acf698e2df
Store pointer to index in mjCBoundingVolume if possible.
...
PiperOrigin-RevId: 598592242
Change-Id: I8dc20a8d8a9a0e967688839fa22d75263c226958
2024-01-15 06:04:20 -08:00
cab1c6bb39
Preallocate mjCBoundingVolumeHierarchy and avoid copies during MakeBVH.
...
PiperOrigin-RevId: 598579741
Change-Id: Iac154affa6ee22994c571f2ec00ac602bfe7f4d6
2024-01-15 04:48:44 -08:00
5d46c39529
Increased SdfLib bounding box by 10% to prevent querying outside it during collision detection.
...
In case a query outside is performed, add SDF gradient computation using finite differences.
For SDFs generated from meshes, when the query point lies outside of the bounding box, the gradient provided by SdfLib ignores the SDF and is equivalent to the gradient of the distance from the bounding box, causing local minima in the contact point optimization. This CL increased the size of the bounding boxes and replaces the SdfLib gradient with a finite difference approximation of the gradient if a point lies outside it.
PiperOrigin-RevId: 597839637
Change-Id: I79dfddbe25288eca7eb235db51781fc2bb2c3c5f
2024-01-12 07:54:10 -08:00
79bcfecba4
Tidy up mj_kinematics implementation.
...
PiperOrigin-RevId: 597556619
Change-Id: Iaf108a6582e8135c7169dad07ed0654bdea8ee71
2024-01-11 08:00:06 -08:00
60cd7248c2
Add zero vector shortcut to mju_rotVecQuat.
...
PiperOrigin-RevId: 597504456
Change-Id: I23580fc08571db97e984a87cba3f4d14e67d6b3a
2024-01-11 03:19:30 -08:00
d4e8070a3f
Update doc about MJX meshes, fixes #1325 .
...
PiperOrigin-RevId: 597342387
Change-Id: Iccb47b4b57adf2392fa5c5a38b2a28e87ace1e3d
2024-01-10 13:36:45 -08:00
85ab6183bc
Add ray filtering based on geom transparency and filter params.
...
PiperOrigin-RevId: 597316447
Change-Id: If9619320f0024c486bb7abe2c63e9a1ba1a631f0
2024-01-10 11:59:11 -08:00
8a9b041388
Replace objid with obj pointers.
...
This in preparation of adding functions to remove/add elements after compilation.
PiperOrigin-RevId: 597286844
Change-Id: I940103ade986c8d057db8cc1e9a98c073ddfab98
2024-01-10 10:20:47 -08:00
889353dfa8
Replace meshid and hfieldid with mjCMesh and mjCHField pointers in mjCGeom.
...
PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c
2024-01-10 09:56:54 -08:00
42515033a7
Fix linter issues in user_objects_test.
...
PiperOrigin-RevId: 597204770
Change-Id: I0b396d4c64684d845dc9baf205800e22c8fac314
2024-01-10 04:00:08 -08:00
371da98d97
Avoid dynamically generated strings from being used as format strings in mjCError and mjXError.
...
PiperOrigin-RevId: 597198372
Change-Id: I2f159436091c03c7454545877cd5f7e2383cd7c8
2024-01-10 03:20:48 -08:00
8247ddea0b
Recommend fTetWild for tetrahedral meshing in the docs.
...
PiperOrigin-RevId: 596918194
Change-Id: I0357739c8741a7b9fc4614c5ed7ea7fefc0fb42c
2024-01-09 06:50:10 -08:00
b643c08c0d
Recommend CoACD for convex mesh decomposition in the docs.
...
PiperOrigin-RevId: 596917392
Change-Id: I3fa6d22b879bf6b4d16e037bb2b8896df8d682a2
2024-01-09 06:45:37 -08:00
baaaa10612
Fix typo in plugin docs.
...
PiperOrigin-RevId: 596884568
Change-Id: Ic0ba59fc73fbfd95361655e7761e49b2cb4985b0
2024-01-09 04:00:29 -08:00
5308b485dc
Improve dark mode behavior of arrowhead matrix image.
...
PiperOrigin-RevId: 596341192
Change-Id: Id1f8cb500c6042d699dd5fd8ec55b61b17443e20
2024-01-07 01:23:03 -08:00
c79e1e5d01
Add documentation image variants compatible with dark mode. Fixes #587
...
