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Author SHA1 Message Date
JC b3b05c0435 remove extra new line when editing 2023-06-09 22:14:32 -05:00
JC 849ed472c0 removed trailing whitespaces 2023-06-09 22:13:04 -05:00
JC 15618d8f94 Corrected index.rst example code samples 
Added the missing humanoid directory path to window and linux sample terminal commands
 2023-06-09 21:55:02 -05:00
Yuval Tassa 4a086edb43 Fix wrong link in changelog. 
PiperOrigin-RevId: 539106369
Change-Id: I228cbf426322e9b3756e64788cb9db0cd271ffa1
 2023-06-09 09:45:55 -07:00
Kyle Bayes 81d74c56e1 Separate mj_addM into dense and sparse functions. 
PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
 2023-06-09 06:44:19 -07:00
Yuval Tassa 466c9aca82 Remove mj_activate and mj_deactivate. 
PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
 2023-06-08 08:55:39 -07:00
Yuval Tassa 188b04fba5 Use std::stable_sort in model compiler. 
PiperOrigin-RevId: 538791034
Change-Id: I6c8eceffeb765a8a9801fee996d6ebf2964d8453
 2023-06-08 08:21:34 -07:00
Yuval Tassa 833d30858d Add note regarding reproducibility 
PiperOrigin-RevId: 538535494
Change-Id: Icc37c95df77a9e30868a2ef866c5e603239e728b
 2023-06-07 10:56:18 -07:00
Yuval Tassa d82f5ce5a4 Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -07:00
Yuval Tassa 83e70954d7 Improve documentation of solver parameters. 
PiperOrigin-RevId: 538098136
Change-Id: I6a25fd066d5a1a7ef7b28c73accbd15c497fcba4
 2023-06-06 00:30:15 -07:00
Copybara-Service 1efdcbf511 Merge pull request #896 from Beanpow:fix_doc 
PiperOrigin-RevId: 537977702
Change-Id: I1ecc4caba7ce434a61625fa8b01bdc5769747f4a
 2023-06-05 14:11:52 -07:00
Beanpow 39b744b231 Fix the effective time constant function of muscle 2023-06-02 16:53:32 +08:00
Yuval Tassa 86f22cb26b Fix typo. 
PiperOrigin-RevId: 537211345
Change-Id: Icec139ee4651e32008bf71d990d5dbe7434df67d
 2023-06-01 21:37:54 -07:00
Yuval Tassa 8efb04eb79 Improved docs chapter order, rename Models to Model Gallery. 
PiperOrigin-RevId: 536819755
Change-Id: Ia2151a464c423b1ca13719285e4016832f448399
 2023-05-31 14:13:41 -07:00
Yuval Tassa 4beab79946 Remove outdated reference in computation chapter. 
PiperOrigin-RevId: 536818445
Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187
 2023-05-31 14:08:57 -07:00
Yuval Tassa d1c6561f1c Add spaces around comparison operators in render/ and ui/ source files. 
PiperOrigin-RevId: 536001297
Change-Id: Ia0d97bf9f886aea03b8363e4d97e18301520909f
 2023-05-28 07:04:49 -07:00
Yuval Tassa 455b1cd2e2 Add spaces around comparison operators in engine source files. 
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
 2023-05-28 05:02:34 -07:00
Yuval Tassa d40c395917 Add Visualization tab to simulate. 
Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
 2023-05-27 05:08:15 -07:00
Yuval Tassa ea6789b376 Add emoji to README. 
PiperOrigin-RevId: 535670105
Change-Id: Ic9bf3e029eb5db8aa30a48c64d3f0d5fdb814f89
 2023-05-26 11:27:28 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Saran Tunyasuvunakool 1d79657512 Fix out-of-bound read in mju_combineSparseCount. 
PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
 2023-05-26 07:44:47 -07:00
Yuval Tassa cce7fb04d1 Fix out of bounds write in clampedDiff in engine_derivative_fd.c 
PiperOrigin-RevId: 535234007
Change-Id: I1ca54df1324346cd250409125939fdf6f63cee04
 2023-05-25 06:25:08 -07:00
Yuval Tassa c66d79409c Change mj_ray behaviour to match geom visualisation conventions: 
- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.

Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.

PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
 2023-05-24 13:52:21 -07:00
Saran Tunyasuvunakool 55c7f45dc5 Fix sparse matmul logic in addJTBJSparse. 
Also rename arguments and loop variables in `addJTBJSparse` for additional clarity.

PiperOrigin-RevId: 534908360
Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
 2023-05-24 11:02:35 -07:00
Yuval Tassa d82465d710 Fix use of uninitialised memory. 
PiperOrigin-RevId: 534783070
Change-Id: I4fddc983a8ac7213049366d909c57c303ab0e521
 2023-05-24 04:39:57 -07:00
Alessio Quaglino 03d6d27f64 Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
 2023-05-22 12:05:20 -07:00
Saran Tunyasuvunakool fbbdf70401 Make XMLWriterLocaleTest hold a copy of the old locale string. 
The rationale is the same as in 0d0a41d549. XMLWriterLocaleTest still sporadically fails with a stack buffer overflow error when built with MSVC 2019 prior to this change.

