a276c49c30
Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively.
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PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
2023-08-14 07:18:57 -07:00
abfa08f6cd
Improve schema order in XML reference
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PiperOrigin-RevId: 556726473
Change-Id: I157dd170d66708a59510e5656468aef498bff7be
2023-08-14 03:17:01 -07:00
81d0e56185
Reduce font size in schema reference, make 4 columns
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PiperOrigin-RevId: 556719771
Change-Id: Ie1cf7ef02dab7fdd1eed40ce77ddaa71918a9754
2023-08-14 02:45:59 -07:00
631b16e7ad
Add better user error messages to Python renderer update_scene along with missing unit tests.
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PiperOrigin-RevId: 554482720
Change-Id: Ief3ba496fb5720668f98fb9d44a5c82e6a14b9cc
2023-08-07 08:22:34 -07:00
2c3297b3e7
Add filterexact and actearly options to MuJoCo.
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When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.
When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.
PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
2023-08-07 04:50:33 -07:00
f0f535ed04
Improve order and clarify declarations of arena variables in mjdata.h
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PiperOrigin-RevId: 554419319
Change-Id: I83b83c56be4b74060f4a108c35ce481b8f354c5e
2023-08-07 03:07:11 -07:00
5b4b3415fa
Fix a typo: availabe -> available
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PiperOrigin-RevId: 550529748
Change-Id: I1277e096809bc4d66c98da726aa14a0cbfe18e56
2023-07-24 05:48:33 -07:00
65c827d422
Fix typo in key_callback example.
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PiperOrigin-RevId: 550013932
Change-Id: I418f49eee97e73d1b0218acc7e9259acaefb5edd
2023-07-21 12:12:53 -07:00
bbbf30ee47
Fix typo in docs.
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PiperOrigin-RevId: 549594904
Change-Id: I96c3964367081a8da0324c9989c9eb5414fa411f
2023-07-20 04:46:23 -07:00
eaf78b798b
Bump dev version number to 2.3.8.
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PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
2023-07-20 03:27:50 -07:00
c9246e1f50
Release version 2.3.7.
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PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
2023-07-20 02:13:55 -07:00
06b70832ce
Add keyboard event callback for Python passive viewer.
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Fixes #766
Fixes #846
PiperOrigin-RevId: 549449372
Change-Id: I37d17f1162c66d0e8482d402aae22d9a16b59deb
2023-07-19 15:54:44 -07:00
f7847ba73e
Fix GLFW crash when Python exits while the passive viewer is running.
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Fixes #790
PiperOrigin-RevId: 549440435
Change-Id: I808f6aaab6662225e5fe1131e0da72eca6011ba9
2023-07-19 15:20:46 -07:00
8386b28877
Change "MIME type" to "Media Type".
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MIME type is the historic nomenclature for Media Type, see e.g. https://www.iana.org/assignments/media-types/media-types.xhtml .
PiperOrigin-RevId: 549394435
Change-Id: I000e044a35ec44392e9c41bab6383aa89cdefc49
2023-07-19 12:35:57 -07:00
51aa375af0
Improvements related to models where joint-actuator relationship is not one-to-one:
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- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping ) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.
PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
2023-07-19 10:29:32 -07:00
5fcdae771b
Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures.
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PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
2023-07-19 06:51:36 -07:00
0ccfef7314
Add update_{hfield,mesh,texture} methods to the passive viewer.
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Fixes #812 .
Fixes #958 .
Fixes #965 .
PiperOrigin-RevId: 548181282
Change-Id: I6eb0cd2ce52c66083e83dd08d69e0cfb4178dbba
2023-07-14 11:43:36 -07:00
b5bef1b639
Describe c-frame variables.
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Fixes #982 .
PiperOrigin-RevId: 548060614
Change-Id: I2164afc07c02e657b1b924a5afc59209356b57eb
2023-07-14 01:59:43 -07:00
242aea93c6
Bump oldest supported MacOS to version 11.
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PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
2023-07-12 06:38:26 -07:00
5cfbb6ac8b
Add mjd_quatIntegrate, expose mjd_subQuat.
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PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
2023-07-07 05:33:24 -07:00
95167fab2d
Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly.
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PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
2023-07-04 08:09:01 -07:00
a36cb0ce3f
Merge pull request #949 from Ein04:patch-1
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PiperOrigin-RevId: 544517699
Change-Id: Ic12feb62f3e90d93b1be122a90f0a6fe062ac411
2023-06-29 18:32:37 -07:00
b96532181c
Merge pull request #936 from thowell:main
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PiperOrigin-RevId: 543653302
Change-Id: I174efb329a9023199ba0267d3fcd308805ff9cd0
2023-06-26 23:59:08 -07:00
a7021df63e
Add primitive sphere-cylinder collider.
