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Author SHA1 Message Date
Yuval Tassa ca046cbf64 Fix rendering bug in changelog. 
PiperOrigin-RevId: 585627863
Change-Id: I238b9d7eb13dbc8660f15f45efe6a84ccbb84c66
 2023-11-27 05:59:53 -08:00
Yuval Tassa 25ddb3e6e8 simulate: Add states to history when stepping with right arrow key. 
PiperOrigin-RevId: 585613870
Change-Id: I7fb051946e8a91a900442e3d7048dfa8b8bd7c5c
 2023-11-27 04:45:51 -08:00
Alessio Quaglino eb9568a48b Add frame element to MJCF. 
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
 2023-11-27 03:32:18 -08:00
Alessio Quaglino 8010aad7be Add flex_elemlayer to mjvSceneState. Fixes #1193 and #1219. 
PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
 2023-11-27 02:25:05 -08:00
Kevin Zakka e33adaca9c Fix typos in mju_boxQP documentation. 
PiperOrigin-RevId: 585462325
Change-Id: Ib1c15c3d5af8475ec1a62b50c66b729579a23e60
 2023-11-26 11:23:52 -08:00
Nimrod Gileadi 002b427a32 PID Controller as an actuator plugin. 
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
 2023-11-25 08:41:01 -08:00
Alessio Quaglino d070b1893e Improved SDF objective function. 
For two colliding SDFs `A` and `B`, the function is `(A+B)+abs(max(A,B))`. This can also be written as `clearance + abs(intersection)`. This function has the following properties:

- On the penetrating surface, it is equal to `A+B`, i.e. the clearance field which is the penetration depth.
- The object boundary is a set of local minima in 3D space, since `abs(max(A, B))>0` away from the surface.
- Along the penetrating surface, the maximum penetration is a local minimum of the clearance since this field is orthogonal to the midsurface field `A-B`, which acts as a support plane for the contact.

[Level sets of the improved function for two colliding circles](https://www.wolframalpha.com/input?i=plot+sqrt%28x%5E2%2By%5E2%29-1+%2B+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1+%2B+max%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+-+min%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+).

PiperOrigin-RevId: 585106580
Change-Id: I5b18a1ef262ceb0a1ab8abcad8acfd6dc1992e2c
 2023-11-24 09:07:17 -08:00
Yuval Tassa 6a83b86553 Update M1 Pro with M3 Max benchmarks in MJX docs 
PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125
 2023-11-23 10:46:54 -08:00
Nimrod Gileadi f2025c6abf Allow plugin actuators to have activation state. 
Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
 2023-11-23 05:14:03 -08:00
Copybara-Service 20eeb75086 Merge pull request #1187 from tmplt:ref/cmake-system-pybind 
PiperOrigin-RevId: 584560576
Change-Id: I1c16fbf80e3ba7175cf4d1d89a459e817100e1f8
 2023-11-22 02:20:02 -08:00
Yuval Tassa b41f6d0942 Correct documentation of eulerseq attribute w.r.t URDF conventions. 
PiperOrigin-RevId: 584394256
Change-Id: I0afcb6ced81b98898988cc66f46742175a9a55c5
 2023-11-21 12:11:05 -08:00
Yuval Tassa 2bc2bc902f Clarify that the contact disable flag also disables collision detection. 
PiperOrigin-RevId: 584300974
Change-Id: I740fd6833b2ea1b77bdb70dc210a1bd1f7eb6f17
 2023-11-21 05:57:51 -08:00
Yuval Tassa cd56a41f83 Fix bug in Cartesian actuation with movable refsite. 
PiperOrigin-RevId: 584035818
Change-Id: I005f6bbbe02f8b36d287ecada0406a6ae4d720ba
 2023-11-20 08:37:29 -08:00
Alessio Quaglino 8ca51b5318 Backtracking line search for SDF collisions. 
Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.

This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.

PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
 2023-11-20 06:33:01 -08:00
Viktor Sonesten 0ea316ed71 cmake: support system-wide pybind11 
Original behavior remains.
 2023-11-20 14:43:46 +01:00
Alessio Quaglino dbf44fe2b4 New SDF objective function. 
This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).

