f7bdd5dc0e
Upgrade pip to version 23.3.1.
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PiperOrigin-RevId: 579062729
Change-Id: Id6a78e6002a7aabb0f947d7722d5c178d5d9ca62
2023-11-02 21:20:55 -07:00
7a7cfc0f60
Improve flex docs.
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Fixes #1141 and #1152 .
PiperOrigin-RevId: 578855375
Change-Id: I44746c3ae331edcb22b7e16744fb38369039e888
2023-11-02 08:05:12 -07:00
e6dc5ed176
Add inner radius as a parameter for the sdf gear plugin.
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PiperOrigin-RevId: 578789045
Change-Id: Id69418d6b1adcce404927de4ed68c94a5ec1f66f
2023-11-02 03:02:32 -07:00
3c0a56c1e5
Adds support for Newton solver to MJX.
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PiperOrigin-RevId: 578738033
Change-Id: Id0e68c7b961380cb1ed88b40d99f202c3fa8e228
2023-11-01 22:05:10 -07:00
e82cb9f420
Delete mentions of MuJoCo 2.0 in the docs.
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PiperOrigin-RevId: 578501679
Change-Id: Ie1fdd1d11d2e1e12b3f9f1e59bd4da705b3a7c7e
2023-11-01 06:44:20 -07:00
893c404230
Runtime disabling of actuators according to group.
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Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.
- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.
https://youtu.be/H9qG9Zf2W44
Fixes #1092 .
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
2023-10-31 16:24:38 -07:00
45878b7eef
Raise an exception in MJX if given a model with tendons.
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Fixes #1149
PiperOrigin-RevId: 578278430
Change-Id: Ie633975b830379ca554438307a6e674675eaf8e7
2023-10-31 13:09:27 -07:00
7e419276ca
Increase maximum number of UI elements per section in Simulate.
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PiperOrigin-RevId: 578268786
Change-Id: Ia584fb1782a6f20cdb64ec13bfa0bbcb211b1165
2023-10-31 12:36:39 -07:00
084facc9ab
Python bindings: Store a reference to MjModel in MjDataWrapper.
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Before this change, MjDataWrapper contained a custom data structure called MjDataMetadata, which contained the sizes of various arrays needed to create MjData. This was used for serialization and deserialization, as well as copying MjData instances.
This worked fine for native MuJoCo models, but as soon as plugins were used, there was information in the model that was needed and not available in MjDataMetadata. Since plugins are so general, keeping MjDataMetadata was untenable.
PiperOrigin-RevId: 578205355
Change-Id: I11b9ee797d1da5aaf1fecbbe170b3b0f1f1a3e6c
2023-10-31 09:16:40 -07:00
64a59bb2dc
Use the correct free function to free plugin data.
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The array was created with `mju_malloc` (which does an aligned alloc) and released with `free` (which doesn't care about alignment), which led to errors on Windows.
PiperOrigin-RevId: 578186714
Change-Id: I193987bed061e945c49d7268a9a9af3f17af362a
2023-10-31 08:07:22 -07:00
7069976557
Implement joint equality constraint. Streamline constraint functions.
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PiperOrigin-RevId: 577905570
Change-Id: I70580d21e3c612606b967cdd84ad22794c672397
2023-10-30 11:38:15 -07:00
50843cad30
Add defaults to SDF plugin attributes.
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Expose diameter and number of teeth for the gear SDF.
PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
2023-10-30 03:09:25 -07:00
c921c3956e
Change keyboard shortcut key to visualize equality constraints from N to E. Delete the keyboard shortcut of the Selection Point.
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PiperOrigin-RevId: 577770608
Change-Id: I5428a58dff93c95bcb71c27d0e65d2303a23b129
2023-10-30 02:42:26 -07:00
0f94b4a5ad
Documentation improvements.
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PiperOrigin-RevId: 577620389
Change-Id: Ib104a57a2b2b35c334855782d548ff064e74e9d2
2023-10-29 06:56:59 -07:00
86d9c84e59
Fix bug in implementation of torquescale
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PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
2023-10-28 08:25:25 -07:00
930c707e00
Ensure equality constraints are active irrespective of sign.
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Fixes #1129
PiperOrigin-RevId: 577337939
Change-Id: Id835bb6d361525e5cb26f7696038d73d3c1a703e
2023-10-27 16:51:58 -07:00
4c24be9ee3
Make mjpython.py work with Python from CommandLineTools.
