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44 Commits

Author SHA1 Message Date
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 1881c2d881 Improve sorting of samples in documentation. 
PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
 2023-11-06 08:12:24 -08:00
Yuval Tassa e82cb9f420 Delete mentions of MuJoCo 2.0 in the docs. 
PiperOrigin-RevId: 578501679
Change-Id: Ie1fdd1d11d2e1e12b3f9f1e59bd4da705b3a7c7e
 2023-11-01 06:44:20 -07:00
Alessio Quaglino 50843cad30 Add defaults to SDF plugin attributes. 
Expose diameter and number of teeth for the gear SDF.

PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
 2023-10-30 03:09:25 -07:00
Yuval Tassa 2bb8652bf6 Add User Interface documentation. 
PiperOrigin-RevId: 575800982
Change-Id: I9b2e03932d0d3b1844b90e5da7c32a640d999e69
 2023-10-23 06:35:34 -07:00
Alessio Quaglino 139a8ae298 Add flex and elasticity documentation. Fixes #873. 
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
 2023-10-17 09:46:07 -07:00
Yuval Tassa a1b6026b8c Delete derivative code sample. 
PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
 2023-10-14 08:38:37 -07:00
Yuval Tassa c0357ef3d0 Improve documentation related to engine-internal threading. 
PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
 2023-10-13 16:32:38 -07:00
Yuval Tassa fb4cf472ed Delete testxml code sample. 
PiperOrigin-RevId: 573202693
Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
 2023-10-13 06:33:24 -07:00
Yuval Tassa 35e7bb354d Add documentation of ellipsoid-based fluid drag model. 
PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
 2023-09-20 05:41:44 -07:00
Yuval Tassa 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. 
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
 2023-09-18 10:53:35 -07:00
Kevin Zakka de5c3b1a09 PUBLIC: Update model gallery with new Menagerie models. 
PiperOrigin-RevId: 565329315
Change-Id: I819ba429aacf5cd68d2b101047879319fba259be
 2023-09-14 04:28:58 -07:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Yuval Tassa ba66bd4f8b Fixes to documentation: 
1. Cleaned up changelog, fixed some typos, removed nested admonitions.
2. Added missing documentation for `mjfResourceModified` function type.

PiperOrigin-RevId: 562859015
Change-Id: I34dc4f3131561cbe95be3127e6e318cc4b803a24
 2023-09-05 12:36:28 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Matthew Bennice 6225186964 Add threading primitives. 
PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
 2023-09-04 20:09:19 -07:00
Kyle Bayes 16ee0dfde5 Add modified callback to resource providers (for caching purposes). 
PiperOrigin-RevId: 561327623
Change-Id: Id6683f6d6d32ee91019aba46599c28cbffe29df6
 2023-08-30 06:53:20 -07:00
Saran Tunyasuvunakool 4c899b92cc Rename mj_stackAllocByte to mj_stackAlloc and make it public. 
PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
 2023-08-29 14:07:54 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Yuval Tassa d1d79f396e Mention Windows build issue regarding missing C header file. 
Fixes #862

PiperOrigin-RevId: 560712857
Change-Id: I530f102b645d7d7b8dd168349162a2d38f3ad9be
 2023-08-28 08:04:50 -07:00
Google DeepMind 5c9b222566 Fix typo. 
PiperOrigin-RevId: 559799961
Change-Id: Ic80a27160cbc2a28f59e91958fd3a2de40f539e2
 2023-08-24 10:41:02 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00
JC b3b05c0435 remove extra new line when editing 2023-06-09 22:14:32 -05:00
JC 849ed472c0 removed trailing whitespaces 2023-06-09 22:13:04 -05:00
JC 15618d8f94 Corrected index.rst example code samples 
Added the missing humanoid directory path to window and linux sample terminal commands
 2023-06-09 21:55:02 -05:00
Yuval Tassa 8efb04eb79 Improved docs chapter order, rename Models to Model Gallery. 
PiperOrigin-RevId: 536819755
Change-Id: Ia2151a464c423b1ca13719285e4016832f448399
 2023-05-31 14:13:41 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Yuval Tassa ff1fa84d32 Cosmetic documentation improvements 
PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
 2023-05-07 02:10:18 -07:00
Yuval Tassa 49efa9cc15 Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment. 
Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
 2023-05-06 09:22:37 -07:00
Yuval Tassa 7998fc7fca Fix typo. 
PiperOrigin-RevId: 529719905
Change-Id: I7ad8b333465db5f453b0d6b2ade02fbfc39a96a9
 2023-05-05 08:12:11 -07:00
Kyle Bayes 67f0f5154f Add various improvements for resource providers. 
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
 2023-05-05 07:03:49 -07:00
Yuval Tassa e38fb136e7 Shorten title in Programming chapter. 
PiperOrigin-RevId: 529505191
Change-Id: I148960357263ce874ec2099ffde63303e56eb52f
 2023-05-04 13:51:18 -07:00
Kevin Zakka 88ec9b202e Fix link in documentation. 
PiperOrigin-RevId: 529400443
Change-Id: I696dac60ef6f421e9308097593c8afe883fe90e7
 2023-05-04 07:16:41 -07:00
Yuval Tassa c69e0b97fb Improve documentation of the internal stack. 
PiperOrigin-RevId: 525119946
Change-Id: I49c757506f4af2b588dc07f978c8a72acad1b5bc
 2023-04-18 05:40:44 -07:00
Yuval Tassa 01b84089dd Document engine plugins. 
Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.

PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
 2023-04-03 07:55:21 -07:00
Yuval Tassa c29f32657c Fix broken links in the documentation. 
PiperOrigin-RevId: 520657874
Change-Id: Idd01c40f87e0f2afcbd2d2bfd98fab95edc2371e
 2023-03-30 09:18:06 -07:00
Kyle Bayes d3d789cf7d Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated. 
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
 2023-03-09 13:51:27 -08:00
Copybara-Service 93b4d4981d Merge pull request #758 from PeterMitrano:main 
PiperOrigin-RevId: 514385239
Change-Id: Ie85f355f1bdcd0b81ff228b71685e37552f679ea
 2023-03-06 06:38:00 -08:00
Yuval Tassa 367c254f54 Remove .cc suffix from sample code titles. 
PiperOrigin-RevId: 514342526
Change-Id: I4484b70e1c4da7dc98e362cfef16195224d0c65e
 2023-03-06 06:37:10 -08:00
Peter Mitrano fa4c55a21a found another potential typo 2023-03-06 02:09:35 +00:00
Peter Mitrano 277be19c5c fix potential typo 2023-03-06 02:06:56 +00:00
Kyle Bayes 090c25988a Split API reference pages into Data Structures and Functions pages. 
PiperOrigin-RevId: 510422950
Change-Id: I6b2eebab0c0020b80fec83094aa65c6a412e277e
 2023-02-17 07:06:20 -08:00
Yuval Tassa 928eb7a067 Add link from "build from source" sections to GitHub CI. 
PiperOrigin-RevId: 499737486
Change-Id: If9c5fa730166bfc73b828c87cf4ba4ddb9ace28c
 2023-01-04 23:59:10 -08:00
Yuval Tassa 69c74f850e Hierarchical restructuring of docs Programming chapter 
PiperOrigin-RevId: 495941670
Change-Id: I7f92d90fd58b9e22b59c54861277be60cb43323d
 2022-12-16 12:56:47 -08:00