b6037d1759
Improve mjSpec documentation. Fixes #2074 .
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PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
2024-11-01 12:06:14 -07:00
1d58576d28
Fetch source code line links for API functions on docs client side.
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PiperOrigin-RevId: 692115441
Change-Id: Ifbedf6a4998000f99e2275cb43293b3050daf0ee
2024-11-01 03:28:53 -07:00
c9f78ad8a8
Rename nnzJ to nJ in mjData.
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This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
2024-10-31 10:43:10 -07:00
94bbf297fc
Replace flex_xvert0 with flex_vert0
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`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
2024-10-31 06:30:36 -07:00
a9737c60e8
Copybara import of the project:
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--
5b525ccaef3d7184d3167815be63ed630781a064 by Kevin Zakka <kevinarmandzakka@gmail.com >:
Add command line scripts to MJX docs.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2196 from kevinzakka:typo-fixes 5b525ccaef3d7184d3167815be63ed630781a064
PiperOrigin-RevId: 691497203
Change-Id: I7c5d6a8fcbd2a42939673cee5eadb30bebdad833
2024-10-30 11:41:11 -07:00
32df8a515a
Fix typos. fixes #2139
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PiperOrigin-RevId: 691429879
Change-Id: I929b7a387ec41f68b8d85fe20de83083216da36a
2024-10-30 08:34:39 -07:00
f47840e57c
Add mju_dense2sparse to public API.
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PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
2024-10-29 12:47:48 -07:00
6703a40fcf
Improve plugin documentation.
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PiperOrigin-RevId: 690974299
Change-Id: Iadaabafb7434ada9579d6e2f64aae435cdfedbd8
2024-10-29 05:07:31 -07:00
864b805a6e
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
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The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.
PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
2024-10-28 10:44:04 -07:00
3d920e6a70
Update build documentation to include instructions on how to build the docs locally.
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PiperOrigin-RevId: 690616910
Change-Id: I717988e3adc67cb6d65488d39bc804c3d4f0e3b5
2024-10-28 08:17:16 -07:00
d8494fef3b
Remove deprecated mjv_makeConnector function.
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PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
2024-10-28 04:51:47 -07:00
3c21abc0e5
Add ray intersection with ellipsoid to MJX.
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PiperOrigin-RevId: 690557087
Change-Id: Icd2f0be1243574720baeac82b8bdd92e57c6a61c
2024-10-28 04:25:11 -07:00
7dc8aef807
Remove the convexhull compiler option.
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PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
2024-10-27 04:31:10 -07:00
61cb552f8a
Refactor PBR texture layers from separate sub-elements to a single layer sub-element.
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Add new element to PyMJCF schema.
PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
2024-10-26 07:41:38 -07:00
f24de91cc9
Use eq_active in MJX. Fixes #2173 .
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PiperOrigin-RevId: 689549368
Change-Id: I14d9817c5ca5dfc2a735ab8bacfb11b75c9feadc
2024-10-24 16:08:14 -07:00
a3ea01e57e
Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
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PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
2024-10-24 09:15:23 -07:00
159f23e6b4
Remember compiler options during attach.
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Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
2024-10-24 08:31:15 -07:00
7620aef530
Fix typo in the changelog.
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PiperOrigin-RevId: 689058361
Change-Id: I479efa8fc0b8d31030d3f6444b874a14419f3518
2024-10-23 12:17:32 -07:00
d17d9e835c
Do not delete attached specs after compilation.
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Also, copy them when copying the spec.
PiperOrigin-RevId: 688998464
Change-Id: I7229fd8032eafede582194ccf73ab4160fe06768
2024-10-23 09:42:05 -07:00
e14aebfd16
Expose mju_sparse2dense to public API.
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PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
2024-10-23 09:01:25 -07:00
b598d79b3f
Move mesh inertia specification from global <compiler> to <asset/mesh>.
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Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)
Fixes #2152
PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
2024-10-23 07:06:31 -07:00
bfa78614c8
Require prefix for the attach tag.
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For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162 ), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
2024-10-22 07:08:33 -07:00
98478f8811
Minor changes to inline comments in mjModel and mjData headers.
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PiperOrigin-RevId: 688231631
Change-Id: Iae5430142cab256a73a0fb8c698992ceba21b28c
2024-10-21 12:31:15 -07:00
aa91f3c047
Fix bug in slider-crank transmission.
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The associated row in `actuator_moment` was not cleared before being updated.
PiperOrigin-RevId: 688207085
Change-Id: I2f925e984c5c493e64ead66667aef57c4844acfe
2024-10-21 11:21:15 -07:00
36e8845599
Add actuator_moment Jacobian sparsity pattern to mjData.
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PiperOrigin-RevId: 688124236
Change-Id: Ieccc8131d0046100ec9a2783ffb43dd784f0a63b
2024-10-21 07:11:25 -07:00
b00a7c6705
Add touch sensor to MJX.
