96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
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PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
d05251af2a
Add tendon armature
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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
2025-04-04 07:44:04 -07:00
e1f5ceb65a
Add mjModel.tendon_armature (in preparation, not yet implemented)
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PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:06:27 -07:00
f96f3e1c22
Add XML compiler/saveinertial flag. Fixes #2405
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PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
2025-04-03 10:12:42 -07:00
b839fe79e1
Allow to attach an entire mjSpec in mjs_attach.
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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
2025-04-01 09:51:52 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
2025-04-01 08:05:58 -07:00
05f3e914b0
Improve armature documentation
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PiperOrigin-RevId: 742583729
Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
2025-04-01 01:16:58 -07:00
e8c67ca586
Allow orientation for user composite.
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PiperOrigin-RevId: 740909723
Change-Id: Id38a55114d4257a461bbced57d35d6bb42a2597d
2025-03-26 14:44:51 -07:00
fa1b01360a
Delete reference to nonexistent flag in docs.
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PiperOrigin-RevId: 737434746
Change-Id: I277b9d910f050315b4f5c855d1955989e668c46f
2025-03-16 17:34:29 -07:00
f25fc63f0f
Default flex internal contacts to "false".
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This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500 , #2079 , #1900 , and #1433 . It should be used only if element inversion cannot be prevented otherwise.
PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
2025-03-14 04:55:09 -07:00
4d024f9421
Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.
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PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
2025-03-07 05:17:49 -08:00
e04e0e5c3d
Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency.
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PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b
2025-03-06 08:28:36 -08:00
7651cb1b33
Copy texture coordinates from OBJ into flex. Fixes #2464 .
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PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
2025-02-28 06:04:19 -08:00
ed16f2daf2
Set nativeccd as default.
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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -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
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
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
7cdf180641
Introduce trilinear flex parametrization.
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These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
2025-01-29 09:38:22 -08:00
8c22181156
Fix documentation typos.
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PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
2025-01-27 10:58:22 -08:00
b2d353d062
Document default visible geom groups in XMLreference.
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PiperOrigin-RevId: 717050528
Change-Id: I0414495d2f5a17ac2d8ba35c9353ecf0b7e8a18d
2025-01-18 12:42:01 -08:00
463bc47633
Clarify that equality constraints defined using the body-based semantic are assumed to be satisfied at `mjData.qpos0`.
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PiperOrigin-RevId: 717050088
Change-Id: I02e82cab5a60f0af48f7f921ba9bca11837f8063
2025-01-18 12:39:40 -08:00
240a7afdee
Add sensors for potential and kinetic energy.
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PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
ee6f4837f3
Auto-generate 3D mesh from convex OBJ if dim=3 in flex.
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This requires the user to explicitly specify an origin.
PiperOrigin-RevId: 712483526
Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
2025-01-06 04:35:59 -08:00
e67599f517
Add weak deprecation notice include in XMLreference.
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PiperOrigin-RevId: 710300945
Change-Id: I5a3dd066ef643d606d97ec36ffe1e797bb628659
2024-12-28 08:50:31 -08:00
b26d6f0466
Disable tendon catenary visualization when tendon is actuated. Add note about catenary visualization.
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PiperOrigin-RevId: 706161179
Change-Id: Ifaf571e039306309869078d1a0bcf9a69f1fe9de
2024-12-14 01:54:40 -08:00
f547d58351
Fix typo in docs
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PiperOrigin-RevId: 703449955
Change-Id: I3a5764278406dea4ff013ff82872cc27f5440f5e
2024-12-06 04:16:16 -08:00
300450f8b8
Add circle to flexcomp and remove rope and loop from composite.
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Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
2024-11-27 10:14:25 -08:00
efa5709c94
Fix broken link in XMLreference.
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PiperOrigin-RevId: 692669798
Change-Id: I8f61d1032d11c63945264a1b9dc1c034b7401d98
2024-11-03 04:18:43 -08:00
831d9881d3
Remove box, cylinder and ellipsoid composite types.
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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013 .
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
2024-11-02 11:14:13 -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
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
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
d758349632
Correct the docs about available attributes on the default/mesh tag.
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PiperOrigin-RevId: 679125186
Change-Id: I5cd597ac12b0600a835cdd23bda69c9aae4f651f
2024-09-26 06:31:27 -07:00
4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
3839ad186e
Merge pull request #2050 from kevinzakka:doc-fix
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PiperOrigin-RevId: 676339046
Change-Id: Ibefee71f7437999f9c78f7833bfaaa252e902ea4
2024-09-19 03:05:07 -07:00
b15de2c951
Add elasticity parameters to the schema.
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PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:56:36 -07:00
60a1921b34
Add site semantics to weld constraint. Fixes #1896
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PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:46:01 -07:00
7137f4b3c0
Fix typo in attach/model name attribute in the XML reference.
2024-09-09 16:39:36 -07:00
be00fafc43
Various documentation improvements.
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- Replace two "below" instances in `XMLreference.rst` with proper links (there are many more that need fixing).
- Discuss friction cones and 32-bit floats in Performance Tuning.
- Delete Damping subsection in Tips and Tricks, no longer relevant after the introduction of the implicit/fast integrators.
- Simplify discussion of free bodies, mention free joint alignment.
- Clarify frame used by kinematic Jacobians.
PiperOrigin-RevId: 672615057
Change-Id: Ib59b71e3c09cdd13415519fc4a964131b155718f
2024-09-09 11:36:07 -07:00
4862b9e765
Remove plugin support from Composite particles.
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This functionality is replaced by FlexComp.
PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
2024-09-09 04:58:26 -07:00
4a4db13eba
Update documentation to reflect that multi-threading is now used when loading meshes.
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PiperOrigin-RevId: 671063740
Change-Id: I77f2e028c3e9e9801c03e8e107eb6d8830becf22
2024-09-04 12:38:29 -07:00
8954a088ce
Add automatic free-joint alignment.
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PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
0e8c0b80eb
add content_type to model in the XML schema.
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PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
2024-09-04 07:25:55 -07:00
f60ab4492d
Remove vestigial mentions of mjOption.collision in the docs.
2024-08-31 16:49:25 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
Taylor Howell