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PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
2023-06-26 17:25:32 -07:00
ca3823343d
fix typo in computation.rst
2023-06-22 17:28:56 -07:00
14cc32bbe5
Fix typo.
2023-06-22 16:39:44 -07:00
c50c92ccc8
Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization.
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PiperOrigin-RevId: 542343761
Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e
2023-06-21 13:19:36 -07:00
0945af7b8a
Apply version number 2.3.6 to the pending changelog.
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PiperOrigin-RevId: 541964989
Change-Id: I66a18f2bae624f63962f28f434b9a5cf90d260c7
2023-06-20 10:08:34 -07:00
52aa5b645c
Update python.rst
2023-06-19 14:12:08 -07:00
c9e9cd8b35
Change org name to "Google DeepMind" in various docs.
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PiperOrigin-RevId: 540691205
Change-Id: I9eb99eb18893e6748892334470211dbd9d5808db
2023-06-15 14:28:25 -07:00
f67e359532
Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.
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PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:56:48 -07:00
84c33e53df
Merge pull request #916 from jc-cr:patch-1
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PiperOrigin-RevId: 539634371
Change-Id: I3690034f4ea10c4e92daeeb4c62b0b060c5c8db5
2023-06-12 06:36:40 -07:00
6434001747
Remove "Main struct types" subsection from APItypes.rst, for quicker access (fewer clicks) to main struct reference.
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PiperOrigin-RevId: 539525003
Change-Id: I01a3b7e4b054c3acda0a0070c227d50d7f43ea72
2023-06-11 20:00:15 -07:00
b3b05c0435
remove extra new line when editing
2023-06-09 22:14:32 -05:00
849ed472c0
removed trailing whitespaces
2023-06-09 22:13:04 -05:00
15618d8f94
Corrected index.rst example code samples
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Added the missing humanoid directory path to window and linux sample terminal commands
2023-06-09 21:55:02 -05:00
4a086edb43
Fix wrong link in changelog.
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PiperOrigin-RevId: 539106369
Change-Id: I228cbf426322e9b3756e64788cb9db0cd271ffa1
2023-06-09 09:45:55 -07:00
466c9aca82
Remove mj_activate and mj_deactivate.
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PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
2023-06-08 08:55:39 -07:00
833d30858d
Add note regarding reproducibility
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PiperOrigin-RevId: 538535494
Change-Id: Icc37c95df77a9e30868a2ef866c5e603239e728b
2023-06-07 10:56:18 -07:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
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PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
83e70954d7
Improve documentation of solver parameters.
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PiperOrigin-RevId: 538098136
Change-Id: I6a25fd066d5a1a7ef7b28c73accbd15c497fcba4
2023-06-06 00:30:15 -07:00
1efdcbf511
Merge pull request #896 from Beanpow:fix_doc
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PiperOrigin-RevId: 537977702
Change-Id: I1ecc4caba7ce434a61625fa8b01bdc5769747f4a
2023-06-05 14:11:52 -07:00
39b744b231
Fix the effective time constant function of muscle
2023-06-02 16:53:32 +08:00
86f22cb26b
Fix typo.
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PiperOrigin-RevId: 537211345
Change-Id: Icec139ee4651e32008bf71d990d5dbe7434df67d
2023-06-01 21:37:54 -07:00
8efb04eb79
Improved docs chapter order, rename Models to Model Gallery.
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PiperOrigin-RevId: 536819755
Change-Id: Ia2151a464c423b1ca13719285e4016832f448399
2023-05-31 14:13:41 -07:00
4beab79946
Remove outdated reference in computation chapter.
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PiperOrigin-RevId: 536818445
Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187
2023-05-31 14:08:57 -07:00
d40c395917
Add Visualization tab to simulate.
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Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
2023-05-27 05:08:15 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
c66d79409c
Change mj_ray behaviour to match geom visualisation conventions:
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- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.
Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.
PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
2023-05-24 13:52:21 -07:00
55c7f45dc5
Fix sparse matmul logic in addJTBJSparse.
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Also rename arguments and loop variables in `addJTBJSparse` for additional clarity.
PiperOrigin-RevId: 534908360
Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
2023-05-24 11:02:35 -07:00
Yuval Tassa