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
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
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
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
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
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
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
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
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
2bb8652bf6
Add User Interface documentation.
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PiperOrigin-RevId: 575800982
Change-Id: I9b2e03932d0d3b1844b90e5da7c32a640d999e69
2023-10-23 06:35:34 -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
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
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
9393c690d4
Correctly handle full screen and vsync buttons.
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Fixes #1110 .
The code was using outdated indices since 48eb75ae92
2023-10-19 03:38:11 -07:00
48ec2d465b
Merge pull request #1102 from johannespitz:main
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PiperOrigin-RevId: 574531155
Change-Id: I92c5cbd735ac29680b8532a0f0901bbc5d5072ce
2023-10-18 11:05:56 -07:00
553f2bd953
Update overview.rst
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PiperOrigin-RevId: 574510917
Change-Id: I7aef5bdf0c2d9d135322502fd2470d47595e1eb1
2023-10-18 10:06:30 -07:00
56006355b2
Fix link
2023-10-18 16:12:35 +02:00
269d88ad92
Bump dev version number to 3.0.1.
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PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
2023-10-18 15:01:21 +01:00
98cc3a6fb2
Typo and minor changes.
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PiperOrigin-RevId: 574403633
Change-Id: I1798f91e27911e351ee99c749c6dd62d851b61cf
2023-10-18 02:55:49 -07:00
8f9c690c85
Add MJX and bump version number to 3.0.0.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
2023-10-18 10:33:29 +01:00
d0bdb78207
Disable island discovery for models with flexes.
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PiperOrigin-RevId: 574244981
Change-Id: I7c08b23cf5f29338a04ec684ad7a0d4d8a0397df
2023-10-17 13:17:24 -07:00
18e4e10142
Mention fluid force documentation in the changelog.
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PiperOrigin-RevId: 574206986
Change-Id: Ia5246f369070c463c10a2d63cf2ae29b40317724
2023-10-17 11:08:49 -07:00
65e66d0fc9
Fluid force documentation: Rename d to r, update description of passive viscous forces.
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PiperOrigin-RevId: 574195315
Change-Id: Ic045a2d1606c85a7d87b0000f505c792b6477917
2023-10-17 10:35:12 -07:00
139a8ae298
Add flex and elasticity documentation. Fixes #873 .
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PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
2023-10-17 09:46:07 -07:00
110ade1435
Update Solid and Shell plugins to use FlexComp.
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PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:03:06 -07:00
93d1c3c92e
Add GitHub link to the docs sidebar
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PiperOrigin-RevId: 573621667
Change-Id: Iac0fe218267dd8691bc503f5c8ea31c62ba216a9
2023-10-15 07:58:24 -07:00
a1b6026b8c
Delete derivative code sample.
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PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
2023-10-14 08:38:37 -07:00
c0357ef3d0
Improve documentation related to engine-internal threading.
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PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
2023-10-13 16:32:38 -07:00
fb4cf472ed
Delete testxml code sample.
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PiperOrigin-RevId: 573202693
Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
2023-10-13 06:33:24 -07:00
d88675a034
Change the default of <compiler autolimits> from "false" to "true".
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PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
2023-10-13 05:05:24 -07:00
389e13938e
Fix typos in docs.
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PiperOrigin-RevId: 573172715
Change-Id: I0073d0872597b01d84151b9eea578cc0ae0a5013
2023-10-13 04:05:30 -07:00
36de0cc084
Tweak CSS selector
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PiperOrigin-RevId: 572980162
Change-Id: Ic4d4e58f20c4324d24824fd2b62f4138e5384a5d
2023-10-12 12:25:58 -07:00
59164702ab
Merge pull request #978 from aftersomemath:depth-precision-in-place
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PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
2023-10-12 11:18:36 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
Alessio Quaglino