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PiperOrigin-RevId: 577305478
Change-Id: Iec4b23c97f80462e5c16aca5ac4450faf3181a0c
2023-10-27 14:26:16 -07:00
621487bd92
Reorganise the changelog.
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PiperOrigin-RevId: 577290399
Change-Id: Idb831c48dddf9384cfae23a11bcb7dce6899fb47
2023-10-27 13:31:03 -07:00
189dcc865b
Use typing for Sequence instead of collections.abc
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PiperOrigin-RevId: 577247039
Change-Id: If09884429070d74bcf517da78a3fa43c158978a2
2023-10-27 10:55:08 -07:00
88d67fd6f6
Add CoRL event as a temporary banner in docs.
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PiperOrigin-RevId: 577246026
Change-Id: I0615eb6ee8d6ac928785877db0ba6703c01e301b
2023-10-27 10:51:57 -07:00
40d927c9fa
Move 2d and 3d plugin force computation to elasticity.h.
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Change physical properties of `floppy_flex.xml` to resemble `floppy.xml`.
Make `Membrane` backward compatible with `Composite`.
PiperOrigin-RevId: 577190384
Change-Id: I5bc56ec62faa134156e839bec45d685c22eba5c4
2023-10-27 07:18:08 -07:00
f8c5ad2ba8
Check for errors when calling std::stod in XML loading.
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PiperOrigin-RevId: 576608985
Change-Id: I148ca67d8960d73c281df2d6f2440d47940a6369
2023-10-25 12:26:43 -07:00
034bb62986
Add cam_intrinsic to mjvSceneState.
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Add `frustum.xml` to engine_vis_state_test models.
Fixes #1115 .
PiperOrigin-RevId: 576567292
Change-Id: I642c32a87427507580046d2d260263c689d50c99
2023-10-25 10:17:42 -07:00
1a47a97040
Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114 .
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Added `frustum` to `rgba` and `scale` in the `visual` section.
PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
2023-10-25 09:08:20 -07:00
5231a335bf
Improve documentation regarding choice of integrator. Fixes #1085
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PiperOrigin-RevId: 576546484
Change-Id: I7192a0c32e1aed8e201d1db953b657e605cd74f0
2023-10-25 09:04:45 -07:00
a89412bb4a
Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.
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PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
2023-10-25 05:01:45 -07:00
190bfac2d6
Rephrase documentation in places where "parent body" creates ambiguity between "the body which contains the element" and "the parent body of the body which contains the element".
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Fixes #1127
PiperOrigin-RevId: 576486971
Change-Id: I54d0c351e95101c5f7907a3c5bb6be18904c03ad
2023-10-25 04:32:09 -07:00
8eb36d9a7c
Improvements to simulate UI
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- Improved Help overlay text, mention shortcuts for UI toggle.
- Removed buttons for UI toggle.
- Moved Spacing / Color / Font to the end of the Option section.
PiperOrigin-RevId: 576480554
Change-Id: Ie1427b97cb784421490c276a8544d570a6042188
2023-10-25 04:03:38 -07:00
843360b732
Avoid efc rows for joints with no limit.
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Fixes #1117
PiperOrigin-RevId: 576276387
Change-Id: I7d2a3860b19d83d65acf1995f7be05cb2d1247d4
2023-10-24 14:12:28 -07:00
29f6f06788
Bump benchmarks from V100 to A100 to match published numbers.
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PiperOrigin-RevId: 576230623
Change-Id: Ib17ffd210a781e1024f8bb484c75547ee39876f7
2023-10-24 12:38:01 -07:00
a4588cee12
Fix https://github.com/google-deepmind/mujoco/issues/1123
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PiperOrigin-RevId: 576159322
Change-Id: I29fc3df294af008f55324bc49c0f597d778e3392
2023-10-24 09:08:34 -07:00
612de347d7
Add future support for sensors to MJX documentation.
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PiperOrigin-RevId: 575970420
Change-Id: Iaf0e484903659b3138089ff00ec41763d19964b8
2023-10-23 17:06:45 -07:00
97d99c84ce
Delete the temporary mjData if model reference validation fails.
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PiperOrigin-RevId: 575852845
Change-Id: I2146dbc510b48c310ac338adcd5d53cb9f38b383
2023-10-23 10:07:55 -07:00
643c1248b8
Skip flex edge Jacobian if not needed.
