1a9d307042
Use mocap pos/quat in smooth.kinematics.
...
PiperOrigin-RevId: 681136974
Change-Id: I0ece009ed1e68b61b0b96da2e685e86000f7f6b8
2024-10-01 13:12:33 -07:00
89aea5e217
Add body.find_all() to Python bindings.
...
This enables to generate a list of all body children of a given type.
Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112 .
PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
2024-10-01 08:57:25 -07:00
6832df3091
Replace mjs_setActivePlugins with mjs_activatePlugin.
...
PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
2024-09-30 09:46:47 -07:00
807ee852d0
Merge pull request #2097 from emotodorov:ui
...
PiperOrigin-RevId: 679704368
Change-Id: Iae396a134e6019c8cdb935a306f097f9427e134c
2024-09-27 13:16:01 -07:00
25e4d75a07
Return attached body/frame in mjs_attachBody/Frame.
...
PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
2024-09-27 08:34:00 -07:00
d758349632
Correct the docs about available attributes on the default/mesh tag.
...
PiperOrigin-RevId: 679125186
Change-Id: I5cd597ac12b0600a835cdd23bda69c9aae4f651f
2024-09-26 06:31:27 -07:00
30cd8cc0e2
Add keyword argument example to code block in model editing section of the documentation.
...
PiperOrigin-RevId: 678643644
Change-Id: Ie1d5659f01cc882628a669e7be22eff975a888fc
2024-09-25 04:34:03 -07:00
55962538c4
Fix typo in programming documentation
2024-09-24 15:33:27 +08:00
5838f84777
Fix bug where MJX data tendon fields are incorrect after calling put_data.
...
PiperOrigin-RevId: 677911639
Change-Id: I75f536fa348e2941d9ec2d454f475cd067e6d3af
2024-09-23 13:12:49 -07:00
41ea95f077
Add a section for element casting in the function API reference, move these functions to the end.
...
PiperOrigin-RevId: 677783917
Change-Id: I5042e7df20f2a2e0ecfe01a85a1969ccfc2307cd
2024-09-23 07:26:01 -07:00
0ba11b9623
Add plugins list to mjSpec Python API.
...
Fixes #2061 .
PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
2024-09-23 06:13:42 -07:00
ab3954d892
Set actuator_force in MJX. Fixes #2068 .
...
PiperOrigin-RevId: 676867005
Change-Id: I80514a050ff40cb6d43a95b74c4a36c4991db588
2024-09-20 09:16:55 -07:00
4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
...
PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
3839ad186e
Merge pull request #2050 from kevinzakka:doc-fix
...
PiperOrigin-RevId: 676339046
Change-Id: Ibefee71f7437999f9c78f7833bfaaa252e902ea4
2024-09-19 03:05:07 -07:00
ebcffaf121
Improve wording of changelog item.
...
PiperOrigin-RevId: 675176166
Change-Id: I3b902efcc618e5121fea33f9a746df57a3979710
2024-09-16 09:22:26 -07:00
f9401776d4
Add framelinacc and frameangacc sensors to MJX.
...
PiperOrigin-RevId: 675141513
Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8
2024-09-16 07:34:16 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
...
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
9d73211757
Add force and torque sensors to MJX.
...
PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
2024-09-16 06:57:00 -07:00
b15de2c951
Add elasticity parameters to the schema.
...
PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:56:36 -07:00
60a1921b34
Add site semantics to weld constraint. Fixes #1896
...
PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:46:01 -07:00
2da15cf137
Add flex elasticity stiffness matrix to mjModel.
...
PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 05:00:54 -07:00
dde25d039b
Update Mujoco dependencies to latest versions.
...
PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
2024-09-12 14:10:21 -07:00
577afd1e28
Improve wording of some items in the changelog.
...
PiperOrigin-RevId: 673890612
Change-Id: I731f9afcd5ec5f54f7ddc318dcea238f08d7a6bf
2024-09-12 09:54:15 -07:00
e3d3a24b36
Add spatial tendons with site wrapping to MJX.
...
PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
2024-09-12 04:17:16 -07:00
567793c26f
Store model paths in assets.
...
This enables to preserve the paths of the child spec during `attach`.
PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
2024-09-11 05:20:14 -07:00
cf721def3a
Missing renames of mpr_ -> ccd_
...
