dde25d039b
Update Mujoco dependencies to latest versions.
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PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
2024-09-12 14:10:21 -07:00
577afd1e28
Improve wording of some items in the changelog.
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PiperOrigin-RevId: 673890612
Change-Id: I731f9afcd5ec5f54f7ddc318dcea238f08d7a6bf
2024-09-12 09:54:15 -07:00
e3d3a24b36
Add spatial tendons with site wrapping to MJX.
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PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
2024-09-12 04:17:16 -07:00
567793c26f
Store model paths in assets.
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This enables to preserve the paths of the child spec during `attach`.
PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
2024-09-11 05:20:14 -07:00
4e3dc14f8e
Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>)
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PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
2024-09-10 15:14:04 -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
fa156ed22f
Add accelerometer to MJX.
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PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
2024-09-05 06:57:09 -07:00
20296466b1
Add subtreelinvel and subtreeangmom sensors to MJX.
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PiperOrigin-RevId: 671347528
Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
2024-09-05 06:21:50 -07:00
cd8ff4401d
Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX.
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PiperOrigin-RevId: 671225109
Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc
2024-09-04 22:00:36 -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
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
9a27fc14c2
Raise appropriate errors for mj_addBufferVFS in Python bindings.
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When loading models in the XML bindings, different issues with the asset dictionary were all reported as "assets dict is too big".
PiperOrigin-RevId: 670960339
Change-Id: I2e47d91a6b433fd90ebdf9960a9b5b47413af410
2024-09-04 07:20:25 -07:00
49711fa14f
Add support for joint and tendon frictionloss to MJX.
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PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
2024-09-03 13:17:41 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
7abd5d427a
Restore mistakenly deleted/modified changelog items.
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PiperOrigin-RevId: 669732777
Change-Id: I473480acb06f881049c1f338e1e87ff86c30f330
2024-08-31 15:04:08 -07:00
9805df616b
Add framelinvel and frameangvel sensors to MJX.
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PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
2024-08-31 06:12:37 -07:00
cf02171bf8
Add velocimeter and gyro sensors to MJX.
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PiperOrigin-RevId: 669337697
Change-Id: I5e7f245b96eb334ffddd01757a9f631d9ad862cd
2024-08-30 08:39:40 -07:00
494e166f28
Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices.
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PiperOrigin-RevId: 669087189
Change-Id: I39e97264a192a621e67ae5e079334fc8be38a25d
2024-08-29 15:40:08 -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
646455406c
Fix changelog by moving bug fix to proper section.
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PiperOrigin-RevId: 668435872
Change-Id: I9042eb3f119cc778675944e7cfb8f6be0e9379b2
2024-08-28 07:07:11 -07:00
3e701b2125
Fix tendon sphere wrapping when using external sidesite.
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PiperOrigin-RevId: 668391942
Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
2024-08-28 04:30:07 -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
abe57c234b
Use bullets instead of numbering in latest changelog
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PiperOrigin-RevId: 666335980
Change-Id: Ifbeba31e34e9891f4d0791aa4b014d1fa1403398
2024-08-22 07:10:47 -07:00
8b03daa09b
Add mjtSameFrame enum to specify frame alignment of bodies with their children.
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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:17:06 -07:00
b2174a7ec3
Add framequat sensor to MJX.
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PiperOrigin-RevId: 666254481
Change-Id: I50be8574e1e4677ef5dc23a2bdcbc296f301d7fc
2024-08-22 02:21:20 -07:00
806b8c8e2e
Add support for actuatorfrc and jointactfrc sensors in MJX.
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PiperOrigin-RevId: 665804850
Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf
2024-08-21 03:46:26 -07:00
a68141eeff
Implicitfast integration for MJX.
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PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
2024-08-19 11:12:36 -07:00
6241814ad7
Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity.
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PiperOrigin-RevId: 664461284
Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76
2024-08-18 08:47:35 -07:00
6a12787a32
Add camera projection sensor to MJX.
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PiperOrigin-RevId: 664426007
Change-Id: I0f2681c156b12ab62503d45beb2cd8752e7202d6
2024-08-18 05:57:33 -07:00
51733c2a8a
Add rangefinder sensor to MJX.
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PiperOrigin-RevId: 664417458
Change-Id: I1ad7720e48541349f155984584314b2b49ccbf36
2024-08-18 05:15:58 -07:00
0bffd744f9
Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.
