f6ee435005
updating geom visibility logic; fixing infinite plane texture bug; adding frame skip arg to demo
2024-05-04 13:47:02 -05:00
2d6c263687
removing outdated comments
2024-05-02 17:29:18 -05:00
00b73cc990
Merge pull request #5 from abhihjoshi/cards
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adding demo file and unnamed geom fix
2024-05-02 17:24:16 -05:00
7a1e2bf61e
adding demo file and unnamed geom fix
2024-05-02 17:23:48 -05:00
13e1cfdcbf
Merge branch 'google-deepmind:main' into main
2024-05-02 12:59:15 -05:00
259d3876ce
Remove C-style vectors from user_mesh.
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PiperOrigin-RevId: 630031676
Change-Id: I87cba3eb816095657acd886037af2c0f06fe4fdd
2024-05-02 05:27:29 -07:00
545c6fdc99
Merge branch 'google-deepmind:main' into main
2024-05-01 16:27:16 -05:00
dc68bc6c13
Add another unit test for caching PNG decoded images verifying that when a PNG file is updated the stale cached asset is not used.
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PiperOrigin-RevId: 629748520
Change-Id: I6935a3d172ac1459602d3d82ac548adeb08a7b11
2024-05-01 09:39:40 -07:00
7eb8c4b9f4
Set all flex edges to rigid when the flex is rigid.
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PiperOrigin-RevId: 629740153
Change-Id: Ib2fb6f64e3d160268d2521d63830f41e44d03b20
2024-05-01 09:06:01 -07:00
ad5bee73ef
Cache decoded PNG images for hfields and textures in the MuJoCo compiler.
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PiperOrigin-RevId: 629738092
Change-Id: Ie1b69a5dcee0695aadb2f02ef3b4d7a73cdf07b4
2024-05-01 08:59:21 -07:00
131b1745db
Added support for GMSH22 surface loading
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PiperOrigin-RevId: 629734063
Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
2024-05-01 08:44:05 -07:00
57b1dbac65
Fixed bug with error printing in user_api_test.
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PiperOrigin-RevId: 629728927
Change-Id: I9eeae8c6abf469776c59d1ea6b3cb01f923dcef9
2024-05-01 08:20:13 -07:00
1b70907060
Convert user_api header and user_init source files to valid C code.
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PiperOrigin-RevId: 629691192
Change-Id: I9be78aca27ae584fff0b733e9015b2bb3b927ca4
2024-05-01 04:53:01 -07:00
8d1f65c01a
Add act to mjx viewer.
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PiperOrigin-RevId: 629451047
Change-Id: I0baf546d3d91632291e93dec39f4dba7c329d370
2024-04-30 10:13:20 -07:00
ec84ddb5a4
Use plane-convex for plane-sdf collisions, using the marching cube mesh.
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PiperOrigin-RevId: 629437563
Change-Id: Ic7fb6ec8a5c6680dd2c0a71baa7cc78636d478b1
2024-04-30 09:30:39 -07:00
6f97f42458
Geoms of type mesh with zero density don't trigger the check for valid mesh volume.
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PiperOrigin-RevId: 629416817
Change-Id: I23eaa0d61a703988a4eb96a3cad09e562384035e
2024-04-30 08:12:40 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
6a5bbb5157
Exclude shark models from testspeed_test.
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PiperOrigin-RevId: 629386360
Change-Id: Ie8f0a6725dc9b21e2a702ffc481ded00235e55b7
2024-04-30 06:01:00 -07:00
719476c274
Fix bug in `mjx.ray` and speed up ray-mesh by ~30% for large meshes.
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PiperOrigin-RevId: 629209303
Change-Id: I39466e9a2dc55ec48dcca1780e8abef903d1c754
2024-04-29 15:48:00 -07:00
618d879904
Make BVH generation robust to very small perturbations.
