225619c964
Update MuJoCo internal version to be the external version +1
...
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
2024-04-10 14:32:54 -07:00
5a365603f8
Add mju_euler2Quat.
...
PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
2024-04-10 06:02:50 -07:00
5d26b50fce
Remove native sensor noise sampling.
...
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
2024-03-28 15:33:03 -07:00
47ba72ea59
Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.
...
PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
c2bef232b6
Handle the implicit auto value for limits now written by the compiler to the xml
2024-03-14 12:38:56 +00:00
bda03af49a
Add childclass support to frames.
...
PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
106453fa2b
Updated version number to be (v3.1.4) ahead of current release (v3.1.3)
...
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
2024-03-06 09:07:25 -08:00
0631a406c4
Merge pull request #1470 from Balint-H:bugfix/unity-tendon-rendering
...
PiperOrigin-RevId: 612839845
Change-Id: Idf5b5cec4adc350b3ed36e902e2e52fbe9080281
2024-03-05 07:49:57 -08:00
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
...
PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
f70db6b0ee
Remove unnecessary using
2024-03-04 13:51:08 +00:00
2f64cf36c5
Conditional compilation for Tendon visualization
2024-03-04 13:49:00 +00:00
1baa478b64
Fix rendering of tendons
2024-03-04 13:41:50 +00:00
73f65ec408
Merge pull request #1428 from Balint-H:feature/unity-plugins
...
PiperOrigin-RevId: 612144507
Change-Id: Ie355c0da2b4a51331aadcfce865a1edd720381b5
2024-03-03 02:16:08 -08:00
a4a621f6e3
Add checksums (used as a timestamp) to VFS.
...
Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.
PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
2024-02-21 02:25:36 -08:00
c65410a92d
Preliminary support for plugins. Load all plugins in plugin folder.
2024-02-18 14:45:54 +00:00
b6873ec8a2
Move mjModel.mesh_{pos,quat} before mesh_pathadr so all attributes related to original asset data are next to each other.
...
PiperOrigin-RevId: 606277473
Change-Id: Ia4f6df552192c8a2847126975b6a1a31df63cf65
2024-02-12 09:37:48 -08:00
f763254a00
Updating Mujoco Release version number to v3.1.3
...
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
2024-02-05 15:59:20 -08:00
fae1f3e56d
Merge pull request #1369 from Balint-H:feature/unity-events
...
PiperOrigin-RevId: 602671446
Change-Id: I7a21230152a0139e37f44578ca19ec5eaa02296e
2024-01-30 03:33:47 -08:00
4fe16dd44e
Merge pull request #1353 from Balint-H:fix/unity-mesh-import
...
PiperOrigin-RevId: 602391543
Change-Id: I6d93c2beb672e8de7d5c9d17e77b4185dd137cb3
2024-01-29 08:13:04 -08:00
ee071242c6
Constrain MjScene EventHandlers as events, consistently use MjStepArgs
2024-01-26 14:35:03 +00:00
64b042369b
Readd axis swizzling to the mesh writer
2024-01-24 18:32:55 +00:00
042e3c9c4c
Reuse indices in mesh parsing, remove trailing nulls in mesh writing
2024-01-20 19:06:15 +00:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
...
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.
...
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
2024-01-17 10:54:23 -08:00
67a00a3a51
Rename mjMAXTHREADS -> mjMAXTHREAD (consistency).
...
PiperOrigin-RevId: 599130235
Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
2024-01-17 04:33:44 -08:00
3b440921df
Merge pull request #1268 from Balint-H:feature/unity-hmap-dyn
...
PiperOrigin-RevId: 598652839
Change-Id: I3285f041c5c2e3e9286f1bb106825ee20e7147e3
2024-01-15 12:54:06 -08:00
2388b651e8
Unity plug-in: Fix for when xml file has no <compiler> section.
...
PiperOrigin-RevId: 598646137
Change-Id: Id27635dc3064f8568ae0d86c2cdee8c2d414dd2f
2024-01-15 12:04:26 -08:00
c77f984d9b
Merge pull request #1330 from Balint-H:fix/unity-joint-limits
...
PiperOrigin-RevId: 598603093
Change-Id: I441631e33e812988694f8eed48c719c6bab86148
2024-01-15 07:08:03 -08:00
66a0cd3b0b
Perform autolimit check on actuators
2024-01-11 16:29:08 +00:00
3a00450d00
Rephrase condition for default limited definition so it's more intuitive
2024-01-11 16:20:13 +00:00
56b30d9d15
Check the autolimits attribute before assigning default values for joint limitedness
2024-01-11 16:09:06 +00:00
2c024164ea
Edit hfield_data in Unity
2023-12-21 16:04:25 +00:00
1028051d1a
Merge branch 'main' of https://github.com/google-deepmind/mujoco into feature/unity-hmap-dyn
...
Merge with main to keep branch up to date
2023-12-21 11:45:49 +00:00
d0b505c67b
Reformat scripts to better follow guidelines
2023-12-19 13:54:49 +00:00
7fb448613f
Post release version update: Update to V3.1.2
...
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
2023-12-18 15:03:37 -08:00
7cb7c87f70
Fix a few issues with the passive viewer.
...
1. Create an arena for the mjData instance used by the passive viewer visualization.
When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.
2. Add missing a missing field in scene state for flex visualization.
3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.
4. Add some locks in places where the render thread and Simulate::Sync collide.
This fixes #1280 .
PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
2023-12-18 07:33:19 -08:00
38fa756a20
Add mjGEOM_LINEBOX, used in visualization of collision trees.
...
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
2023-12-15 05:36:35 -08:00
11dae6e3a9
Merge pull request #1206 from Balint-H:feature/mouse-spring-qol
...
PiperOrigin-RevId: 590741248
Change-Id: I0228a2e6a27fd869f34f3e96163cd29e5ac99f35
2023-12-13 16:04:24 -08:00
c2c76195dd
Updating Mujoco Release version number to v3.1.1
...
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
2023-12-13 14:26:08 -08:00
fcebdf4d09
Update MuJoCo to v3.1.0 for release.
...
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
2023-12-12 10:37:47 -08:00
28a9e6d9a2
Add mjNOBJECT value to mjtObj enum.
...
PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
2023-12-12 05:15:00 -08:00
315a2f334f
Fix whitespace in reformatted code from GitHub
2023-12-11 14:57:40 +00:00
28f19fbe7c
Merge branch 'feature/unity-hmap-dyn' of https://github.com/Balint-H/mujoco into feature/unity-hmap-dyn
...
Merge in format from GitHub
2023-12-11 14:56:19 +00:00
af133f4022
Fix whitespace placements
2023-12-11 14:54:55 +00:00
d3429f97cc
Merge branch 'main' into feature/unity-hmap-dyn
2023-12-07 14:07:21 +00:00
0b413656b8
Restrict access to height range properties of the HField shape
2023-12-07 14:02:21 +00:00
2adfd09b87
Rebuild scenes on terrain changes for dynamic heighfields
2023-12-07 13:34:33 +00:00
e4359c04df
Merge pull request #1253 from Balint-H:feature/unity-hmap
...
PiperOrigin-RevId: 588420615
Change-Id: I2340f2fc025017133644eeedacf94b5c83e04669
2023-12-06 07:32:45 -08:00
3e3687d022
Add functionality to synchronise rendered terrain to position of the geom
2023-12-05 18:49:32 +00:00
f5a2879f9d
Fix braces convention
2023-12-04 14:00:24 +00:00
Gabe Oppenheimer