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When equality constraints and built-in passive forces are not present, edge Jacobians are unused. This gives a 3x speedup in `mj_kinematics` in `floppy_flex` (from 0.2ms/step to 0.06ms/step).
Changed the default options of `floppy_flex` to match those of `floppy` for a fair comparison.
PiperOrigin-RevId: 575850622
Change-Id: I4c618536fd17ef930153bbd1f1da7d9e0e44abbe
2023-10-23 10:02:00 -07:00
2bb8652bf6
Add User Interface documentation.
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PiperOrigin-RevId: 575800982
Change-Id: I9b2e03932d0d3b1844b90e5da7c32a640d999e69
2023-10-23 06:35:34 -07:00
c6ef4f71c3
Add flex fields to mj_validateReferences.
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PiperOrigin-RevId: 575779915
Change-Id: I14d22092e7d712dcc3d474cf0c2a85ef4d6a4aee
2023-10-23 04:44:32 -07:00
a53b5be956
Allow pre-release mujoco installs in mjx source install.
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PiperOrigin-RevId: 575629464
Change-Id: I47615dee0e965c6016d90871fa100f52bb74bf0c
2023-10-22 10:19:24 -07:00
179ea8ef03
Add MJX to the doc title.
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This should make the listing clearer on search engines.
PiperOrigin-RevId: 575618744
Change-Id: I79feea95c31466dfb373e42a547116044ce2ac08
2023-10-22 08:20:19 -07:00
f6ed57e9e8
Fix typos in changelog
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PiperOrigin-RevId: 575618675
Change-Id: I51a8e5aee124c632ff17d0cb0610ca95822bf859
2023-10-22 08:19:21 -07:00
e57b34303a
Reformat notebook and add back sim2sim.
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PiperOrigin-RevId: 575246433
Change-Id: I8627916e7dedd5cf64dab6e0151f41c3153e7a68
2023-10-20 09:53:53 -07:00
ebe081f27e
Add contact disable flag to collision driver.
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PiperOrigin-RevId: 575245746
Change-Id: If2ea8a5de6f6c751729c9b8dd5efc42e7bdd51ea
2023-10-20 09:51:24 -07:00
01a932e052
Fix flex constraint Jacobian for edges belonging to a single body.
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PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
2023-10-20 02:49:34 -07:00
e4a9f535a4
Make MJX device_put type validation more verbose.
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PiperOrigin-RevId: 575050350
Change-Id: I7cab4ee54d462b61e9478dbd58d99bb9fb662daf
2023-10-19 17:30:33 -07:00
dd841c9283
Fix bug in joint range for MJX.
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PiperOrigin-RevId: 575023489
Change-Id: I717333064ed4d6971a841bec60e8afd3019120a7
2023-10-19 15:40:09 -07:00
dc8bac2f4d
Fix supported equality constraint in doc.
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https://github.com/google-deepmind/mujoco/issues/1105
PiperOrigin-RevId: 574950690
Change-Id: I1c029e9b31235fdcaa8e8f35b5117fec373fa25f
2023-10-19 11:43:02 -07:00
1178bad339
Run MJX tests on GitHub Actions.
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PiperOrigin-RevId: 574939328
Change-Id: Ic6e5650ef6a7df8c94a189206fddf06bd9c4eb97
2023-10-19 11:12:54 -07:00
79e9589515
Change test_box_box slightly.
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PiperOrigin-RevId: 574937448
Change-Id: If84c8e192b230fea0e858fdd12beceedaa280f30
2023-10-19 11:07:42 -07:00
7a802a1820
PUBLIX: Fix typo in mjx doc.
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https://github.com/google-deepmind/mujoco/issues/1106
PiperOrigin-RevId: 574928021
Change-Id: I8f3f096ba71c41da1fdfdae8bd0f88f160d2678e
2023-10-19 10:44:41 -07:00
9decb7389f
Make humanoid default in colab.
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PiperOrigin-RevId: 574925299
Change-Id: I619438b4c61b882db27c3984fb8c061ec0c39e4d
2023-10-19 10:38:09 -07:00
2970a2575d
Change assertTrue to np.testing.assert_array_less.
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This gives a more informative error message on failure, e.g. in https://github.com/conda-forge/mujoco-feedstock/pull/31#issuecomment-1770195171
PiperOrigin-RevId: 574879703
Change-Id: I1936c16264b00d6f80c4817d982b0ab4ab6d4b5d
2023-10-19 08:27:08 -07:00
Saran Tunyasuvunakool