f54cc58dc5
Reference the tutorial in the Unity plugin docs, and update information of the existing sections.
2024-11-25 14:39:17 +00:00
f909d63cdf
Enable to attach a spec to a frame.
...
PiperOrigin-RevId: 699703988
Change-Id: Idbddcbce1e68286248458eb0bd24d5080451a58a
2024-11-24 07:35:14 -08:00
3a12db9ad2
Remove id attribute from mjSpec objects in Python bindings.
...
Using ids is error prone in scenarios of repeated attachment and detachment. Python users are encouraged to use names for unique identification of model elements.
PiperOrigin-RevId: 699227286
Change-Id: Ifd83e6d85d36ff72ea43caf8b82eab9e4d552440
2024-11-22 11:05:14 -08:00
1d64362adc
Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization.
...
This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.
PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
2024-11-22 09:38:08 -08:00
74dcd51d83
Update changelog with Python 3.13 support (upcoming release)
...
PiperOrigin-RevId: 699127095
Change-Id: I098d1e91e59642f27a764d055c6ae9b77a8b1000
2024-11-22 04:34:33 -08:00
38ee55a957
Remove unused userfacenormal field from mjSpec.
...
PiperOrigin-RevId: 698739284
Change-Id: I6407356ac12ad49454d15ecf9056f2c0bef713d5
2024-11-21 05:08:39 -08:00
aae5fd6906
Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.
...
PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:30:47 -08:00
5c23ae11ef
Fix bug in material texrepeat attribute, fixes #2223 .
...
Was mistakenly cast from float to int, bug introduced in 3.2.0
PiperOrigin-RevId: 697993181
Change-Id: I643a07e2b0866a4af56d7cbd3344e764a7caf56f
2024-11-19 06:30:55 -08:00
9f51ba50db
Fix field ordering in mjModel.
...
`nnames_map` is not required for `mjModel` construction, it is set during construction.
PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
2024-11-14 03:45:34 -08:00
0f381a9ebd
Add muscle actuators to MJX.
...
PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
2024-11-11 07:46:20 -08:00
d6d3d6bb25
Fix typo in changelog.
...
PiperOrigin-RevId: 694009875
Change-Id: I0ecafe467347a54b54c29c486b98516d1a53e5ea
2024-11-07 00:19:42 -08:00
276f5b04cd
Bump MuJoCo version to 3.2.6.
...
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
2024-11-05 14:13:08 -08:00
f9569cdab0
Fix #2212 .
...
PiperOrigin-RevId: 693294401
Change-Id: Ifef2b268f61b90f557580f61316786c50dc9698d
2024-11-05 04:17:48 -08:00
b7bbb2b25c
Update the MuJoCo changelog for the 3.2.5 release
...
PiperOrigin-RevId: 693032354
Change-Id: I675424a3feeda8037a9559753dc93c05b812257c
2024-11-04 11:19:46 -08:00
298ce31e39
Update docs to highlight nativeccd
...
PiperOrigin-RevId: 692918061
Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758
2024-11-04 04:34:53 -08:00
c168ac3397
Add source code links in docs for remaining API functions.
...
PiperOrigin-RevId: 692728907
Change-Id: I145eb47453e6aa017505d53d3e17215959252e3d
2024-11-03 11:09:56 -08:00
efa5709c94
Fix broken link in XMLreference.
...
PiperOrigin-RevId: 692669798
Change-Id: I8f61d1032d11c63945264a1b9dc1c034b7401d98
2024-11-03 04:18:43 -08:00
831d9881d3
Remove box, cylinder and ellipsoid composite types.
...
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013 .
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
2024-11-02 11:14:13 -07:00
ebe60b9ad5
Add const to mjsDefault when used as function argument.
...
Fixes #2197 .
PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
2024-11-01 18:18:42 -07:00
b6037d1759
Improve mjSpec documentation. Fixes #2074 .
...
PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
2024-11-01 12:06:14 -07:00
1d58576d28
Fetch source code line links for API functions on docs client side.
...
PiperOrigin-RevId: 692115441
Change-Id: Ifbedf6a4998000f99e2275cb43293b3050daf0ee
2024-11-01 03:28:53 -07:00
c9f78ad8a8
Rename nnzJ to nJ in mjData.
...
This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
2024-10-31 10:43:10 -07:00
94bbf297fc
Replace flex_xvert0 with flex_vert0
...
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
2024-10-31 06:30:36 -07:00
a9737c60e8
Copybara import of the project:
...
--
5b525ccaef3d7184d3167815be63ed630781a064 by Kevin Zakka <kevinarmandzakka@gmail.com >:
Add command line scripts to MJX docs.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2196 from kevinzakka:typo-fixes 5b525ccaef3d7184d3167815be63ed630781a064
PiperOrigin-RevId: 691497203
Change-Id: I7c5d6a8fcbd2a42939673cee5eadb30bebdad833
2024-10-30 11:41:11 -07:00
32df8a515a
Fix typos. fixes #2139
...