PiperOrigin-RevId: 673330801
Change-Id: I1cd67454660aaea6dd41eb50a12638358676b8d0
2024-09-11 04:09:57 -07:00
8710126d08
Raise NotImplementedError for unsupported sensors in MJX. Update MJX feature parity docs to include fully supported sensors.
...
PiperOrigin-RevId: 673325233
Change-Id: Ib262bdd37937c5230765c11d1f61581e55e8c397
2024-09-11 03:50:46 -07:00
4e3dc14f8e
Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>)
...
PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
2024-09-10 15:14:04 -07:00
e4d4153352
Move sanitizer instrumentation to a separate header file. Fixes #2049 .
...
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
2024-09-10 09:05:35 -07:00
7137f4b3c0
Fix typo in attach/model name attribute in the XML reference.
2024-09-09 16:39:36 -07:00
dd45e67ec4
MJX documentation update. Fixes #1703 .
...
PiperOrigin-RevId: 672667174
Change-Id: I528a16c4233c1448cbca660bd6c7ab2e70d0c6ee
2024-09-09 14:07:16 -07:00
be00fafc43
Various documentation improvements.
...
- Replace two "below" instances in `XMLreference.rst` with proper links (there are many more that need fixing).
- Discuss friction cones and 32-bit floats in Performance Tuning.
- Delete Damping subsection in Tips and Tricks, no longer relevant after the introduction of the implicit/fast integrators.
- Simplify discussion of free bodies, mention free joint alignment.
- Clarify frame used by kinematic Jacobians.
PiperOrigin-RevId: 672615057
Change-Id: Ib59b71e3c09cdd13415519fc4a964131b155718f
2024-09-09 11:36:07 -07:00
4862b9e765
Remove plugin support from Composite particles.
...
This functionality is replaced by FlexComp.
PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
2024-09-09 04:58:26 -07:00
fa156ed22f
Add accelerometer to MJX.
...
PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
2024-09-05 06:57:09 -07:00
20296466b1
Add subtreelinvel and subtreeangmom sensors to MJX.
...
PiperOrigin-RevId: 671347528
Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
2024-09-05 06:21:50 -07:00
cd8ff4401d
Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX.
...
PiperOrigin-RevId: 671225109
Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc
2024-09-04 22:00:36 -07:00
81618f95f9
Update doc for mj_addFileVFS and mj_addBufferVFS as VFS is no longer memory limited.
...
PiperOrigin-RevId: 671087960
Change-Id: I0b022554f4f47fe2e64c8201cd855b63d514c344
2024-09-04 13:51:43 -07:00
4a4db13eba
Update documentation to reflect that multi-threading is now used when loading meshes.
...
PiperOrigin-RevId: 671063740
Change-Id: I77f2e028c3e9e9801c03e8e107eb6d8830becf22
2024-09-04 12:38:29 -07:00
b502ceef00
Add note that XML saving requires that the spec first be compiled. Fixes #1832
...
PiperOrigin-RevId: 671046666
Change-Id: If5885545d5316537147d293fbe854caa568558b2
2024-09-04 11:47:34 -07:00
8954a088ce
Add automatic free-joint alignment.
...
PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
...
Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
0e8c0b80eb
add content_type to model in the XML schema.
...
PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
2024-09-04 07:25:55 -07:00
9a27fc14c2
Raise appropriate errors for mj_addBufferVFS in Python bindings.
...
When loading models in the XML bindings, different issues with the asset dictionary were all reported as "assets dict is too big".
PiperOrigin-RevId: 670960339
Change-Id: I2e47d91a6b433fd90ebdf9960a9b5b47413af410
2024-09-04 07:20:25 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
...
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
42eb669e4e
Precompute mappings between M <-> D sparse representations.
...
PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
2024-09-04 02:57:13 -07:00
49711fa14f
Add support for joint and tendon frictionloss to MJX.
...
PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
2024-09-03 13:17:41 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
...
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
f60ab4492d
Remove vestigial mentions of mjOption.collision in the docs.
2024-08-31 16:49:25 -07:00
7abd5d427a
Restore mistakenly deleted/modified changelog items.
...
PiperOrigin-RevId: 669732777
Change-Id: I473480acb06f881049c1f338e1e87ff86c30f330
2024-08-31 15:04:08 -07:00
9805df616b
Add framelinvel and frameangvel sensors to MJX.
...
PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
2024-08-31 06:12:37 -07:00
Baruch Tabanpour