ced37ffbb2
Add refsite to list of non-defaultable attributes.
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PiperOrigin-RevId: 604195547
Change-Id: Id14b5b571e320f995a38d2ad16f3325c70d37d78
2024-02-04 20:47:23 -08:00
66a8bef6fa
Merge pull request #1392 from alefram:fix-mj_forward-link
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PiperOrigin-RevId: 604116464
Change-Id: If4de574e0206c46a98c03949e7123178be73f6c3
2024-02-04 09:49:27 -08:00
eb844a4b77
When computing suitable initial font scale for a display, let 250% be the maximum size. Workaround for #1274 .
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PiperOrigin-RevId: 603791510
Change-Id: I37aa3431dcaf42dae8daa77ed87e108ca4d78ea0
2024-02-02 14:41:12 -08:00
f3b48edf2b
fix metadata and update mj_forward link
2024-02-02 18:26:32 -04:00
d8577bfc9a
Revert "fix link of mj_forward on tutorial"
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This reverts commit 40c0a91a40
2024-02-02 17:39:44 -04:00
1ed8694dbe
Replace xmlpos with info string for mjCError.
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PiperOrigin-RevId: 603759456
Change-Id: I0d86d8e61e31a70da77169107268728d6c052778
2024-02-02 12:34:52 -08:00
df76b55fe0
Add line error check to user_objects and xml_native_reader tests.
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PiperOrigin-RevId: 603714614
Change-Id: Ic031f33a9a6eb45b3e61cb666e0d4890bfe08275
2024-02-02 09:57:49 -08:00
fe57ae498f
Fix typo and improve code snippet in documentation for user_scn.flags.
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PiperOrigin-RevId: 603685657
Change-Id: Ia6af7a62db3d8955048fae4cbc30209bb1f7efd7
2024-02-02 07:50:38 -08:00
914a001753
Update UI when rendering flags are changed via user_scn.
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PiperOrigin-RevId: 603679619
Change-Id: If094836f97c8086a7f70bd235b8c8cc8ab69c639
2024-02-02 07:16:37 -08:00
7bb0ce4211
[Python Viewer] Allow users to override rendering flags via user_scn.
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Fixes #1190
PiperOrigin-RevId: 603672602
Change-Id: I3ff1bb0dca7e913b36f1b241aaea8b8bb95cadff
2024-02-02 06:39:08 -08:00
40c0a91a40
fix link of mj_forward on tutorial
2024-02-01 23:28:40 -04:00
bfa359cb2e
Revert "fix mj_forward link typo"
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This reverts commit 9f006dccdb
2024-02-01 23:25:56 -04:00
9f006dccdb
fix mj_forward link typo
2024-02-01 22:45:36 -04:00
92c161a61b
Add ncon to __init__.
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PiperOrigin-RevId: 603468404
Change-Id: I20c622b8f6f84ecacb9f3cdd26ac9560cf2788be
2024-02-01 13:38:23 -08:00
58e9fb0baa
Docs: fix link to slider-crank example model.
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PiperOrigin-RevId: 603400948
Change-Id: I49e4a58ba0cd450950a35cccb749f04d34190cfc
2024-02-01 09:56:37 -08:00
b3f93d436b
Convert mjmStruct to a C-struct.
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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
2024-02-01 06:57:47 -08:00
7a98038e88
Move mjCSite attributes to mjmSite struct.
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PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948
2024-01-31 08:07:48 -08:00
fae1f3e56d
Merge pull request #1369 from Balint-H:feature/unity-events
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PiperOrigin-RevId: 602671446
Change-Id: I7a21230152a0139e37f44578ca19ec5eaa02296e
2024-01-30 03:33:47 -08:00
8be966cdf9
Avoid NaN in gradient of where. Fixes #1349 .
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PiperOrigin-RevId: 602461299
Change-Id: I7c976d3b7262027bdc63967dcc00674fb2802e70
2024-01-29 12:09:29 -08:00
508669a9f2
Raise not implemented for frictionloss for now. #1344
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PiperOrigin-RevId: 602453907
Change-Id: I0ea506b54f96c4fadc0f29f9ed0a21b0b6a7e5d9
2024-01-29 11:45:36 -08:00
4fe16dd44e
Merge pull request #1353 from Balint-H:fix/unity-mesh-import
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PiperOrigin-RevId: 602391543
Change-Id: I6d93c2beb672e8de7d5c9d17e77b4185dd137cb3
2024-01-29 08:13:04 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
e6847f843d
Copybara import of the project:
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--
18821cb87ded727ef38e1bac8ba8561b19632899 by josephrocca <1167575+josephrocca@users.noreply.github.com >:
Ellipsoid has 3 sizes rather than one
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1374 from josephrocca:patch-1 18821cb87ded727ef38e1bac8ba8561b19632899
PiperOrigin-RevId: 602370557
Change-Id: I014226a1cbae926c8ad02f27b706fa0b3e8f2c8e
2024-01-29 06:39:53 -08:00
70021a7236
Improve ordering of asset documentation, sort by category and usefulness.
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- Old: texture, hfield, mesh, skin, material.
- New: mesh, hfield, skin, texture, material.
Rationale: First 3D assets, then surface assets. Mesh is the most common asset type. Materials reference textures so should come right after.
PiperOrigin-RevId: 602075615
Change-Id: I13e4404640184fb0717a442827cd76da31705648
2024-01-27 17:24:31 -08:00
3b0a680fa7
Refactor GlobalModel class in the XML API.