The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29)

PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
 2023-11-20 05:06:33 -08:00
Yuval Tassa 98082ae7f9 Add description of eq_active state variable to documentation. Fixes #1208. 
PiperOrigin-RevId: 583712793
Change-Id: I6f4adca5692fd181bb8f6c0f34ae09a756a84fc1
 2023-11-18 20:06:33 -08:00
Matthew Bennice d3eee0316c Small changes to Kuka IIWA7 Biarm 
PiperOrigin-RevId: 583412101
Change-Id: Icee1c5f1f2a9354425d8f6c311322903e1e0af83
 2023-11-17 09:37:26 -08:00
Copybara-Service b03d312cbf Merge pull request #1205 from Balint-H:fix/memory-default 
PiperOrigin-RevId: 583393024
Change-Id: Ia553d67ddf5c94e482a453bd9f6f23aa3be04b9d
 2023-11-17 08:19:01 -08:00
Bálint Hodossy 4fb1787a3b Use default value of memory option if not present in imported XML 2023-11-17 12:46:55 +00:00
Baruch Tabanpour 4d2a176a8a Modify name of mjx integration tests. 
PiperOrigin-RevId: 583108693
Change-Id: If972c376181ca98201ff61ff06d200c82d214e2b
 2023-11-16 11:24:07 -08:00
Baruch Tabanpour 23cdfef7fe Update C++ dependency versions. 
PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
 2023-11-16 11:15:01 -08:00
Yuval Tassa 8693e0bba5 Stop actuator group disable from mistakenly binding to the number keys (should toggle geom groups, not actuators). 
PiperOrigin-RevId: 583038620
Change-Id: Ibf339aed339b7ad862f61ac72298f43e717e3973
 2023-11-16 07:34:58 -08:00
Yuval Tassa 530058cadb Clarify support for muscles/tendons in future MJX. Add details to the large scene benchmark. 
PiperOrigin-RevId: 583018058
Change-Id: I3d93a73b4bd71ade1ecf28b8cff9a114259e71e1
 2023-11-16 06:10:34 -08:00
Alessio Quaglino 4014196c6c Add pin to flex golden data. 
Also reduce slightly the resolution of the models to make comparing golden data more readable.

PiperOrigin-RevId: 582990641
Change-Id: I4f935a4ce316c70f4b1641e1c0f2fe49f801b32c
 2023-11-16 04:14:58 -08:00
Tom Erez 9952f1708c Remove collision option from Unity plug-in GUI. 
PiperOrigin-RevId: 582978831
Change-Id: I97275438c730655a9c942526fa410bf006189968
 2023-11-16 03:24:05 -08:00
Baruch Tabanpour 1554048856 Bump dev version number to 3.0.2. 
PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
 2023-11-15 12:51:04 -08:00
Yuval Tassa 8d5966eec9 Update changelog for 3.0.1 release. 
PiperOrigin-RevId: 582705280
Change-Id: I6d2a8df7bccfa2ecb76b7ef3ef8d5a7377927589
 2023-11-15 09:30:35 -08:00
Yuval Tassa 2d2b6ecf93 Fix formatting bugs in XMLreference doc page. 
PiperOrigin-RevId: 582661350
Change-Id: I85a67b1286e9d70dc253e541d95fdfc58ce8f451
 2023-11-15 07:00:37 -08:00
Alessio Quaglino e3b3f96373 Add flex_texcoordadr to mjvSceneState. Fixes #1193. 
PiperOrigin-RevId: 582630943
Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
 2023-11-15 05:02:05 -08:00
Yuval Tassa 7051ab99e0 Enable keyframe loading and saving in passive viewer. Fixes #1175 
PiperOrigin-RevId: 582332757
Change-Id: Iff23359e670906c0e88a2d34273c493bc8cbe2af
 2023-11-14 08:38:04 -08:00
Alessio Quaglino f5285e0b23 Add flex to dm_control schema. 
PiperOrigin-RevId: 582323853
Change-Id: I4ce25bf29d0a883bca286954a14c4a07a500f145
 2023-11-14 08:05:29 -08:00
Alessio Quaglino ffca553f64 Do not use the inertia box for volume computation. 
PiperOrigin-RevId: 582319067
Change-Id: I347d820f48faab15b609bcfc8295b07bd2d0f7ed
 2023-11-14 07:46:33 -08:00
Erik Frey c8146372cf Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts. 
PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
 2023-11-13 16:48:49 -08:00
Nimrod Gileadi 97ad543051 Test-only change: Don't update actuator_force in Advance in TestActuator. 
Actuators update actuator_force in compute and not in advance.