PiperOrigin-RevId: 596265596
Change-Id: Iedd076fbb7a6dca77a91e52e538be1c764d1f8fb
2024-01-06 14:02:34 -08:00
feb92bf535
MJX ray for planes, spheres, capsules, and boxes.
...
PiperOrigin-RevId: 596004453
Change-Id: I6c15268f7ec6afc1aadd370a78ef225ab9c5fd04
2024-01-05 08:42:17 -08:00
c59a33dd81
Use std::string_view instead of absl::string_view in fixture.cc.
...
Clean up some lint warnings.
Fixes #1306 .
PiperOrigin-RevId: 595988916
Change-Id: I0e8584ff8704ea7294cf649664ab447cb1d4ff46
2024-01-05 07:20:58 -08:00
ca023a6f28
Update EGL init code for Python 3.12.
...
Fixes google-deepmind/mujoco#1299 .
PiperOrigin-RevId: 595982512
Change-Id: Ib0261483a7f6cb8addf04f5010f09d3554c8bf45
2024-01-05 06:50:55 -08:00
721e2d5589
Update tutorial notebook.
...
PiperOrigin-RevId: 595746621
Change-Id: Ie0a4ea01d4f50491b14713f12ea8a4fe6877f890
2024-01-04 10:45:00 -08:00
7ce05f4957
Improve documentation of solver parameters.
...
PiperOrigin-RevId: 595723619
Change-Id: I00b67eaec02d2e85ce60fb44eb3e582ce036be3a
2024-01-04 09:17:31 -08:00
63ec34f9f8
Add plugins to flex parent body if there are pinned vertices.
...
Fixes #1270 .
PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
2024-01-03 09:53:22 -08:00
2940b934fe
Fix typo in sdf plugin readme.
...
PiperOrigin-RevId: 595404942
Change-Id: I43eb079779538e4ff82d0f549b5a49819ebcd9cb
2024-01-03 08:10:01 -08:00
8d1b05bbd2
Fix markdown hyperlink.
...
PiperOrigin-RevId: 595383191
Change-Id: Ia11b962c68ed33cc0fd6c5279f571f4b21d81570
2024-01-03 06:19:32 -08:00
6860e953ed
Improve docstring of mju_eig3.
...
PiperOrigin-RevId: 595380013
Change-Id: Ia3663c11ff1cd50a35d5d72ba01e09ff3d9054d0
2024-01-03 06:04:08 -08:00
cd972bbeee
Document humanoid model changes in changelog section of its README + minor cosmetic improvements.
...
PiperOrigin-RevId: 595367344
Change-Id: I17483de71c6cbcf6a66e2fad762cc32f8cbee8b5
2024-01-03 04:47:05 -08:00
8ce2c92021
Add refsite transmission.
...
PiperOrigin-RevId: 595239860
Change-Id: Id1ca8fe2ffab4b55013e8987e92eb99847278dc4
2024-01-02 16:45:50 -08:00
e07ea625ac
Add keyframes to humanoid model.
...
PiperOrigin-RevId: 595175659
Change-Id: I2aae405a5dfbd9b14253d6330cb12003bd4f6c08
2024-01-02 12:00:46 -08:00
1c7809e542
Free MjrContext in Renderer destructor. Fixes #1186 .
...
PiperOrigin-RevId: 595125644
Change-Id: I5dadc3508ec296ba8844fed2a8f5d2de7e53221d
2024-01-02 08:38:46 -08:00
4c066a26b5
Change mjVISSTRING of connect and weld equality constraints from "Constraint" to "Equality". This is more consistent with the 'E' shortcut key and with mjDISABLESTRING ("constraint" means all constraints, "equality" means bilateral constraints).
...
Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.
PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
2023-12-24 12:06:59 -08:00
2a46ca3787
Update the documentation on the maximum number of contacts from hfield collisions.
...
The docs were incorrectly asserting that the limit is 9 contacts, which hasn't been true since version 1.5.
This fixes #1285 .
PiperOrigin-RevId: 592526249
Change-Id: Id45d73666fec8dcfd18d11605975e787f2cfeba2
2023-12-20 05:03:35 -08:00
77b4132c47
Add site transmission to MJX.
