e9709900b4
Add gravcomp.
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PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
2024-04-24 11:19:34 -07:00
68e33f4c4e
Merge pull request #1601 from Andrew-Luo1:main
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PiperOrigin-RevId: 627779916
Change-Id: I656984b53556360b1ba88ca6adc8ea1cf2e9d215
2024-04-24 10:49:13 -07:00
b56d7d6e30
Add more info to doc about static fields. Fixes #1615 .
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PiperOrigin-RevId: 627528282
Change-Id: I88aa1ece0e530a53a3ae18c8dc935d3ea9c56c09
2024-04-23 15:47:49 -07:00
d15db54537
Add support functions for id2name and name2id.
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PiperOrigin-RevId: 627525330
Change-Id: Ic8069f64c94ef4b8f96f62b88ece62a8b296d870
2024-04-23 15:35:59 -07:00
938a62f476
update apg diagram
2024-04-23 08:10:11 +02:00
e6b95f3cfc
Merge branch 'google-deepmind:main' into main
2024-04-23 06:12:20 +02:00
71333938ec
Add support for condim to MJX.
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PiperOrigin-RevId: 627136131
Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
2024-04-22 13:20:57 -07:00
8ebc9ed2c8
Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.
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PiperOrigin-RevId: 627087335
Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
2024-04-22 10:45:43 -07:00
546a27ca72
Fix memory allocation error when memory size is larger than 2G. Fixes #1606
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PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
2024-04-22 09:15:46 -07:00
6540289eb1
Change schema order in the docs: move option to the top, move visual down.
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PiperOrigin-RevId: 627036617
Change-Id: Icb18a4afab7d549baee8ed0df89e98dfac4d6e6c
2024-04-22 07:56:26 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
c2d0c5dd1b
Add cylinder collisions using SDFs.
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PiperOrigin-RevId: 626998709
Change-Id: I669a639b1cabf5ed522c73a07e54684d675fa396
2024-04-22 05:07:43 -07:00
f3a9d7790a
Merge branch 'google-deepmind:main' into main
2024-04-21 17:15:31 +02:00
34a61ae42f
Fix image link in model documentation.
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PiperOrigin-RevId: 626498569
Change-Id: I589257346d48e5424a6eb7d43d28561ff8c0e2d0
2024-04-19 16:32:05 -07:00
718e079cba
Fix bad changelog formatting.
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PiperOrigin-RevId: 626497821
Change-Id: I705b691b5ad985889a9b05da8c775df42b3811d6
2024-04-19 16:28:43 -07:00
3b64217b96
Remove deprecated mjx.device_* functions. They are not suited to upcoming condim support.
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PiperOrigin-RevId: 626486447
Change-Id: Ibd41874bb3903123567168ebbac563399788d2f2
2024-04-19 15:34:28 -07:00
e98a95821d
Add fruit fly model.
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PiperOrigin-RevId: 626447823
Change-Id: I2e13312364c42cf2fccf0a843f8f2661b1b2f6a1
2024-04-19 13:03:26 -07:00
a4df912018
Prepare MJX for condim.
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This is a refactor of collision_driver and some of its surrounding code in order to prepare for condim in MJX. In this change we reify types that are needed for condim: dim, efc_address, efc_type. We make explicit the way contacts are organized and grouped to guarantee that dim and efc_type are statically defined.
This change simplifies the way meshes are organized on device and slightly speeds up mesh collisions for cases where a single mesh is instanced across many geoms.
PiperOrigin-RevId: 626119500
Change-Id: Ic0c8599bcda2326f2e19cd3246a673e56097886b
2024-04-18 12:43:36 -07:00
2b4975811b
Fix bug in Python binding of mj_saveModel
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PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
2024-04-17 05:58:50 -07:00
b2a8ff9b24
Merge branch 'google-deepmind:main' into main
2024-04-17 14:08:51 +02:00
4b6c07cd7d
Prevent bodies from overwriting the frame names in xml_native_writer.
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PiperOrigin-RevId: 625632369
Change-Id: If3bd048ac40e116fcb97beb3dca3d99826fe4ad0
2024-04-17 04:07:50 -07:00
4ae47dd4ec
Merge branch 'google-deepmind:main' into main
2024-04-17 11:13:32 +02:00
6481a838c8
Fix monospace rendering in changelog.
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PiperOrigin-RevId: 625388305
Change-Id: I82c7cd0e221627a14f6a2b2d9285099f488b1dcb
2024-04-16 11:00:57 -07:00
f086dc9b4b
Better parsing for GMSH2.2
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PiperOrigin-RevId: 625267106
Change-Id: Iecf767c43cee1067fdab3859df28050f8a365e2b
2024-04-16 03:23:52 -07:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
0fa0437313
Add cylinder plane.