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PiperOrigin-RevId: 601761425
Change-Id: I9c24f670c1e9766867ec75aab56cec1c0b4f5703
2024-01-26 07:33:47 -08:00
669ee0ee48
Fix migration instructions for option/collision.
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Fixes #1367 .
PiperOrigin-RevId: 601754379
Change-Id: Ifb0b8fab4da44e161e463a71eec050c6635f3340
2024-01-26 07:03:00 -08:00
ee071242c6
Constrain MjScene EventHandlers as events, consistently use MjStepArgs
2024-01-26 14:35:03 +00:00
fb8f77df74
Throw error if qhull is called with NaNs.
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PiperOrigin-RevId: 601745538
Change-Id: I590673ca7975e4abc171f98704a6c8f8d08f8327
2024-01-26 06:13:27 -08:00
076db5d366
Copy face_ into facetexcoord_ if not specified and needed.
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PiperOrigin-RevId: 601732448
Change-Id: Iffe01076db22201dba2611ea36174f808ae00c1e
2024-01-26 04:54:43 -08:00
4f53d9a0d7
Add AddVector and GetVector to user cache.
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PiperOrigin-RevId: 601485067
Change-Id: I1a31f15c2495de4f057316022dcddf4df39afd64
2024-01-25 10:13:13 -08:00
a1e5ede266
Allow Brax data structures to inherit from MJX data structures.
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PiperOrigin-RevId: 601290735
Change-Id: I6dad1b6d7e6b3e71acecc36189ab59cc81ab90b4
2024-01-24 18:03:17 -08:00
e59605135a
Make benchmarks and viewer more accessible.
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- Drop google_benchmark module dependency, wasn't really using it.
- Move benchmark models into test_data
- Rename benchmark => testspeed, make default output more like MJ testspeed.
- Update viewer to use new io functions and add get_data_into.
- Add "mjx-testspeed" and "mjx-viewer" bin scripts
PiperOrigin-RevId: 601277135
Change-Id: I782f666c58a96ac1a0a1c5ffc8ecf29d9fcd810f
2024-01-24 17:04:02 -08:00
64b042369b
Readd axis swizzling to the mesh writer
2024-01-24 18:32:55 +00:00
c8e839a666
Do not create contact if there are no DOFs.
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PiperOrigin-RevId: 601146599
Change-Id: I68b1975a3217b266bbbfb0a15c85a65cfa46facb
2024-01-24 09:37:40 -08:00
aede8cf5cf
Rename user_asset_cache to user_cache.
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PiperOrigin-RevId: 601097322
Change-Id: Iea3d6481cd214028ef63ed72868999ecb0b1eeb4
2024-01-24 06:05:56 -08:00
0a7be1732c
Adds support for explicit dense/sparse mass matrices to MJX.
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This increases performance, particularly for the Newton solver on TPU.
PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
2024-01-23 00:32:07 -08:00
aceb52bd09
Improvements to mujoco.rollout:
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- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time.
- User-defined control spec.
- Stop squeezing: outputs always have dim=3.
PiperOrigin-RevId: 600445256
Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
2024-01-22 07:01:53 -08:00
042e3c9c4c
Reuse indices in mesh parsing, remove trailing nulls in mesh writing
2024-01-20 19:06:15 +00:00
5cbaa23388
Remove TEST_FILES from MJX test_util.py.
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PiperOrigin-RevId: 599886327
Change-Id: I4d166e09db22fffc959dbe34fa3469bd4a1b9f84
2024-01-19 11:15:06 -08:00
a1ddbdf7f8
Add an implementation of a cache for assets for compilation speedups.
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PiperOrigin-RevId: 599850003
Change-Id: I83e299e127058a5657d7b262aa98d36451b530f6
2024-01-19 09:04:01 -08:00
a23a368778
clean up rollout.cc
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PiperOrigin-RevId: 599849967
Change-Id: I899b28bf78bf0414b07314c24cfe6e24441eba30
2024-01-19 09:03:10 -08:00
e0864ab7f2
Fix formatting bugs in changelog.
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PiperOrigin-RevId: 599815807
Change-Id: I67d3eb2fd30c94a9d498ba605243e0b87b1d4ca8
2024-01-19 06:29:26 -08:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
2feefbc5d2
Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID.
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PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
2024-01-17 10:54:23 -08:00
edc254b213
Update MJX doc for #1344 .
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PiperOrigin-RevId: 599220357
Change-Id: I532f42ed086da59632eeaac0dcd3de6ffcf93cd4
2024-01-17 10:38:53 -08:00
a14a584f1d
Fix bug in muscle length-gain curve. Fixes #1342
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PiperOrigin-RevId: 599165049
Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
2024-01-17 07:20:01 -08:00
67a00a3a51
Rename mjMAXTHREADS -> mjMAXTHREAD (consistency).
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PiperOrigin-RevId: 599130235
Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
2024-01-17 04:33:44 -08:00
71b0561758
Clean up formatting issues in user_objects.h
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PiperOrigin-RevId: 599127766
Change-Id: If752c00038818fb21476eb98be891ead467aad56
2024-01-17 04:21:10 -08:00
a02fc405af
Add naive ray mesh implementation.
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PiperOrigin-RevId: 598993152
Change-Id: I708505bf20a89d5a4840451a11b99771195003e6
2024-01-16 16:29:11 -08:00
ee922be393
Benchmark improvements.
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- Use multiple devices if present
- FLAGS more agnostic to diverse platforms
PiperOrigin-RevId: 598990299
Change-Id: Ifbd454ca521a788324f2b62f1c79e7d4b8305a30
2024-01-16 16:17:56 -08:00
Tom Erez