...
PiperOrigin-RevId: 592373042
Change-Id: I54d941f4ee6f74404fe2aea7253f5b426d097e23
2023-12-19 16:19:17 -08:00
80f50c943c
Add filterexact to MJX.
...
PiperOrigin-RevId: 592026712
Change-Id: Ia73d67f36db5a4a1786a2532b5daa9e9a36f714c
2023-12-18 15:29:18 -08:00
7fb448613f
Post release version update: Update to V3.1.2
...
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
2023-12-18 15:03:37 -08:00
1c31676e2d
Fix formatting error.
...
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
...
PiperOrigin-RevId: 591962782
Change-Id: I7c498e1339013e9207ef8c21e793c1d80f55d16d
2023-12-18 11:35:28 -08:00
d39ed1d3c8
Update changelog.
...
PiperOrigin-RevId: 591932297
Change-Id: I9131400fee6839e9311baf28a069fc1e7237ee86
2023-12-18 10:05:27 -08:00
7cb7c87f70
Fix a few issues with the passive viewer.
...
1. Create an arena for the mjData instance used by the passive viewer visualization.
When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.
2. Add missing a missing field in scene state for flex visualization.
3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.
4. Add some locks in places where the render thread and Simulate::Sync collide.
This fixes #1280 .
PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
2023-12-18 07:33:19 -08:00
8ecb16abfa
Don't run particle.xml in testspeed_test under ASAN.
...
Reduce the number of steps for a couple of other slow tests.
PiperOrigin-RevId: 591844569
Change-Id: If722567b91163f1f3c451302f9543a43d05872a1
2023-12-18 03:33:59 -08:00
dc0d0c59d4
Fix bug in simulate where the "LOADING..." label was not properly showing.
...
PiperOrigin-RevId: 591257979
Change-Id: Id09754b1e5a87decfb68b9fe305388aa8f0f5ed3
2023-12-15 08:12:28 -08:00
38fa756a20
Add mjGEOM_LINEBOX, used in visualization of collision trees.
...
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
2023-12-15 05:36:35 -08:00
f2a967348c
Fix bug introduced in 7942fe957e
...
That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed.
PiperOrigin-RevId: 591036252
Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941
2023-12-14 13:30:38 -08:00
9f6be3135e
Modify mjListKeyMap to be a fixed-size array, and add internal object_lists variable to mjCModel to remove redundant code.
...
PiperOrigin-RevId: 590997348
Change-Id: I5f4d7de605f44d40a75eb1e9ceec208325fa3be5
2023-12-14 11:12:01 -08:00
0915d69c3f
Correctly transform site_xmat in MJX get_data/put_data.
...
PiperOrigin-RevId: 590750273
Change-Id: I836e1f5d20725ed9b93bf86fe3e8e61954a56b47
2023-12-13 16:34:42 -08:00
da211ddf29
Improve description of the collision detection pipeline.
...
PiperOrigin-RevId: 590742091
Change-Id: Idfcc37cece21dcf46401a147a43aa8ec4eeb05aa
2023-12-13 16:06:30 -08:00
11dae6e3a9
Merge pull request #1206 from Balint-H:feature/mouse-spring-qol
...
PiperOrigin-RevId: 590741248
Change-Id: I0228a2e6a27fd869f34f3e96163cd29e5ac99f35
2023-12-13 16:04:24 -08:00
c2c76195dd
Updating Mujoco Release version number to v3.1.1
...
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
2023-12-13 14:26:08 -08:00
537d649e95
Improvements to transmission documentation.
...
PiperOrigin-RevId: 590694542
Change-Id: I9dc25655116c9300061095c2a2b701530bbbbeca
2023-12-13 13:22:40 -08:00
4bbb19144e
Merge pull request #1275 from TyLindberg:patch-1
...
PiperOrigin-RevId: 590693053
Change-Id: Ie1ec8edc2681050f089f150a775612fc8449d948
2023-12-13 13:17:12 -08:00
1c34553631
Add shortcuts for power function in impedance computation.
...
PiperOrigin-RevId: 590692245
Change-Id: I1a49475c9a8299f4845e4ec33c9a7ce21a9c5d2b
2023-12-13 13:14:27 -08:00
Alessio Quaglino