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PiperOrigin-RevId: 629070367
Change-Id: I62b91a572cd59a51ed85e4e97aea53fdb2da1986
2024-04-29 08:06:32 -07:00
d6553ed192
Update contype and conaffinity if fusestatic is true. Fixes #1577 .
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PiperOrigin-RevId: 628073529
Change-Id: I2fe88736d12ec16d72bbd4dce5d349b930147b50
2024-04-25 07:46:00 -07:00
027c26a153
Improve error reporting of sensorized objects.
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Also remove duplication of element name and id from most error messages.
PiperOrigin-RevId: 628065116
Change-Id: Idd962fbab7aeba09e3a70c6c9d044b23db94cf23
2024-04-25 07:13:54 -07:00
cbb048ff00
Allow parent targeting for cameras and lights.
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PiperOrigin-RevId: 628002614
Change-Id: I047dd3d62cfbc6432a3ec53fe6465afc52ca615b
2024-04-25 02:10:35 -07:00
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
0a60d555c6
Fix small bug in testspeed.
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PiperOrigin-RevId: 627773755
Change-Id: Iebbcaa41cfdde126312e388d368843a4754abfb8
2024-04-24 10:30:45 -07:00
1c8ff66cc9
Remove const from argv argument in sample.cc
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PiperOrigin-RevId: 627746353
Change-Id: Ib27f9e911a74565d99a7bf0a173085c513047878
2024-04-24 09:01:45 -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
80810391ab
Add defaults to attach tests.
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PiperOrigin-RevId: 627526669
Change-Id: I5fc7955bacc459c637fce8e88e9da7bbfd7fb011
2024-04-23 15:40:54 -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
cf433a4ad9
Use enum instead of NaNs for alternative orientation specification.
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PiperOrigin-RevId: 627413508
Change-Id: I9f1a682a1533e1a3fa3cac0a462f28ce9b0fa192
2024-04-23 09:32:51 -07:00
f457789de1
Improve full inertia user API.
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PiperOrigin-RevId: 627399310
Change-Id: Ie2bdc6778e80b2b8127b52c73a3cc4b4755d8e0a
2024-04-23 08:40:01 -07:00
554771f6b3
Merge branch 'main' of https://github.com/Andrew-Luo1/mujoco_apg_tutorial into main
2024-04-23 13:50:08 +02:00
9530aa11e3
add a reference
2024-04-23 13:50:00 +02:00
a8aa15af4d
clean up text
2024-04-23 08:16:38 +02:00
938a62f476
update apg diagram
2024-04-23 08:10:11 +02:00
a1d53711bc
revert pyproject
2024-04-23 06:17:47 +02:00
e6b95f3cfc
Merge branch 'google-deepmind:main' into main
2024-04-23 06:12:20 +02:00
c6ab354bd7
Remove type annotations unavailable in python < 3.10. Fixes #1590
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PiperOrigin-RevId: 627188913
Change-Id: I9adc627349a4001291ac6d05080b761fee155ab0
2024-04-22 16:22:36 -07:00
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
3ddf1b492a
Fix control reaches end of non-void function in engine_forward.c
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PiperOrigin-RevId: 627104708
Change-Id: I790b2bd22fd83ed616605a35f3e7268e28c73aa6
2024-04-22 11:36:39 -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
9aa885aa63
Fix attribute order in mjsDefault.
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PiperOrigin-RevId: 626992244
Change-Id: I0755745d2d4a55fbf6c685ad383a5be0842e7984
2024-04-22 04:36:56 -07:00
cc78db41f4
Add mjs_detachBody to C API.
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PiperOrigin-RevId: 626947850
Change-Id: I7c897048098ecd4f2247725ef2d378dbd00ef4a0
2024-04-22 01:11:13 -07:00
001d2dfa85
comments
2024-04-21 22:29:58 +02:00
eb6624bd86
further clean up text, add comments, remove irrelevant observations in get_obs, regenerate apg outputs
2024-04-21 22:06:36 +02:00
Abhishek Joshi