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114 Commits

Author SHA1 Message Date
Alessio Quaglino 7a7cfc0f60 Improve flex docs. 
Fixes #1141 and #1152.

PiperOrigin-RevId: 578855375
Change-Id: I44746c3ae331edcb22b7e16744fb38369039e888
 2023-11-02 08:05:12 -07:00
Yuval Tassa e82cb9f420 Delete mentions of MuJoCo 2.0 in the docs. 
PiperOrigin-RevId: 578501679
Change-Id: Ie1fdd1d11d2e1e12b3f9f1e59bd4da705b3a7c7e
 2023-11-01 06:44:20 -07:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
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
Yuval Tassa 86d9c84e59 Fix bug in implementation of torquescale 
PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
 2023-10-28 08:25:25 -07:00
Alessio Quaglino 1a47a97040 Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114. 
Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
 2023-10-25 09:08:20 -07:00
Yuval Tassa 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". 
Fixes #1127

PiperOrigin-RevId: 576486971
Change-Id: I54d0c351e95101c5f7907a3c5bb6be18904c03ad
 2023-10-25 04:32:09 -07:00
Alessio Quaglino 139a8ae298 Add flex and elasticity documentation. Fixes #873. 
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
 2023-10-17 09:46:07 -07:00
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp. 
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
 2023-10-16 03:03:06 -07:00
Yuval Tassa d88675a034 Change the default of <compiler autolimits> from "false" to "true". 
PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
 2023-10-13 05:05:24 -07:00
Alessio Quaglino 389e13938e Fix typos in docs. 
PiperOrigin-RevId: 573172715
Change-Id: I0073d0872597b01d84151b9eea578cc0ae0a5013
 2023-10-13 04:05:30 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Yuval Tassa 1e94c12cdd Fix typos in docs. 
PiperOrigin-RevId: 570643723
Change-Id: I20a999c7a5ff79bdb67ced209105cca6751a50dc
 2023-10-04 03:32:49 -07:00
Yuval Tassa ee78b8f76b Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints. 
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
 2023-10-03 09:32:24 -07:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Alessio Quaglino dd5a7115cf Add shell plugin. 
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges

PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
 2023-09-20 09:00:20 -07:00
Yuval Tassa 35e7bb354d Add documentation of ellipsoid-based fluid drag model. 
PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
 2023-09-20 05:41:44 -07:00
Yuval Tassa 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. 
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
 2023-09-18 15:15:54 -07:00
Yuval Tassa ee8da5babe Fix indentation bugs in docs, improve attribute order in schema. 
PiperOrigin-RevId: 566230568
Change-Id: I0f536a2048d3e35d8ee510d86b6eba7a74c4e80a
 2023-09-18 01:48:14 -07:00
Kevin Zakka de5c3b1a09 PUBLIC: Update model gallery with new Menagerie models. 
PiperOrigin-RevId: 565329315
Change-Id: I819ba429aacf5cd68d2b101047879319fba259be
 2023-09-14 04:28:58 -07:00
Yuval Tassa 976a6df78d Fix typo in docs. 
PiperOrigin-RevId: 565097458
Change-Id: I7a4440d72665d5db2853c18f72e83b130dde8d1a
 2023-09-13 10:48:16 -07:00
Alessio Quaglino b0abafe3bb Set camera origin at top-left of the first pixel. 
PiperOrigin-RevId: 564768176
Change-Id: Ieef632f0f6888390acca91b6de01c8951c747fe4
 2023-09-12 10:44:51 -07:00
Alessio Quaglino 8064ad59c8 Add camera projection sensor. 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
 2023-09-12 08:16:20 -07:00
Matthew Bennice 0ba10cc4f0 Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat} 
Fixes #409

PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
 2023-09-10 15:25:59 -07:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Google DeepMind 040d3efce2 Add options for controlling early termination criteria of CG/Newton linesearch. 
Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
 2023-09-06 12:02:58 -07:00
Alessio Quaglino f371ca7a4e Add missing face attribute to the XML schema. 
PiperOrigin-RevId: 561330536
Change-Id: I693fc5228591e4a26ea0749435a6ce9869afd457
 2023-08-30 07:08:10 -07:00
Saran Tunyasuvunakool daa2ac7f8b Rename nstack to narena, change it and pstack to count bytes. 
PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
 2023-08-29 10:13:33 -07:00
Tom Erez 819b5cb982 Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse. 
PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
 2023-08-25 12:08:37 -07:00
Yuval Tassa b7cf479abe Add flag for disabling implicit integration of joint damping in the Euler integrator. 
PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
 2023-08-23 05:51:37 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -07:00
Yuval Tassa a276c49c30 Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively. 
PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
 2023-08-14 07:18:57 -07:00
Yuval Tassa abfa08f6cd Improve schema order in XML reference 
PiperOrigin-RevId: 556726473
Change-Id: I157dd170d66708a59510e5656468aef498bff7be
 2023-08-14 03:17:01 -07:00
Yuval Tassa 81d0e56185 Reduce font size in schema reference, make 4 columns 
PiperOrigin-RevId: 556719771
Change-Id: Ie1cf7ef02dab7fdd1eed40ce77ddaa71918a9754
 2023-08-14 02:45:59 -07:00
Nimrod Gileadi 2c3297b3e7 Add filterexact and actearly options to MuJoCo. 
When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.

When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.

PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
 2023-08-07 04:50:33 -07:00
Saran Tunyasuvunakool 8386b28877 Change "MIME type" to "Media Type". 
MIME type is the historic nomenclature for Media Type, see e.g. https://www.iana.org/assignments/media-types/media-types.xhtml.

PiperOrigin-RevId: 549394435
Change-Id: I000e044a35ec44392e9c41bab6383aa89cdefc49
 2023-07-19 12:35:57 -07:00
Yuval Tassa 51aa375af0 Improvements related to models where joint-actuator relationship is not one-to-one: 
- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.

PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
 2023-07-19 10:29:32 -07:00
Kyle Bayes 5fcdae771b Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures. 
PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
 2023-07-19 06:51:36 -07:00
Yuval Tassa d82f5ce5a4 Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -07:00
Yuval Tassa 770b4b363a Added optional smoothing to muscle dynamics: 
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.

PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
 2023-05-12 04:58:53 -07:00
Yuval Tassa f204e03575 Fix tendon.xml example model. 
PiperOrigin-RevId: 530073629
Change-Id: I1fbfa55bc1ec9bbf11ab5a33771ad56537a16c07
 2023-05-07 02:01:44 -07:00
Yuval Tassa d7456f5d35 Add image and model explaining the geom-fromto attribute. 
PiperOrigin-RevId: 524796118
Change-Id: I9e694d84a4be308baafbdbaab89cfb2570b13586
 2023-04-17 03:05:10 -07:00
Yuval Tassa b536e46cc0 Add implicitfast to XML reference. 
PiperOrigin-RevId: 522916631
Change-Id: Ica9261b7b84a3c269503a4ae21af251803c76b63
 2023-04-09 02:06:00 -07:00
Yuval Tassa 7cc42ecf2a Remove "global" option from [compiler/coordinate](https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate) attribute. 
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older.

PiperOrigin-RevId: 521739137
Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
 2023-04-04 05:59:38 -07:00
Yuval Tassa 01b84089dd Document engine plugins. 
Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.

PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
 2023-04-03 07:55:21 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -07:00
Yuval Tassa fae5e822c0 Add links to default attributes. 
PiperOrigin-RevId: 517639045
Change-Id: I45f766bda8ce5bd182ba2669c4121c21896d40c1
 2023-03-18 07:07:01 -07:00
Yuval Tassa d97ff39e86 Improvements to schema table. 
- Schema table now has attribute links and is open by default.
- Attributes are in 4 columns.
- Fixed various documentation bugs made visible by this change.
- Removed distance equality constraint from xml_native_reader.cc

PiperOrigin-RevId: 517558035
Change-Id: Ibc7715587dd4e72253231bfd55bd037f0193b3fd
 2023-03-17 18:57:34 -07:00
Yuval Tassa 7bff68dac8 Fix syntax of permalinks. 
PiperOrigin-RevId: 517428359
Change-Id: I1409f91ca3b82116464b264c1b798807636506f0
 2023-03-17 09:12:54 -07:00
Alessio Quaglino 70959c1a2c Added a collision midphase on geom pairs using rotated AABBs static trees. 
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
 2023-03-17 02:37:29 -07:00