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
2c56946547
Increase mjVERSIONSTRING to 3.2.3 after release.
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PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
2024-08-08 10:31:57 -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
157040f743
Refer to tex_data in docs instead of tex_rgb.
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PiperOrigin-RevId: 660412293
Change-Id: I164099ecc36833e20d5adc2c7345aff351fc4561
2024-08-07 09:07:20 -07:00
ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
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PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -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
5287359022
Update docs for VFS.
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PiperOrigin-RevId: 659968022
Change-Id: I3b6c9befc8ca0dacaee5ef6da34d537dd439b7f3
2024-08-06 08:33:21 -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
20011a2f53
Disable RK4 integrator in mjd_transitionFD by throwing an error and improve documentation for mjd_transitionFD and mjd_inverseFD.
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PiperOrigin-RevId: 659492713
Change-Id: I84ab7ebfba34742f239f60311d8f0a55559995fb
2024-08-05 03:18:31 -07:00
56e00a5d4a
Re-order elements of mjSTATE_FULLPHYSICS. Fixes #1876
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PiperOrigin-RevId: 659267096
Change-Id: Iaf1e13caa989c41179aa0bd635cfa17ac776d06d
2024-08-04 03:32:24 -07:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
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PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -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
70d70bc3b7
Fix typos in MuJoCo documentation.
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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
2024-07-25 13:31:13 -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
33e5960653
Allow multiple textures per material in MJCF.
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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
2024-07-22 09:57:51 -07:00
f62792594f
Add a new disable flag mjDSBL_AUTORESETNAN.
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PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
2024-07-22 03:22:41 -07:00
796173170c
Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.
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PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
2024-07-19 09:29:22 -07:00
e92af73cbf
Add mjmodel support for textures with different number of channels.
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PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:22:19 -07:00
70ac76bb4b
Add assets to MjSpec.compile()
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PiperOrigin-RevId: 653965318
Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
2024-07-19 04:34:38 -07:00
dbe18f5740
Add additional MuJoCo fields to MJX structs.
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PiperOrigin-RevId: 653270676
Change-Id: I5f7a62d3bd542abc0d618e63d2426663e7d6406f
2024-07-17 10:04:52 -07:00
8e827d0d50
Add missing changelog item.
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PiperOrigin-RevId: 652830666
Change-Id: Iba41871a4e92081dde6428f12abe93c58ea9b02a
2024-07-16 07:21:37 -07:00
c588023729
Mujoco changelog update for 3.2.0
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PiperOrigin-RevId: 652594852
Change-Id: I69be392fb212263ac55b3cc25fd454c39cbd4553
2024-07-15 14:11:44 -07:00
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
39b22ebc26
Remove dangling section header from function docs.
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PiperOrigin-RevId: 652456322
Change-Id: Ib1d7aa387b7ba8957c93f0227f530aa0b37f2668
2024-07-15 06:11:25 -07:00
3d28a1d8c7
Fix formatting in documentation code samples.
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PiperOrigin-RevId: 652237833
Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f
2024-07-14 07:08:18 -07:00
22a10fd2ff
Minor documentation improvements.
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PiperOrigin-RevId: 652064694
Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
2024-07-13 08:36:47 -07:00
e13ddfa2ab
Improve compiler-related documentation.
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PiperOrigin-RevId: 651827545
Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
2024-07-12 11:05:16 -07:00
3d1d1d0718
Multithreaded mesh compilation.
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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
2024-07-11 04:21:49 -07:00
e7301edd20
Copy arena contents in mj_copyData.
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Fixes #1710 .
PiperOrigin-RevId: 651351384
Change-Id: I56e3204b30bb18f48278117e85e90464177da973
2024-07-11 03:54:44 -07:00
27b9ddda5b
Add attach tag to MJCF.
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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
2024-07-10 12:41:43 -07:00
b483ce608e
Use std::thread in compiler on all platforms.
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PiperOrigin-RevId: 651005412
Change-Id: I8dfb142dc2d87ab0af79583f2df168c105b50138
2024-07-10 07:10:45 -07:00
d0f86bc2c5
Correct API documentation of mjvSceneState. Fixes #1793
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PiperOrigin-RevId: 650662466
Change-Id: Ie887a63ca9136bbc688db6a79036701b9516c1d6
2024-07-09 09:49:07 -07:00
393895bb29
Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes.
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Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
2024-07-09 09:08:48 -07:00
70f86617f8
Fix typos in documentation.
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PiperOrigin-RevId: 650191926
Change-Id: I84d098782c6e4585a31e1de6bb1a7af3b3698f94
2024-07-08 03:49:12 -07:00
57e6760ec9
Re-implement VFS internals in C++, removing the constraints of the previous implementation.
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PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
2024-07-04 09:22:23 -07:00
a0945e4b5a
Add non-tree element lists to python bindings.
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Fixes #1752 .
PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
2024-07-04 07:24:02 -07:00
ca44ad4f0f
Improve docstrings and layout in mjdata.h
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PiperOrigin-RevId: 649195756
Change-Id: Iadf6589c226acacd9f3e85959de552a98fc7435a
2024-07-03 14:15:51 -07:00
9107d3b507
Add mjs_findKeyframe.
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PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
2024-07-03 05:17:41 -07:00
8f16b72f44
Rename mjSpec.euler to eulerseq to match MJCF.
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PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
2024-07-03 03:10:02 -07:00
df7ea3ed33
Add support for multiple textures in one material (mjModel).
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PiperOrigin-RevId: 648732764
Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b
2024-07-02 08:50:23 -07:00
3b73dfe33b
Add textured materials to render context, and refactor mjvGeom to refer to those textures.
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PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
2024-07-02 08:01:40 -07:00
9106f40e2b
Add mjSpec bindings.
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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
2024-07-01 12:05:50 -07:00
f2c3be470f
Make seed fixed for random number generator when using <texture mark="random"/>
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Also improve documentation regarding texture height and width attributes.
PiperOrigin-RevId: 648427167
Change-Id: I59a0fe75d3526f8563a5252584ed60ef7fb8fd70
2024-07-01 11:11:17 -07:00
0c3698f278
Don't normalize mocap quaternions in-place.
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PiperOrigin-RevId: 648394295
Change-Id: I348a0a045c1697f6ef782280d92c90a30759eb33
2024-07-01 09:29:50 -07:00
4d4b0bb2c3
Don't normalize mjData->qpos quaternions in-place.
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PiperOrigin-RevId: 647927542
Change-Id: I13b0be55498d1da3af2cdc414cfed4c3908a6fe1
2024-06-29 03:07:10 -07:00
f6cc3f4091
Remove classname from mjs* structs.
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PiperOrigin-RevId: 647277317
Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
2024-06-27 05:13:02 -07:00
Taylor Howell