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PiperOrigin-RevId: 625099227
Change-Id: I02cb86c3e8c7fd5914a082f1e8a3bae6274b3c8e
2024-04-15 15:18:04 -07:00
7b3f1a0261
Add mjModel.mesh_scale: scaling applied to asset vertices.
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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:26:06 -07:00
df262402cf
add diagram for apg notebook
2024-04-15 08:12:43 +02:00
bcee4e9954
Add more details to reproducibility section.
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PiperOrigin-RevId: 624186625
Change-Id: Ibceace5b2b3d84c9cf0a179adfb6638450f9cb9f
2024-04-12 08:27:30 -07:00
225619c964
Update MuJoCo internal version to be the external version +1
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PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
2024-04-10 14:32:54 -07:00
6d1f0a3ec6
Fix rendering bug in changelog
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PiperOrigin-RevId: 623553343
Change-Id: Ice48c450de19065069c50242a26396ee7bf1b363
2024-04-10 11:23:26 -07:00
32fa61731e
Update the MuJoCo changelog for the 3.1.4 release
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PiperOrigin-RevId: 623527462
Change-Id: I45f76d57198f4906e932463d76287b0e394b9273
2024-04-10 10:01:24 -07:00
5a365603f8
Add mju_euler2Quat.
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PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
2024-04-10 06:02:50 -07:00
2b3f336bd3
Add ellipsoid sdf collisions to MJX.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 623415479
Change-Id: Id061c8e083357d063f1ccddf0989f2fafe415eed
2024-04-10 01:41:10 -07:00
725630c95d
Add insertion task.
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PiperOrigin-RevId: 622962761
Change-Id: I960fc9c2a13a6216da03a8fa9b29ce7a55b6da4a
2024-04-08 15:08:06 -07:00
b441923598
Add userdata support to MJX.
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PiperOrigin-RevId: 622948369
Change-Id: I5eca0afcb8cd50f53eacc57a78bfdf68ccde12e7
2024-04-08 14:14:12 -07:00
bb4389eb43
Update MuJoCo changelog.rst for the v3.1.4 release
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PiperOrigin-RevId: 622870642
Change-Id: Ie45077659520cdae14604842ec8b0cc715e18fd6
2024-04-08 09:33:57 -07:00
366041756d
Add note about segmentation images to offsamples documentation.
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PiperOrigin-RevId: 622830327
Change-Id: I8e15ce65babc86086335b0f9010db5be581460fc
2024-04-08 06:51:22 -07:00
feccf7ec96
Document mj_fwdPosition in pipeline docs, fix ordering error.
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PiperOrigin-RevId: 622829902
Change-Id: I2f1da9939aac38e4a662757f5c4bccf38a51e3da
2024-04-08 06:49:20 -07:00
827b7a2792
Solver parameter docs improvements.
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- Correct the equation for penetration depth. The equation is tested in engine_core_constraint_test.cc.
- Add a tip on scaling damping with stiffness.
PiperOrigin-RevId: 621111712
Change-Id: I8fcc133cbc638ffef2d0ddf4e298ae402dda7b6a
2024-04-02 03:03:02 -07:00
b85f419fcb
Add video with clips from least-squares tutorial to docs.
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PiperOrigin-RevId: 620144313
Change-Id: I79faa6a1446e9e6c88e16a238029f45c518c16d1
2024-03-28 21:00:14 -07:00
5d26b50fce
Remove native sensor noise sampling.
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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.
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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
d258d5e152
Check all edge pairs in convex-convex.
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PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032
2024-03-28 11:33:46 -07:00
297dc76b32
Merge pull request #1541 from wangcongrobot:main
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PiperOrigin-RevId: 619241318
Change-Id: Ic9e6a13eabc6f8c7cbb6fa387ab97af47557e618
2024-03-26 10:46:38 -07:00
4f0293c6cb
Added support for msh2.2
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Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.
Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark
PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
2024-03-26 10:12:13 -07:00
bb42ff1657
Fix order of enable flag strings. Before this change, using the UI to toggle the "InvDiscrete" and "Sensornoise" flags would toggle the opposite flag.
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PiperOrigin-RevId: 618658133
Change-Id: I35d4b9da2fdf68fed24efd518a30af60d3a806eb
2024-03-24 13:13:21 -07:00
31d48d3e44
Update fluid.rst
2024-03-22 16:07:57 +01:00
a23cb4d22c
Cite Vaxenburg et al. in fluid force documentation.
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PiperOrigin-RevId: 616114884
Change-Id: I0e7db61820c6ece118dee6871b8a526fdb79fb02
2024-03-15 06:57:49 -07:00
2386353b02
Throw an error for margin/gap with meshes.
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PiperOrigin-RevId: 615937263
Change-Id: I3289cf1b1fec93385cc78a01e53866427453db59
2024-03-14 16:21:05 -07:00
Baruch Tabanpour