PiperOrigin-RevId: 581985081
Change-Id: I013d6c4f0888ee8e25df15a6f58c9e3412d33ceb
 2023-11-13 09:11:42 -08:00
Nimrod Gileadi f1bf394415 Add missing commas in attribute lists in XML reference. 
PiperOrigin-RevId: 581984255
Change-Id: Ie834a9578357bba68839d5172892cd9d6329122e
 2023-11-13 09:08:43 -08:00
Alessio Quaglino 9ae40e718e Define mj_multiRay bindings explicitly. 
Fixes #1184.

PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
 2023-11-13 07:31:22 -08:00
Erik Frey d0cabcf7db Only apply torquescale once, when setting efc_pos. 
PiperOrigin-RevId: 580694671
Change-Id: Ic0e2ee773d65d4fd92f4b4102cdfdd040516680a
 2023-11-08 16:15:36 -08:00
Saran Tunyasuvunakool cdf55e2ae9 Do not override search bar text color when data-theme="auto" in light mode. 
PiperOrigin-RevId: 580546595
Change-Id: If39cd937e9288c860b8b713911f0ef5114aee5f5
 2023-11-08 08:46:08 -08:00
Yuval Tassa 57e6940f57 Prevent division by zero in testspeed. This can happen when parts of the pipeline are disabled. 
PiperOrigin-RevId: 580208528
Change-Id: Ia5971ea9f15e0b19896392e86a65592357b2df61
 2023-11-07 09:38:30 -08:00
Saran Tunyasuvunakool 7207b60b5a Place untrusted data from the git commit metadata in environment variables. 
This prevents bash from executing strings in the commit metadata as code when reporting build errors.

PiperOrigin-RevId: 580155315
Change-Id: I4046eabd76eba14297fffe4e2fced59259d80f21
 2023-11-07 06:14:17 -08:00
Yuval Tassa 1881c2d881 Improve sorting of samples in documentation. 
PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
 2023-11-06 08:12:24 -08:00
Yuval Tassa 8a5e2b19a8 Improve mjContact documentation. Fixes #1136 
PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
 2023-11-06 07:28:51 -08:00
Yuval Tassa dafd041ad8 Minor documentation improvements. 
PiperOrigin-RevId: 579825348
Change-Id: Iba81616fe9fc7d57a640775efd46afb5fc2f27bf
 2023-11-06 06:36:13 -08:00
Yuval Tassa 0f37deca0d Documentation improvements. 
Fixes #598 #691 #1071 #1072

PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
 2023-11-06 05:56:02 -08:00
Yuval Tassa 5a9239e11c Improve inline documentation of mj_passive and mj_subtreeVel. 
PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
 2023-11-06 05:12:11 -08:00
Yuval Tassa a6687885a5 In mj_sensorAcc, flip condition for triggering call to mj_rnePostConstraint to enumerate sensors that require the call rather than eliminating those that do not. 
PiperOrigin-RevId: 579804886
Change-Id: I1093fcfa66e637015cd702d7e59ec3bcddc670ef
 2023-11-06 04:51:53 -08:00
Alessio Quaglino 19de607ec8 Undo incorrect change in height field processing. 
PiperOrigin-RevId: 579502934
Change-Id: Id1fba8fe29a8eb4d4f0358173b34093401e6230e
 2023-11-04 12:33:21 -07:00
Alessio Quaglino 549fdddf3d Fixed a bug with height fields AABB. 
PiperOrigin-RevId: 579488048
Change-Id: I69a2d05f922b58947b1d468b5b31a4743d375d71
 2023-11-04 10:28:00 -07:00
Yuval Tassa c45996bba8 Add cell to tutorial colab demonstrating procedural camera control. 
https://youtu.be/cE3s_IfO4g4

PiperOrigin-RevId: 579466532
Change-Id: I433db285bcfa2b9fab0c11e1fef1e25af8187901
 2023-11-04 07:43:06 -07:00