aede8cf5cf
Rename user_asset_cache to user_cache.
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PiperOrigin-RevId: 601097322
Change-Id: Iea3d6481cd214028ef63ed72868999ecb0b1eeb4
2024-01-24 06:05:56 -08:00
0a7be1732c
Adds support for explicit dense/sparse mass matrices to MJX.
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This increases performance, particularly for the Newton solver on TPU.
PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
2024-01-23 00:32:07 -08:00
aceb52bd09
Improvements to mujoco.rollout:
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- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time.
- User-defined control spec.
- Stop squeezing: outputs always have dim=3.
PiperOrigin-RevId: 600445256
Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
2024-01-22 07:01:53 -08:00
5cbaa23388
Remove TEST_FILES from MJX test_util.py.
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PiperOrigin-RevId: 599886327
Change-Id: I4d166e09db22fffc959dbe34fa3469bd4a1b9f84
2024-01-19 11:15:06 -08:00
a1ddbdf7f8
Add an implementation of a cache for assets for compilation speedups.
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PiperOrigin-RevId: 599850003
Change-Id: I83e299e127058a5657d7b262aa98d36451b530f6
2024-01-19 09:04:01 -08:00
a23a368778
clean up rollout.cc
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PiperOrigin-RevId: 599849967
Change-Id: I899b28bf78bf0414b07314c24cfe6e24441eba30
2024-01-19 09:03:10 -08:00
e0864ab7f2
Fix formatting bugs in changelog.
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PiperOrigin-RevId: 599815807
Change-Id: I67d3eb2fd30c94a9d498ba605243e0b87b1d4ca8
2024-01-19 06:29:26 -08:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
2feefbc5d2
Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID.
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PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
2024-01-17 10:54:23 -08:00
edc254b213
Update MJX doc for #1344 .
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PiperOrigin-RevId: 599220357
Change-Id: I532f42ed086da59632eeaac0dcd3de6ffcf93cd4
2024-01-17 10:38:53 -08:00
a14a584f1d
Fix bug in muscle length-gain curve. Fixes #1342
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PiperOrigin-RevId: 599165049
Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
2024-01-17 07:20:01 -08:00
67a00a3a51
Rename mjMAXTHREADS -> mjMAXTHREAD (consistency).
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PiperOrigin-RevId: 599130235
Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
2024-01-17 04:33:44 -08:00
71b0561758
Clean up formatting issues in user_objects.h
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PiperOrigin-RevId: 599127766
Change-Id: If752c00038818fb21476eb98be891ead467aad56
2024-01-17 04:21:10 -08:00
a02fc405af
Add naive ray mesh implementation.
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PiperOrigin-RevId: 598993152
Change-Id: I708505bf20a89d5a4840451a11b99771195003e6
2024-01-16 16:29:11 -08:00
ee922be393
Benchmark improvements.
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- Use multiple devices if present
- FLAGS more agnostic to diverse platforms
PiperOrigin-RevId: 598990299
Change-Id: Ifbd454ca521a788324f2b62f1c79e7d4b8305a30
2024-01-16 16:17:56 -08:00
45208a5fe0
Update Sphinx from 4.5.0 to 5.3.0 fixing broken docs build.
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PiperOrigin-RevId: 598875231
Change-Id: I3295e9aa94087d44a695c7d380bbf9691a3d82b3
2024-01-16 10:04:16 -08:00
80674149ce
Allow pinning flexes to non-simple bodies. Fixes #1270 .
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PiperOrigin-RevId: 598865882
Change-Id: I105ff1910a7d67f5b7bcb46bcef0e5e388ec08ea
2024-01-16 09:32:26 -08:00
3c1907e678
Fix rendering of links in documentation.
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PiperOrigin-RevId: 598855374
Change-Id: I19c1ef73d23f0c2fedb8f0a6754bb9edd91f4c20
2024-01-16 08:54:38 -08:00
3b440921df
Merge pull request #1268 from Balint-H:feature/unity-hmap-dyn
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PiperOrigin-RevId: 598652839
Change-Id: I3285f041c5c2e3e9286f1bb106825ee20e7147e3
2024-01-15 12:54:06 -08:00
2388b651e8
Unity plug-in: Fix for when xml file has no <compiler> section.