PiperOrigin-RevId: 534035241
Change-Id: I1c50457e386724021b8d97ab1fb9cc2ece795292
 2023-05-22 05:34:24 -07:00
Yuval Tassa bb8044e5f3 Set minimum tree slider depth to 0. 
PiperOrigin-RevId: 534003561
Change-Id: I42ccd0eab15b5a3c9852f8944c6b191f7999c113
 2023-05-22 02:39:58 -07:00
Yuval Tassa e338034995 Fix links in README. 
PiperOrigin-RevId: 533444487
Change-Id: Ifc1743095f1c4e204360689c681066ca89944804
 2023-05-19 07:05:17 -07:00
Yuval Tassa f5936eac7b - Mention mujoco_wasm in README. 
- Move Documentation and Getting Started above Installation.
- Delete link to the acquisition and open-sourcing announcements.

PiperOrigin-RevId: 533434989
Change-Id: I5ac9281cee953c46d618d63fdf9bfd7d39e8f264
 2023-05-19 06:11:53 -07:00
Yuval Tassa 20e06ba353 Add missing braces. 
PiperOrigin-RevId: 533419351
Change-Id: Iad54f6cb6d63c05e6a2f81526b22a914e2a23ba2
 2023-05-19 04:35:12 -07:00
Alessio Quaglino a09246c095 Removed key for visualizing the mesh tree. 
PiperOrigin-RevId: 533126358
Change-Id: I8b30691c78cbae4b8ad44ac16fb7567b2a131dcf
 2023-05-18 07:52:34 -07:00
Yuval Tassa eca0df4c6c Improve formatting of cubelet vertices. 
PiperOrigin-RevId: 533031494
Change-Id: I27b6e9eb17c3ebb1382d0e3d5ccb2402f00fbddc
 2023-05-17 23:32:07 -07:00
Kevin Zakka dee9a958b4 Tweak cube XML. 
PiperOrigin-RevId: 532851091
Change-Id: Icb089b914874e940985a08f6587c390732431f92
 2023-05-17 11:26:57 -07:00
Alessio Quaglino dab49d487c Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
 2023-05-16 11:10:38 -07:00
Alessio Quaglino 9db444cd46 Fixed texture mapping bug. Before this fix, the first texture coordinate was not correctly processed. 
Fixes #859.

PiperOrigin-RevId: 532501028
Change-Id: I1fe9ca470f4d64af606479b91387e43bc56c23dc
 2023-05-16 10:25:04 -07:00
Alessio Quaglino 9d1a21f99d Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
 2023-05-16 08:17:50 -07:00
Yuval Tassa 4ea8218466 If inertia is being visualised, draw body frames at the inertial frame. 
PiperOrigin-RevId: 532458388
Change-Id: Ie58cea8dee4215ad9e40ef827361bc3793c8f449
 2023-05-16 07:55:34 -07:00
Yuval Tassa b81793371b Fix typo. 
PiperOrigin-RevId: 532447706
Change-Id: Icea63f7ebf381906dce03175cdbf16e96c3828d7
 2023-05-16 07:09:47 -07:00
Alessio Quaglino fcc825c5e6 Add cutoff argument to mj_multiRay. 
PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
 2023-05-15 10:44:37 -07:00
Kevin Zakka ca9c55d22b Fix typo in user_mesh.cc. 
PiperOrigin-RevId: 532158366
Change-Id: I58cc6d7ff5f0781ea2621768dbcd35442d1b2e9c
 2023-05-15 10:43:12 -07:00
Tom Erez 31c265782b add support for implicitfast integrator from GUI. 
PiperOrigin-RevId: 532109571
Change-Id: Id9fbfad232ee7fdee8aff486b2d2b9b1b1eab258
 2023-05-15 07:50:18 -07:00
Alessio Quaglino 871a2a7c8e Check that all face indices of a mesh exist in the vertex array. 
PiperOrigin-RevId: 532049715
Change-Id: Ic42f6ef49f136aa89fb83527db0867afa8be7f08
 2023-05-15 02:55:44 -07:00
Nimrod Gileadi 39723891ce Use the correct string length argument to mj_loadXML. 
PiperOrigin-RevId: 531941053
Change-Id: Ia85b779b603a673b8e1d6f22d4bc183311204c4b
 2023-05-14 14:40:36 -07:00
Yuval Tassa 770b4b363a Added optional smoothing to muscle dynamics: 
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.

PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
 2023-05-12 04:58:53 -07:00
Copybara-Service 777cad52b4 Merge pull request #860 from PeterMitrano:main 
PiperOrigin-RevId: 531458260
Change-Id: I551e6c6be5d6a15426e6aa60beb27d64591bc66a
 2023-05-12 03:34:33 -07:00
Saran Tunyasuvunakool 0d0a41d549 Fix locale management on Windows. 
We are currently passing a value previously returned by setlocale to a later call to setlocale, but the spec says that we should be making a copy of it.

PiperOrigin-RevId: 531300386
Change-Id: I9531cfe738fc71fb26b4140a4129dfe67f5f6112
 2023-05-11 14:01:31 -07:00
Kevin Zakka 3d71b160e6 Add 3x3x3 cube to model collection. 
PiperOrigin-RevId: 531224451
Change-Id: Ibdfe5b89a5b2895500265199906a364768d606f0
 2023-05-11 09:28:18 -07:00
Alessio Quaglino bf81d1e6a5 Fix typo. 
PiperOrigin-RevId: 531167948
Change-Id: I5fcfe77fd69a050ef9dd88f748973c4a9233cbdb
 2023-05-11 04:55:53 -07:00
Saran Tunyasuvunakool 133b8d0978 Make MuJoCo buildable with Visual Studio 2019 update 7 and earlier. 
Also enable MSVC 2019 builds on GitHub Actions.

Fixes #862.

PiperOrigin-RevId: 531167754
Change-Id: I17687fb287c38a7f2245c6f7ba59a22b772e3a8c
 2023-05-11 04:54:53 -07:00