bb4389eb43
Update MuJoCo changelog.rst for the v3.1.4 release
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PiperOrigin-RevId: 622870642
Change-Id: Ie45077659520cdae14604842ec8b0cc715e18fd6
2024-04-08 09:33:57 -07:00
930d7b0487
Update MuJoCo Cmake dependency on PyBind11 to the latest release
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PiperOrigin-RevId: 622853925
Change-Id: Ic2009c8ffd5441fbb87034915f6dd850a9836660
2024-04-08 08:32:25 -07:00
366041756d
Add note about segmentation images to offsamples documentation.
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PiperOrigin-RevId: 622830327
Change-Id: I8e15ce65babc86086335b0f9010db5be581460fc
2024-04-08 06:51:22 -07:00
feccf7ec96
Document mj_fwdPosition in pipeline docs, fix ordering error.
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PiperOrigin-RevId: 622829902
Change-Id: I2f1da9939aac38e4a662757f5c4bccf38a51e3da
2024-04-08 06:49:20 -07:00
7d3b662d5b
Check for invalid node tags in gmsh parser.
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PiperOrigin-RevId: 621538409
Change-Id: I91ba56b931d815fccd65ae32281bc19ae3a45ee7
2024-04-03 08:56:57 -07:00
d7f131e086
Add ellipsoid plane.
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Co-authored-by: Alessio Quaglino <quaglino@google.com >
PiperOrigin-RevId: 621208833
Change-Id: I270c1ae0cecd7dd2d9b41da4e4d0b6378b105aaf
2024-04-02 09:49:46 -07:00
02a7a8dc11
Fix integer overflow in MSH loading
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PiperOrigin-RevId: 621151576
Change-Id: I33f44dcc5d1099502714b384d97c37fe95e72186
2024-04-02 06:11:55 -07:00
827b7a2792
Solver parameter docs improvements.
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- Correct the equation for penetration depth. The equation is tested in engine_core_constraint_test.cc.
- Add a tip on scaling damping with stiffness.
PiperOrigin-RevId: 621111712
Change-Id: I8fcc133cbc638ffef2d0ddf4e298ae402dda7b6a
2024-04-02 03:03:02 -07:00
b85f419fcb
Add video with clips from least-squares tutorial to docs.
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PiperOrigin-RevId: 620144313
Change-Id: I79faa6a1446e9e6c88e16a238029f45c518c16d1
2024-03-28 21:00:14 -07:00
5d26b50fce
Remove native sensor noise sampling.
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PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
2024-03-28 15:33:03 -07:00
47ba72ea59
Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.
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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
d258d5e152
Check all edge pairs in convex-convex.
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PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032
2024-03-28 11:33:46 -07:00
a8db22f0d0
Add local vector clamping function in engine_forward.c
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PiperOrigin-RevId: 619948315
Change-Id: Ie4b92f5c8facaa2c169f01982940e84a0248b9c9
2024-03-28 08:57:34 -07:00
96f923282c
Add SetNuser function.
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PiperOrigin-RevId: 619892712
Change-Id: Id528620d6af19976d965f34a3be95a48a1f9c0b2
2024-03-28 05:26:41 -07:00
dfe2b75378
Convert mjElement to struct rather than opaque pointer.
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By making mjElement the parent of mjCBase, mjCModel, and mjCDef, this CL enables safer casting using static_cast instead of reinterpret_cast and C-style casting.
PiperOrigin-RevId: 619526291
Change-Id: Ifa2b4bd3ecd95bade61f41a7005c62212f456c00
2024-03-27 07:37:49 -07:00
e6bf6fc327
Fix a bug in the ellipsoid SDF gradient.
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PiperOrigin-RevId: 619512430
Change-Id: Ia4c2f01d1767f36313177334ceda02d3a9e2e495
2024-03-27 06:35:40 -07:00
297dc76b32
Merge pull request #1541 from wangcongrobot:main
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PiperOrigin-RevId: 619241318
Change-Id: Ic9e6a13eabc6f8c7cbb6fa387ab97af47557e618
2024-03-26 10:46:38 -07:00
4f0293c6cb
Added support for msh2.2
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Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.
Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark
PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
2024-03-26 10:12:13 -07:00
4d2aa46e56
Rename mjmDefault -> mjsDefault
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PiperOrigin-RevId: 619180662
Change-Id: Id7cedf82fbb022f08accc7c9a547495ed8eecba0
2024-03-26 07:20:03 -07:00
fa8893b443
Improve hash function for names.
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PiperOrigin-RevId: 619173787
Change-Id: I7889ea71ebe7bdbe682042842c521d6631521a35
2024-03-26 06:51:31 -07:00
709719911e
Make SameVector return early.
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PiperOrigin-RevId: 619128273
Change-Id: Ic47613b8322b9ff5a6a1f557cc9626a20aaee794
2024-03-26 03:19:30 -07:00
357ff8bbdc
Remove mjCAlternative and user_objects dependency from xml_urdf.
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PiperOrigin-RevId: 618832482
Change-Id: I626bb956cd3eb35317811b9b577cc7db128262ea
2024-03-25 07:21:03 -07:00
7875e93fea
Improve error text when a mesh face references an invalid vertex.
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PiperOrigin-RevId: 618715730
Change-Id: I28fae1e1570d359db4be98e9c5b7713169eaf34f
2024-03-24 20:59:16 -07:00
bb42ff1657
Fix order of enable flag strings. Before this change, using the UI to toggle the "InvDiscrete" and "Sensornoise" flags would toggle the opposite flag.
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PiperOrigin-RevId: 618658133
Change-Id: I35d4b9da2fdf68fed24efd518a30af60d3a806eb
2024-03-24 13:13:21 -07:00
2019d42ca6
Small change to testspeed file.
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PiperOrigin-RevId: 618323795
Change-Id: I3a6307b8ae6d9af0d17c0ae85eae673d60112ddf
2024-03-22 17:04:49 -07:00
31d48d3e44
Update fluid.rst
2024-03-22 16:07:57 +01:00
4660a297d1
rename mjspec api structs and functions mjm -> mjs
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PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
2024-03-21 18:04:50 -07:00
f0ad80f268
Merge pull request #1534 from aftersomemath:simulate-clear-load-error
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PiperOrigin-RevId: 618005670
Change-Id: Id2d33463e01dfb4193c1b22155d42c792d5d4f7d
2024-03-21 17:06:47 -07:00
848e014020
Copybara import of the project:
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--
40996ab1a05f328c2b5d1b940abb189d43f646de by Levi Burner <leviburner@gmail.com >:
[Python Viewer] load mjb files, fixes #1421
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1535 from aftersomemath:simulate-load-mjb 40996ab1a05f328c2b5d1b940abb189d43f646de
PiperOrigin-RevId: 617913250
Change-Id: I09e858495784122c29e0a3895ce43b95010003bc
2024-03-21 11:40:40 -07:00
af38845280
[Python Viewer] clear load error on successful reload, fixes #1116
2024-03-21 12:52:23 -04:00
67982c4961
Merge pull request #1509 from awesome-aj0123:camera-bug-fixes
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PiperOrigin-RevId: 617864822
Change-Id: If8bca106ecf725f9a7103eb3e009af901d6495a4
2024-03-21 09:18:04 -07:00
c3fb8e7f35
Do not attach elements not referenced in the subtree.
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PiperOrigin-RevId: 617849280
Change-Id: I391fe7c00f67d020d7394ddd31219d727b2eaa94
2024-03-21 08:22:03 -07:00
b0daccc234
Allow meshes with flipped faces if exactmeshinertia is false.
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Fixes #1529 .
PiperOrigin-RevId: 617824308
Change-Id: I926c385475dd79f07e88fe1925ecbb2adb4f8917
2024-03-21 06:36:07 -07:00
624becca52
Fix some more bugs in sphere/capsule-convex collisions.
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PiperOrigin-RevId: 617646119
Change-Id: Ie0c99ccbe1dd2a18663d45a111e77fed4112e638
2024-03-20 15:46:13 -07:00
07da7336e8
Set mesh visual flag regardless of discardvisual.
