upstream.
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PiperOrigin-RevId: 640479545
Change-Id: I8a3700ef0b52f5364dcd0903aba196293a96c220
2024-06-05 04:31:48 -07:00
4debe1344a
Add WidowX 250 6-DoF. Closes #28 .
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PiperOrigin-RevId: 640239380
Change-Id: I94c126f9d4f8711b6f8ab7d9b7cc1dace864a153
2024-06-04 12:09:34 -07:00
18397e61ec
Replace calls to mj_makeEmptyFileVFS with mj_addBufferVFS in MuJoCo Unity bindings.
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PiperOrigin-RevId: 640168011
Change-Id: Ic592b5cbedb89981ac24d4b8d2c864ceaf415e46
2024-06-04 08:50:12 -07:00
b35ae973e1
Add mj_parseXML and mj_saveXML to xml_api.
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PiperOrigin-RevId: 640099466
Change-Id: I75f763523c5bc8f6f7c2f2de6806d82ba37ebd4e
2024-06-04 15:28:14 +01:00
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
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PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
21bc6e5ce4
Trimmed underline to match the current format.
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PiperOrigin-RevId: 639873230
Change-Id: Id065af04b6364e720d14873ab55fabff75e94efb
2024-06-03 12:25:11 -07:00
ff167e91d9
Updated the version number and release date to be current release v#3.1.6
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PiperOrigin-RevId: 639864767
Change-Id: I94a2c81fe125c99bdcfca07b557eebeadca542e9
2024-06-03 11:58:17 -07:00
ba93a9b5d6
Remove mj_makeEmptyFileVFS in favor of mj_addBufferVFS from MuJoCo codebases.
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build / windows-2022 (push) Has been cancelled
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build / ubuntu-20.04-clang-10 (push) Has been cancelled
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build / ubuntu-22.04-gcc-12 (push) Has been cancelled
build / ubuntu-22.04-gcc-9 (push) Has been cancelled
PiperOrigin-RevId: 639824744
Change-Id: I7746c71b0be88a61e76c4622d605356701881563
2024-06-03 10:08:36 -07:00
2830a4071f
Add dampratio attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 639745135
Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
2024-06-03 05:28:35 -07:00
d6712f2944
Merge pull request #1646 from Balint-H:fix/unity-sensornoise
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PiperOrigin-RevId: 639722238
Change-Id: I80a941e97923169150f665fb3411605affcc0702
2024-06-03 03:49:20 -07:00
1416ddfc85
Merge pull request #1696 from Balint-H:fix/unity-position-kv
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PiperOrigin-RevId: 639720779
Change-Id: Ic70d9e5fed5e03bdb247a045e13c915ebfeecd9b
2024-06-03 03:44:29 -07:00
8fa0fea02d
Allow partial specification of polycoef attribute of equality constraints.
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- Usually the user only wants to tweak `polycoef[1]`, after this change `"0 2"` is equivalent to `"0 2 0 0 0"`.
- Also improve documentation of this attribute.
- Tighten margins of documentation display equations.
PiperOrigin-RevId: 639720742
Change-Id: Ibafa0e093cebe1c1c75bf2e47ff3bd2ad7619414
2024-06-03 03:43:13 -07:00
14a3ce5ffa
Add tree traversal utilities to C API.
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PiperOrigin-RevId: 639285787
Change-Id: Ieb52da87fb5e1c674985f03c9ff2b18783d1d657
2024-06-01 01:28:13 -07:00
936866be0f
Add mjModel and mjData arguments to mj_makeModel and mj_makeRawData. If they are NULL, then the functions allocate the memory, otherwise they will use the memory allocated by the caller.
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PiperOrigin-RevId: 639283021
Change-Id: I765f95fe1b5c27202ae033b05a13ae7b5fb8dbc3
2024-06-01 01:08:56 -07:00
814deb0e9f
Fix bug in hyperlink.
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PiperOrigin-RevId: 639255722
Change-Id: I0419169ac6d82e2fa64a36a33538ee33a2e22c50
2024-05-31 22:33:27 -07:00
16e9db3ad6
Add Franka Robotics FR3 robot.
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PiperOrigin-RevId: 639104288
Change-Id: Ib8c834f9f07f36bcbb62d92cbeba8c28ffd8da67
2024-05-31 11:49:12 -07:00
5c71c7de5d
Add Boston Dynamics Spot.
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PiperOrigin-RevId: 639086847
Change-Id: I8ef6d87d93dc730135a46ce361efbee1bf68c6c8
2024-05-31 10:58:03 -07:00
b38998eff2
Replace mjs_deleteBody with mjs_delete.
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PiperOrigin-RevId: 639058333
Change-Id: I9ac9ca8c6b8c0219f0130cd65dc83602f1829684
2024-05-31 09:24:59 -07:00
f616975e28
Forward fix for MJCF parsing: A recent libc++ update does not natively accept ".x" float format ('.' being the first character) but rather requires "0.x".