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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:08:35 -07:00
390bce2352
Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data.
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PiperOrigin-RevId: 663808411
Change-Id: Ic55875f87f5c36b9dfe21e5ed5891d64c7003cab
2024-08-16 12:02:21 -07:00
cfc7dc9848
Clarify that keyframes are not replicated in nested attachments.
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PiperOrigin-RevId: 663683684
Change-Id: Id180b3a6afad6809d8189a7a525c474bd3a91fc1
2024-08-16 04:22:21 -07:00
0bcaa85650
Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed.
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PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
2024-08-16 04:07:23 -07:00
6db96e07e4
Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock.
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PiperOrigin-RevId: 663668212
Change-Id: Ifc9adc6bff4544172ab22572da04a093aebfdbd4
2024-08-16 03:10:24 -07:00
a74c184f9d
Add efc_pos to MJX.
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fixes #1388
PiperOrigin-RevId: 663358494
Change-Id: I63885f9208d12edbaa4b7d123ce4c6d16f40dcbe
2024-08-15 10:33:44 -07:00
4c64e6f036
Add mocap state to SaveState/RestoreState and attached keyframes.
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PiperOrigin-RevId: 662975257
Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab
2024-08-14 10:42:49 -07:00
afd7c73f44
Attach multiple keyframes.
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Still missing: support for ctrl, mocap, and time.
PiperOrigin-RevId: 662871569
Change-Id: I8a418c4007663e3063d7146bd72db4eba78ddc5d
2024-08-14 04:42:54 -07:00
e3814be8e6
Remove duplicated title from the changelog.
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PiperOrigin-RevId: 662443493
Change-Id: Idf6d36aba168488f2752d7e167ed13c599acbd91
2024-08-13 03:06:31 -07:00
851bb6eef4
Add option to mjspec for creating a texture directly from a buffer.
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PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
2024-08-12 12:29:08 -07:00
466368efc6
Add shellinertia support for primitives: sphere, capsule, cylinder, ellipsoid, and box.
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PiperOrigin-RevId: 661407997
Change-Id: Icddac58c540c71ea26ac7a3be874788443bd1122
2024-08-09 14:40:13 -07:00
82c27165f2
mjQUICKSORT uses std::sort with C++.
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fixes #1638
PiperOrigin-RevId: 660887790
Change-Id: Ia3b493feda98b246d963aa749bc81b96c42fddaa
2024-08-08 10:24:34 -07:00
5383d1cd44
Update changelog for MuJoCo 3.2.2 release.
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PiperOrigin-RevId: 660823679
Change-Id: I983220b7e0314bdb2476a48b68399b0921834747
2024-08-08 07:12:08 -07:00
c486f62cb7
Fix some broken links in documentation.
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Remove references to deleted sample Makefiles.
PiperOrigin-RevId: 660753375
Change-Id: Iaed2d893e1c03b1c6d348a54e7d7f834db7f6089
2024-08-08 02:41:08 -07:00
fd892ee8f5
Fix some documentation bugs
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PiperOrigin-RevId: 660010085
Change-Id: I0e4d7bef6acc4e432545266c6301f7ca08e6b883
2024-08-06 10:34:08 -07:00
9db9df7380
Increase material count limit to 1000.
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The texture limit used to be 1000, but when materials with multiple textures were introduced in 3.2.0, the limit was reduced to 100. Since there are model out there that already have more than 100 and fewer than 1000 textures/materials, we should maintain backwards compat.
Fixes #1877
PiperOrigin-RevId: 659901629
Change-Id: If0f6d0500d1d808bc3ec2d87d4a3faf24007da59
2024-08-06 04:20:51 -07:00
926b9027d2
Update changelog for Mujoco 3.2.1
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PiperOrigin-RevId: 659612142
Change-Id: I88b199d796c24f8292af34f84caf3a0e8363d996
2024-08-05 11:06:08 -07:00
24a555062d
Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.
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- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.
PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
2024-07-30 08:41:59 -07:00
a4bd2bec0a
Skip disabled actuators in mjd_actuator_vel.
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Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.
Fixes #1838
PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
2024-07-29 07:31:58 -07:00
2d24c58819
Adds support for fixed tendons to MJX.
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PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
2024-07-22 10:49:13 -07:00
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