PiperOrigin-RevId: 691429879
Change-Id: I929b7a387ec41f68b8d85fe20de83083216da36a
2024-10-30 08:34:39 -07:00
f47840e57c
Add mju_dense2sparse to public API.
...
PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
2024-10-29 12:47:48 -07:00
6703a40fcf
Improve plugin documentation.
...
PiperOrigin-RevId: 690974299
Change-Id: Iadaabafb7434ada9579d6e2f64aae435cdfedbd8
2024-10-29 05:07:31 -07:00
864b805a6e
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
...
The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.
PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
2024-10-28 10:44:04 -07:00
3d920e6a70
Update build documentation to include instructions on how to build the docs locally.
...
PiperOrigin-RevId: 690616910
Change-Id: I717988e3adc67cb6d65488d39bc804c3d4f0e3b5
2024-10-28 08:17:16 -07:00
d8494fef3b
Remove deprecated mjv_makeConnector function.
...
PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
2024-10-28 04:51:47 -07:00
3c21abc0e5
Add ray intersection with ellipsoid to MJX.
...
PiperOrigin-RevId: 690557087
Change-Id: Icd2f0be1243574720baeac82b8bdd92e57c6a61c
2024-10-28 04:25:11 -07:00
7dc8aef807
Remove the convexhull compiler option.
...
PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
2024-10-27 04:31:10 -07:00
61cb552f8a
Refactor PBR texture layers from separate sub-elements to a single layer sub-element.
...
Add new element to PyMJCF schema.
PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
2024-10-26 07:41:38 -07:00
f24de91cc9
Use eq_active in MJX. Fixes #2173 .
...
PiperOrigin-RevId: 689549368
Change-Id: I14d9817c5ca5dfc2a735ab8bacfb11b75c9feadc
2024-10-24 16:08:14 -07:00
a3ea01e57e
Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
...
PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
2024-10-24 09:15:23 -07:00
159f23e6b4
Remember compiler options during attach.
...
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
2024-10-24 08:31:15 -07:00
7620aef530
Fix typo in the changelog.
...
PiperOrigin-RevId: 689058361
Change-Id: I479efa8fc0b8d31030d3f6444b874a14419f3518
2024-10-23 12:17:32 -07:00
d17d9e835c
Do not delete attached specs after compilation.
...
Also, copy them when copying the spec.
PiperOrigin-RevId: 688998464
Change-Id: I7229fd8032eafede582194ccf73ab4160fe06768
2024-10-23 09:42:05 -07:00
e14aebfd16
Expose mju_sparse2dense to public API.
...
PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
2024-10-23 09:01:25 -07:00
b598d79b3f
Move mesh inertia specification from global <compiler> to <asset/mesh>.
...
Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)
Fixes #2152
PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
2024-10-23 07:06:31 -07:00
bfa78614c8
Require prefix for the attach tag.
...
For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162 ), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
2024-10-22 07:08:33 -07:00
98478f8811
Minor changes to inline comments in mjModel and mjData headers.
...
PiperOrigin-RevId: 688231631
Change-Id: Iae5430142cab256a73a0fb8c698992ceba21b28c
2024-10-21 12:31:15 -07:00
aa91f3c047
Fix bug in slider-crank transmission.
...
The associated row in `actuator_moment` was not cleared before being updated.
PiperOrigin-RevId: 688207085
Change-Id: I2f925e984c5c493e64ead66667aef57c4844acfe
2024-10-21 11:21:15 -07:00
36e8845599
Add actuator_moment Jacobian sparsity pattern to mjData.
...
PiperOrigin-RevId: 688124236
Change-Id: Ieccc8131d0046100ec9a2783ffb43dd784f0a63b
2024-10-21 07:11:25 -07:00
b00a7c6705
Add touch sensor to MJX.
...
PiperOrigin-RevId: 688056696
Change-Id: I50b0ebf3141aab0a5b07e5ae770101ff8b7737d4
2024-10-21 02:48:36 -07:00
680fb3e5dd
Add more public support functions for MJX.
...
PiperOrigin-RevId: 687469475
Change-Id: I4218cc2f6d51d3f2f63b1a9a96953d550a5503a5
2024-10-18 17:15:18 -07:00
dcf2816543
Remove copy_back from Python bindings and mj_copyBack from the C API.
...
PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
2024-10-18 11:55:04 -07:00
ffdb800e45
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
...
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
2024-10-16 14:24:06 -07:00
c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
...
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
d1e004aa97
Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release.
...
PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
2024-10-15 13:03:13 -07:00
Balint-H