ae1c3b7ec0
Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom.
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PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
2025-02-24 08:14:04 -08:00
cf1784bb79
Fix typo.
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PiperOrigin-RevId: 730410150
Change-Id: I0b2de4aea15cb630585f8c15dc29f368729adc3e
2025-02-24 05:25:25 -08:00
21fa8286f4
Fix changelog typo.
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PiperOrigin-RevId: 730409533
Change-Id: Ife84281021be31b2385aa2263a36b9a2af09348a
2025-02-24 05:23:00 -08:00
b3aa5df68a
Improve composite docs and changelog.
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PiperOrigin-RevId: 730394496
Change-Id: Ie993214deb82b526a96510e02f6ecff103c58607
2025-02-24 04:26:35 -08:00
81b1948b46
Clean up engine_derivative_test.cc
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PiperOrigin-RevId: 730166629
Change-Id: I3418be9f7b289f4109ae43c221b89199d2ccf325
2025-02-23 10:59:20 -08:00
c52d1b3941
Remove the particle composite (replaced by replicate).
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PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
2025-02-23 03:14:11 -08:00
0fcd20f0da
Remove grid from composite types.
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Replaced it with flexcomp in the models.
PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
2025-02-23 01:31:41 -08:00
b90ff3f0b1
Improve integrator documentation.
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PiperOrigin-RevId: 729710349
Change-Id: I8bf1727b8cd3ea45bb16e3607c9d8f58e4a69007
2025-02-21 17:30:55 -08:00
f554b38c36
Fix syntax bug in simulation.rst
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PiperOrigin-RevId: 729710215
Change-Id: I49899ed50d5e97a2c5ad35e5de2e93186b7c64ec
2025-02-21 17:28:59 -08:00
a0eb985532
rollout notebook: fix bugs due to cell reordering
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PiperOrigin-RevId: 729567659
Change-Id: I439da667317ed51370d7c8a9fbfc31d11140752c
2025-02-21 10:05:30 -08:00
1532cffdf0
#mjx Update bind type checks.
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PiperOrigin-RevId: 729566363
Change-Id: Ifb4fd3e83988140f781ac1d5db690cf6fbe70fbf
2025-02-21 10:02:02 -08:00
f9bb6cb3db
Minor updates to rollout notebook:
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1. Move benchmarks below advanced usage.
2. Request A100 GPU
3. Minor cosmetic changes.
PiperOrigin-RevId: 729538515
Change-Id: I12709cd95f6865e53fd3932ea0b303ee8efc4028
2025-02-21 08:27:33 -08:00
ea2bbc1d14
Merge pull request #2439 from aftersomemath:rollout-size_t
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PiperOrigin-RevId: 729519951
Change-Id: Ic50b08960da84d2277820212d19fcbab9f2d67cf
2025-02-21 07:17:25 -08:00
a0971ef749
rollout fix cosmetics
2025-02-21 08:44:17 -05:00
6aabbc1892
Fixes an issue when self-attaching a model with pulley in tendons.
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The decision to attach a tendon is taken by looking at whether any of the elements in its path exist when the namespace is added to them. This does not work when pulleys are present so we need to ignore them in the count of unreferenced element.
PiperOrigin-RevId: 729484365
Change-Id: I561a3a2eaa975a17421c8abe3ebfec8d4dd88951
2025-02-21 04:54:31 -08:00
aca4e5d6ae
rollout test for integer overflow in array size check
2025-02-20 21:12:52 -05:00
7efaf5c549
Improve docstring of mjxmacro.py
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PiperOrigin-RevId: 729058910
Change-Id: I3ae9c7c50facca3bfb08a317c2267b9d8672f207
2025-02-20 04:43:26 -08:00
fe9fcae5dc
Clean up mj_tendon.
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PiperOrigin-RevId: 729042293
Change-Id: Id0d8483b71b9dbb99e19a67323034f3762e26346
2025-02-20 03:44:39 -08:00
41c2918819
Add batch support to MJX data bind.
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PiperOrigin-RevId: 729033713
Change-Id: I331317a54a7882dc67bf329da8aeaff7246754e4
2025-02-20 03:10:30 -08:00
df71467eed
rollout use size_t for array size check and pointer arithmetic
2025-02-19 22:46:12 -05:00
19624aef9d
Add an example of a textured height field to mjSpec notebook.
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https://youtu.be/i6eXrzJNKeY
PiperOrigin-RevId: 728841769
Change-Id: I1aca838af69d8474aab13b06d8c1e5cf87fc6440
2025-02-19 15:34:21 -08:00
7a2ad8fd97
Merge pull request #2436 from aftersomemath:rollout-notebook-pr
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PiperOrigin-RevId: 728706864
Change-Id: I8f3a507234c4265564a4fee9df0ab8111ff7dd85
2025-02-19 09:42:08 -08:00
b0e9d08673
Move introspect to python/introspect
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PiperOrigin-RevId: 728695024
Change-Id: I96433e1e9ee509704d66bd4c1be1906732e4cc55
2025-02-19 09:01:21 -08:00
6a86247810
Fix flex textures for 3D grids.
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Fixes #2013 .
PiperOrigin-RevId: 728673726
Change-Id: Idb2b6bf9e5392576d0b09f3e71dbea6f4636ae81
2025-02-19 07:59:22 -08:00
7f3bb062c3
Add fields in mjModel for supporting mesh multicontact in nativeccd.
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PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
2025-02-19 07:12:26 -08:00
b516edae1b
Rename inertia factorization routines:
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```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```
PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
2025-02-18 09:42:05 -08:00
982330d15a
#mjx Make pytree registration optional.