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PiperOrigin-RevId: 598646137
Change-Id: Id27635dc3064f8568ae0d86c2cdee8c2d414dd2f
2024-01-15 12:04:26 -08:00
c77f984d9b
Merge pull request #1330 from Balint-H:fix/unity-joint-limits
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PiperOrigin-RevId: 598603093
Change-Id: I441631e33e812988694f8eed48c719c6bab86148
2024-01-15 07:08:03 -08:00
1e2e0b3053
Remove all visual-only assets if discardvisual is selected, not only the geoms.
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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
2024-01-15 06:39:25 -08:00
acf698e2df
Store pointer to index in mjCBoundingVolume if possible.
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PiperOrigin-RevId: 598592242
Change-Id: I8dc20a8d8a9a0e967688839fa22d75263c226958
2024-01-15 06:04:20 -08:00
cab1c6bb39
Preallocate mjCBoundingVolumeHierarchy and avoid copies during MakeBVH.
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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.
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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
66a0cd3b0b
Perform autolimit check on actuators
2024-01-11 16:29:08 +00:00
3a00450d00
Rephrase condition for default limited definition so it's more intuitive
2024-01-11 16:20:13 +00:00
56b30d9d15
Check the autolimits attribute before assigning default values for joint limitedness
2024-01-11 16:09:06 +00:00
79bcfecba4
Tidy up mj_kinematics implementation.
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PiperOrigin-RevId: 597556619
Change-Id: Iaf108a6582e8135c7169dad07ed0654bdea8ee71
2024-01-11 08:00:06 -08:00
60cd7248c2
Add zero vector shortcut to mju_rotVecQuat.
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PiperOrigin-RevId: 597504456
Change-Id: I23580fc08571db97e984a87cba3f4d14e67d6b3a
2024-01-11 03:19:30 -08:00
d4e8070a3f
Update doc about MJX meshes, fixes #1325 .
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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.
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PiperOrigin-RevId: 597316447
Change-Id: If9619320f0024c486bb7abe2c63e9a1ba1a631f0
2024-01-10 11:59:11 -08:00
8a9b041388
Replace objid with obj pointers.
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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.
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PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c
2024-01-10 09:56:54 -08:00
42515033a7
Fix linter issues in user_objects_test.
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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.
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PiperOrigin-RevId: 597198372
Change-Id: I2f159436091c03c7454545877cd5f7e2383cd7c8
2024-01-10 03:20:48 -08:00
8247ddea0b
Recommend fTetWild for tetrahedral meshing in the docs.
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PiperOrigin-RevId: 596918194
Change-Id: I0357739c8741a7b9fc4614c5ed7ea7fefc0fb42c
2024-01-09 06:50:10 -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
baaaa10612
Fix typo in plugin docs.
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PiperOrigin-RevId: 596884568
Change-Id: Ic0ba59fc73fbfd95361655e7761e49b2cb4985b0
2024-01-09 04:00:29 -08:00
5308b485dc
Improve dark mode behavior of arrowhead matrix image.
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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
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PiperOrigin-RevId: 596265596
Change-Id: Iedd076fbb7a6dca77a91e52e538be1c764d1f8fb
2024-01-06 14:02:34 -08:00
feb92bf535
MJX ray for planes, spheres, capsules, and boxes.
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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.
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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.
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Fixes google-deepmind/mujoco#1299 .
PiperOrigin-RevId: 595982512
Change-Id: Ib0261483a7f6cb8addf04f5010f09d3554c8bf45
2024-01-05 06:50:55 -08:00
721e2d5589
Update tutorial notebook.
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PiperOrigin-RevId: 595746621
Change-Id: Ie0a4ea01d4f50491b14713f12ea8a4fe6877f890
2024-01-04 10:45:00 -08:00
7ce05f4957
Improve documentation of solver parameters.
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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.
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Fixes #1270 .
PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
2024-01-03 09:53:22 -08:00
2940b934fe
Fix typo in sdf plugin readme.
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PiperOrigin-RevId: 595404942
Change-Id: I43eb079779538e4ff82d0f549b5a49819ebcd9cb
2024-01-03 08:10:01 -08:00
8d1b05bbd2
Fix markdown hyperlink.
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PiperOrigin-RevId: 595383191
Change-Id: Ia11b962c68ed33cc0fd6c5279f571f4b21d81570
2024-01-03 06:19:32 -08:00
6860e953ed
Improve docstring of mju_eig3.
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PiperOrigin-RevId: 595380013
Change-Id: Ia3663c11ff1cd50a35d5d72ba01e09ff3d9054d0
2024-01-03 06:04:08 -08:00
Kyle Bayes