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PiperOrigin-RevId: 617428859
Change-Id: I427d888e6caa2fe1ae6597ca7165c600c9779cc7
2024-03-20 01:15:52 -07:00
9b86329797
Add 01-10 humanoids for benchmarking.
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PiperOrigin-RevId: 617318016
Change-Id: Ic5dc0623266d4d6bef6da97d03370010e2817a2a
2024-03-19 15:48:48 -07:00
20c8e3e43b
Implement basic USD test
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PiperOrigin-RevId: 617302442
Change-Id: Ic598df9757288640b5f35c4e740958884b1b4698
2024-03-19 14:53:18 -07:00
b4694ee331
Fix bug in MJX viewer.
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PiperOrigin-RevId: 617297574
Change-Id: I34fb797db47308a8b2f29a6c54f2b59d77f84a32
2024-03-19 14:36:15 -07:00
cc85a38f3c
Add mjm_attachBody to the C API.
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PiperOrigin-RevId: 617207000
Change-Id: I1fe59ba0d79938a4a383b115997c31dd6c71b8e5
2024-03-19 10:01:00 -07:00
91192393a0
Add material and nonzero elevation data to hfield in testdata/model.xml
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PiperOrigin-RevId: 617011327
Change-Id: I46f4fdbd67027003a710a365d0ad29f9158ff85f
2024-03-18 18:26:13 -07:00
c16a23d6c5
Fix typo in least squares notebook.
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PiperOrigin-RevId: 616927630
Change-Id: I06f361a6ec55f37123bd9eced29111e1920b9dc7
2024-03-18 13:23:07 -07:00
372aa021d0
Add copy constructor and assignment to mjCModel.
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PiperOrigin-RevId: 616850780
Change-Id: I7fedab2efa2a90fd7ce952eac4e195f77c5ff5bc
2024-03-18 09:25:27 -07:00
de918a8b2d
Small cosmetic fixes to MakeBVH.
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Remove the index member of BVElement, since it's redundant for the purpose of sorting. BVElement is now 32 bytes instead of 40, which should make things a bit better, as this data gets moved around during MakeBVH. Unfortunately, this has no measurable effect on the benchmark.
PiperOrigin-RevId: 616806520
Change-Id: I3b8a28c42a4a21dc25985e63ac57764fdb669afa
2024-03-18 06:19:33 -07:00
acaf86a96f
Fix input array size in mju_mulMatMat3.
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PiperOrigin-RevId: 616802192
Change-Id: I4dbc07d392b23a7014331ab850b685c1b82d3dcf
2024-03-18 06:00:45 -07:00
8afcfd0fa1
Add custom elements to testdata/model.xml
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PiperOrigin-RevId: 616752352
Change-Id: Iaaee19657e97f4962d9a2fe6e7671f3ce832264a
2024-03-18 01:58:52 -07:00
dd2580e546
Add internal functions for 3x3 matmul.
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PiperOrigin-RevId: 616749614
Change-Id: I7f3ac2ffc826076b6c97424324f03ecd9ccd4655
2024-03-18 01:44:10 -07:00
398fd108b4
Merge pull request #1508 from Balint-H:fix/limit-auto-parsing
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PiperOrigin-RevId: 616680348
Change-Id: I55edeec1d522ab6f04514747b3c4ad5dfb2cd45f
2024-03-17 18:39:26 -07:00
e95159b4f6
Small fix to mjx tutorial.
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PiperOrigin-RevId: 616235636
Change-Id: I38675c032bdca8f26ab0550896928d097ee86653
2024-03-15 14:00:28 -07:00
74d3d8cb4e
Cache OBJ files in MuJoCo compiler.
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PiperOrigin-RevId: 616211896
Change-Id: I3b765f4529957914e6154f0e62ef36fd9df93c96
2024-03-15 12:32:06 -07:00
bf66801bc9
Move printing of model BVH data to the end, make it more compact.
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PiperOrigin-RevId: 616186922
Change-Id: Id6368a5efd831698f182fe97251b9608312c663c
2024-03-15 11:10:15 -07:00
Gabe Oppenheimer