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PiperOrigin-RevId: 688056696
Change-Id: I50b0ebf3141aab0a5b07e5ae770101ff8b7737d4
2024-10-21 02:48:36 -07:00
680fb3e5dd
Add more public support functions for MJX.
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PiperOrigin-RevId: 687469475
Change-Id: I4218cc2f6d51d3f2f63b1a9a96953d550a5503a5
2024-10-18 17:15:18 -07:00
dcf2816543
Remove copy_back from Python bindings and mj_copyBack from the C API.
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PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
2024-10-18 11:55:04 -07:00
ffdb800e45
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
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PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
2024-10-16 14:24:06 -07:00
c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
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PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
d1e004aa97
Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release.
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PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
2024-10-15 13:03:13 -07:00
d646ba8de1
Update MuJoCo changelog with a video of the 100_humanoids model.
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Improve the model's rendering FPS by reducing the number of shadow-casting lights from 7 to 2.
https://youtu.be/e8lUuykQPGs
PiperOrigin-RevId: 686118052
Change-Id: If376564fdc23ad8d754dac1e5825079c0b806063
2024-10-15 08:40:06 -07:00
096853e192
Add JOINTINPARENT actuator transmission type to MJX.
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PiperOrigin-RevId: 686083761
Change-Id: I5159d050812d32e15ced06df132d3e434fced814
2024-10-15 06:38:02 -07:00
6881ce2437
Remove support for Python 3.8.
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Python 3.8 has been deprecated upstream, and any tests depending on Homebrew already stopped working. Following our support policy, we are removing support for 3.8 from our packages, too.
PiperOrigin-RevId: 686012836
Change-Id: Ibd220eb9c10e9a74bbd4443c1d7286a1fde9e5e5
2024-10-15 01:54:18 -07:00
8d84b5f693
Disable hfields for collision sensors.
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PiperOrigin-RevId: 685730321
Change-Id: Ib1d4a90b7b31ca388e018076a274e25c40409080
2024-10-14 09:19:11 -07:00
ee7b994021
Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.
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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
2024-10-14 09:07:22 -07:00
ac91a7639d
Add tendon velocity sensor to MJX.
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PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
2024-10-14 06:47:59 -07:00
1945926351
Fix computation of tangential contact forces in MJX _decode_pyramid.
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PiperOrigin-RevId: 685665382
Change-Id: Icdbba4a3ee5fec804340d73d525a36ee570c2aa8
2024-10-14 05:01:00 -07:00
766cd20273
Add mjs_bodyToFrame() to convert a body to a frame.
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Also add test for attaching the world body.
PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
2024-10-14 00:39:20 -07:00
534aedd47d
Improve documentation of joint/armature.
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See Drake [discussion](https://github.com/RobotLocomotion/drake/pull/21967 ) for more context.
PiperOrigin-RevId: 685428316
Change-Id: I80e8d4f097697f28529f5891a763979390c59e99
2024-10-13 07:25:15 -07:00
223892c051
Add tendon position sensor to MJX.
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PiperOrigin-RevId: 684851437
Change-Id: Ica0a30762a9cb3d612357b40b6f87cd2fc544fdb
2024-10-11 08:47:52 -07:00
2dd518734f
Stop over-allocating memory in Newton solver.
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PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
2024-10-11 05:09:33 -07:00
cdb167f275
Add mjs_attachToSite for attaching a body to a site.
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PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
2024-10-10 07:12:49 -07:00
22e4f7fc31
Fix bug in MJX frictionloss.
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PiperOrigin-RevId: 684198925
Change-Id: I5f6575759729712550bcb8d7659aaa7a657c66fc
2024-10-09 15:50:58 -07:00
a26ba2012e
Return 0 on success from mjs_activatePlugin instead of using mju_error.
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PiperOrigin-RevId: 684102823
Change-Id: I86b7702094ae886539e1dfb6294381952d507bc1
2024-10-09 11:09:33 -07:00
fa22e6d001
Add sphere-ellipsoid, sphere-cylinder. #2126
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PiperOrigin-RevId: 683747371
Change-Id: Ic11803bb395944380d25ce848d9fbcf19afaad77
2024-10-08 13:37:00 -07:00
b66da3d369
Add mjData.L, sparse Cholesky factor of Newton solver Hessian.
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PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
2024-10-08 10:13:08 -07:00
1f9dca8bc4
Do not expose plugin_slot.
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PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
2024-10-07 09:38:01 -07:00
66faba9aa5
Avoid changing semantics of mjsPlugin.name across XML sections.
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The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.
PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
2024-10-07 07:57:03 -07:00
160ed9bfe2
Add pulley support to spatial tendons in MJX.
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PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a
2024-10-07 03:00:53 -07:00
Yuval Tassa