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This is a noop for MJX itself, but is useful for custom types extending MJX types.
This CL also ensures unused kwargs in `__init_subclass__` are passed to the parent class.
PiperOrigin-RevId: 728215373
Change-Id: I362d3fb8d4b7d679a3a00d96866d46a52d711369
2025-02-18 08:12:43 -08:00
36142cddee
Fix site_xmat dimension in MJX docstring.
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PiperOrigin-RevId: 728213616
Change-Id: Icdea2194d4e4e347e88969eb6ecd45d1300cc0bc
2025-02-18 08:07:45 -08:00
3e56d2a6d0
update changelog for rollout notebook
2025-02-18 10:57:12 -05:00
41a873b016
Notebook showcasing the Python rollout module
2025-02-18 10:57:03 -05:00
fb07e0d1f7
Convert qLD to CSR format.
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PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
2025-02-18 07:14:45 -08:00
9fb4ec95f8
Add handling for joint qacc in bind
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PiperOrigin-RevId: 728166579
Change-Id: Ib9ecfec23a3ae1ddba198670518c48dc0af49cd1
2025-02-18 05:30:25 -08:00
442b968e22
Improve box-box multicontact with nativeccd.
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PiperOrigin-RevId: 728136635
Change-Id: I2343110e5c87b6621d5750c7ad42f0e75081d737
2025-02-18 03:41:26 -08:00
fb84ee4e17
#mjx Always define prefix attribute in Bind* classes.
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PiperOrigin-RevId: 727885838
Change-Id: I3e7dd0541fecf1eb913bb98b30e3df146ea665b8
2025-02-17 09:23:39 -08:00
d5065f867b
Check type correctness in all bind paths.
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PiperOrigin-RevId: 727877128
Change-Id: I4f4f74a1fb96d3fc5abdea531b78eb54dc53d186
2025-02-17 08:46:10 -08:00
0a4eda5065
Fix setting slice of multidimensional arrays in mjx bind
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PiperOrigin-RevId: 727834258
Change-Id: Id8fa25ab3aacb02603f2e0ec701f89bb69a7ac7e
2025-02-17 05:52:51 -08:00
7f11a0df12
Add check for height fields size during compilation.
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Fixes #2427 .
PiperOrigin-RevId: 727805729
Change-Id: Idf3192e5fb238249faaeae6b4fb9de4c55755d96
2025-02-17 04:01:27 -08:00
78a4d2f389
Fix mass/inertia checking for moving bodies with nested children.
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Previously, we only checked immediate children of moving bodies.
PiperOrigin-RevId: 726999705
Change-Id: I133a557daf86223b8751c6d46e25809781e168a1
2025-02-14 11:26:28 -08:00
37d7591ce0
Add support for user-defined figures in the MuJoCo viewer.
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PiperOrigin-RevId: 726983516
Change-Id: Ifb821f3cafb163d4f3077d76b0668037b4bc5a9c
2025-02-14 10:45:47 -08:00
6f0bd0a5f8
Fix setting multidimensional arrays in MJX bind.
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PiperOrigin-RevId: 726956380
Change-Id: I51ab91b73a3a34938ac7bcd03e9691fd634cb296
2025-02-14 09:28:39 -08:00
5b924fec98
Add support for binding to arrays of mjs element.
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Fixes #2402 .
PiperOrigin-RevId: 726449592
Change-Id: I0cde44889837a71a222b20cf91fa56568b4af689
2025-02-13 06:01:30 -08:00
1b4258d274
Change set_default and default to classname in the bindings.
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Having defaults in the names of the attribute or function names is confusing for the users since the defaults are not re-applied but are only used for writing to XML. The alternative would be to change mjs_setDefault to re-apply them, but this would overwrite any other attribute set by the user so far.
PiperOrigin-RevId: 726431090
Change-Id: I41f4a23e1722e278b0ecc0a00b07db9b384fe994
2025-02-13 04:52:02 -08:00
89253d957d
Changes to inertia inference from meshes.
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PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
2025-02-12 07:43:13 -08:00
e39a5df06a
mju_compressSparse(): add option to compress away small elements.
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PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
2025-02-12 05:08:20 -08:00
faed1a1137
Clean up mj_jacSparse.
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PiperOrigin-RevId: 725994792
Change-Id: I928a6312a6910231bfeb96ef7a3f29f1d128565c
2025-02-12 04:06:00 -08:00
7af9bcbf00
mjSpec tutorial: Move humanoid and Menagerie imports to the cells that require them.
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PiperOrigin-RevId: 725945693
Change-Id: I3f0d4c867626ef61605815bb708a55c8e29d79e2
2025-02-12 01:02:17 -08:00
d830691f53
Merge pull request #2291 from AaronYoung5:main
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PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
2025-02-12 00:16:10 -08:00
ef1ef8ef6a
Fix Sphinx-Toolbox dependency issue in documentation.
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PiperOrigin-RevId: 725818375
Change-Id: I9f241f9575d4bebceeab62937caf682e455b3816
2025-02-11 16:41:02 -08:00
e3b9538d92
Add saving the indices of mesh vertices with the support points in nativeccd.
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PiperOrigin-RevId: 725660975
Change-Id: I036882a5bde5d009bfa6e66b6a10f6cfb1a78292
2025-02-11 09:28:49 -08:00
ac2a324fbd
Reduce "shadow acne" artifacts
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PiperOrigin-RevId: 725640931
Change-Id: I95df97d6076b99c12e291f69e8e54bbe70538293
2025-02-11 08:28:12 -08:00
Kyle Bayes