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PiperOrigin-RevId: 638946382
Change-Id: I3ccb1b5fedc6749a3459916b41148629933fb8c4
2024-05-31 01:17:52 -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
c511d02265
Add hfield. Fixes #1655 #1491 #1695
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PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
2024-05-29 16:21:34 -07:00
dec55b59fa
Allow detaching from a compiled model.
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PiperOrigin-RevId: 638299270
Change-Id: I944d2a24578b63463eddfa55d89f39fcfbafd2b4
2024-05-29 08:47:30 -07:00
195bd32aa6
Add a check for mesh dimension in the elasticity.solid plugin. Fixes #1647 .
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PiperOrigin-RevId: 637905358
Change-Id: I1432a8fe054752bc962174548da3c1f81deb6555
2024-05-28 08:18:12 -07:00
45ccc2a6df
Add tests for kv param in position actuators
2024-05-27 12:11:15 +01:00
2aa30b188c
Adjust formatting
2024-05-27 11:49:26 +01:00
adbbcc4ff5
Track separate kv property for position actuators
2024-05-27 11:48:11 +01:00
161ed22299
Fix Unity tests for sensornoise attribute
2024-05-27 11:29:04 +01:00
7ca8a629a2
Speed up primitive sdf slightly.
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PiperOrigin-RevId: 637105250
Change-Id: Iec73b0b30d5222617d01622771afbc95a646da45
2024-05-24 20:01:54 -07:00
255a59487c
Corrects function reference in class comments.
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PiperOrigin-RevId: 637070006
Change-Id: I0d9dcf0401a107de67cd0a663df6c876287ba772
2024-05-24 16:53:56 -07:00
2a9067a6b3
Replace dt with opt.timestep.
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PiperOrigin-RevId: 636984197
Change-Id: I2b5eaae0c5e5be840f93c4fe8f725884959703cd
2024-05-24 11:35:22 -07:00
50aab2dd48
Move engine/engine_vfs.{c,h} to user/user_vfs.{c,h}.
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PiperOrigin-RevId: 636219666
Change-Id: I820de511948e82256784edb0893f209a73b221e6
2024-05-22 10:44:53 -07:00
0108b7b569
Group CCD common initialization options together.
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PiperOrigin-RevId: 635896664
Change-Id: Ib3135b1137484df5606a0377052c7db001b746c9
2024-05-21 12:45:58 -07:00
d4afdd8583
Merge pull request #1681 from lgkimjy:dev/mjxdoc_minimal_example_issue
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PiperOrigin-RevId: 635887142
Change-Id: Id3c39cacb5db9a1d2ff3a926a5a532839b05586c
2024-05-21 12:14:56 -07:00
2f19941fcf
Move mj_loadModel to xml_api.cc.
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PiperOrigin-RevId: 635748029
Change-Id: Ie4c7d34c9738e5497ec700089d4dba780ba7d5ed
2024-05-21 03:37:24 -07:00
9e0a437e2a
fixed minimal example shown at mjx.rst
2024-05-21 16:32:54 +09:00
f0b633de6a
Fix typos in least_squares notebook.
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PiperOrigin-RevId: 635696410
Change-Id: Iba9a2c8f121ca4994678ba933e19dce5323da27b
2024-05-20 23:48:39 -07:00
f2732c336e
Add Unitree G1 to model docs.
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PiperOrigin-RevId: 635464942
Change-Id: I970351ebc3723bff6ae14e08595a7365c861004e
2024-05-20 08:34:43 -07:00
292745000a
Merge pull request #1675 from peterdavidfagan:pr-fix-mjx-put-data-docs
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PiperOrigin-RevId: 635177941
Change-Id: I1f2685a8b0574929c2625a7ba2e70c5568a364fd
2024-05-19 00:40:23 -07:00
727893f0f2
Add timeconst attribute to position actuator.
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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
2024-05-18 03:38:20 -07:00
875823ba96
Speed up slow test.
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PiperOrigin-RevId: 635014612
Change-Id: Ifb7fe174827f59647bb254a3ece25abbd57962ca
2024-05-18 03:07:30 -07:00
848c33e16b
fix put_data function signature
2024-05-17 12:22:58 +01:00
f6f9ff537b
Wrap LibCCD MPR function in a macro and initialize ccd_t struct.
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PiperOrigin-RevId: 634556417
Change-Id: I6a980e9b86c082523758fa401fbc75fcdc798c6b
2024-05-16 16:00:23 -07:00
d58010c3b9
Update numpy sha256 hash in build requirements.txt.
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PiperOrigin-RevId: 634546683
Change-Id: I319be1fab020dff2b44658ea402684a268ec6a33
2024-05-16 15:24:14 -07:00
86e6fc6de7
Fixes #1668
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PiperOrigin-RevId: 634483090
Change-Id: I30b55bbf419e57a7b2966dfca4da6bb57d5879ad
2024-05-16 11:58:09 -07:00
Baruch Tabanpour