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Author SHA1 Message Date
Alessio Quaglino ee6f4837f3 Auto-generate 3D mesh from convex OBJ if dim=3 in flex. 
This requires the user to explicitly specify an origin.

PiperOrigin-RevId: 712483526
Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
 2025-01-06 04:35:59 -08:00
Alessio Quaglino 65048d6b8f Do not use fast lookup for frames. 
Fast lookup is not possible since mjOBJ_FRAME > mjNOBJECT, which is the size of the objects maps used for the search.

Fixes #2328.

PiperOrigin-RevId: 712479460
Change-Id: I7bcfa75ff8a1e288183d60ed4a44cab5bc6f4173
 2025-01-06 04:17:41 -08:00
Yuval Tassa daed8f46c8 Don't assume compressed input in mju_transposeSparse, allow NULL pointer for matrix values, to only transpose the structure. 
PiperOrigin-RevId: 712472432
Change-Id: I6dd34583ab181f0c9677c55230cecdf0aed46f9e
 2025-01-06 03:51:35 -08:00
Yuval Tassa 94230a8bee Fix bad indent. 
PiperOrigin-RevId: 712267512
Change-Id: I3463b0f53b808b726ff0fe5ea46ec8d30164eac4
 2025-01-05 09:12:50 -08:00
Bálint Hodossy 364ab5947d Fix typo 2025-01-04 11:21:54 +00:00
Bálint Hodossy f884316613 Add links to the engine plugins and warning about repo versions 2025-01-04 11:18:53 +00:00
Yuval Tassa abe8ffdee7 Enable AVX for inlined mju_dotSparse. 
PiperOrigin-RevId: 711858423
Change-Id: Id2d06a9e87085e9f810779fba4e8ed9c19a4cba9
 2025-01-03 14:42:00 -08:00
Kyle Bayes 340c0d7c97 Fix a box-box bad collision in NativeCCD. 
PiperOrigin-RevId: 711773153
Change-Id: I8a526ef5933be19d863e67f40edeb95b0b1249cd
 2025-01-03 09:23:57 -08:00
Yuval Tassa 63e2836f63 Expose mj_printSparsity in engine_print.h. 
This is useful for debugging sparse operations.

PiperOrigin-RevId: 711765082
Change-Id: I532a5218da0f921dd4b04730d0b12c5136e7ca65
 2025-01-03 08:51:46 -08:00
Yuval Tassa 923f75fd23 Use only lower triangle in CSR back-substitution. 
PiperOrigin-RevId: 711686157
Change-Id: I4fc98cdfb927e5608ce3a99ea34890ce556fcfd7
 2025-01-03 02:33:59 -08:00
Yuval Tassa 6c880eb0fa Clean up mju_sqrMatTDSparse 
PiperOrigin-RevId: 711486739
Change-Id: I5f9145dcd8522a9cb372cbdf60611d7d05cb524e
 2025-01-02 12:02:10 -08:00
Yuval Tassa 4510c6d290 Further speedup to CSR back-substitution using dof_simplenum. 
PiperOrigin-RevId: 711440268
Change-Id: I81cd9a6a8b8ec78d08cfbc34f60a9216ea753833
 2025-01-02 09:04:51 -08:00
Yuval Tassa 69c9ac074a Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2. 
- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).

PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
 2024-12-30 15:24:36 -08:00
Yuval Tassa ec322641b7 Fix bug in mj_mulM2. 
PiperOrigin-RevId: 710756899
Change-Id: I30c0725859ba0f1a59750dc89eebb9eba84fa71b
 2024-12-30 11:14:56 -08:00
Yuval Tassa e42370c982 Avoid allocation and copying in implicit solver's addJTBJSparse 
PiperOrigin-RevId: 710679558
Change-Id: Ie75fdcd1127ff619c2668f568ab6a8a11e079dda
 2024-12-30 04:19:10 -08:00
Yuval Tassa 8cb253b6ca Fix typos. 
PiperOrigin-RevId: 710678815
Change-Id: Iab6f603f8f4d782ac7f34140add39e1f37625167
 2024-12-30 04:15:29 -08:00
Yuval Tassa 0336114a88 Add restrict to output variable in mj_solveLDs. 
PiperOrigin-RevId: 710358020
Change-Id: Ia63048161d7622f21954e98346b7ff4e37ecb342
 2024-12-28 16:05:18 -08:00
Yuval Tassa e67599f517 Add weak deprecation notice include in XMLreference. 
PiperOrigin-RevId: 710300945
Change-Id: I5a3dd066ef643d606d97ec36ffe1e797bb628659
 2024-12-28 08:50:31 -08:00
Yuval Tassa 8dd360a2c0 Add some elements to test model. 
PiperOrigin-RevId: 710067190
Change-Id: I478085b8177ea8ebfa4190db8eb722c306c9793e
 2024-12-27 08:18:46 -08:00
Yuval Tassa a8a9607712 Inline mju_dotSparse in engine_util_sparse.h 
PiperOrigin-RevId: 709577108
Change-Id: I76547122b5780bec76a12384effcb66315f84e13
 2024-12-25 08:09:42 -08:00
Yuval Tassa ea98c57921 Clean up engine_core_smooth_benchmark_test. 
PiperOrigin-RevId: 709573203
Change-Id: I461f259c33d74b3eaf0b6fe58124fe09418c5303
 2024-12-25 07:44:25 -08:00
Yuval Tassa 273ced428a Add simple unit test for mjv_updateScene. 
PiperOrigin-RevId: 709334033
Change-Id: I69adc1d3ad0565f3684346749a372894d12ce99a
 2024-12-24 06:44:02 -08:00
Yuval Tassa 3f855f32d9 Fix stack allocation leak in mjv_addGeoms() 
PiperOrigin-RevId: 708356387
Change-Id: If3d227028ea8f809390911b578878d985d9d7b1a
 2024-12-20 10:11:18 -08:00
Erik Frey 4d0865c2e8 Add light fields to mjx.Model, needed for Madrona. 
PiperOrigin-RevId: 707996293
Change-Id: I238dac72b8f209955b2a1060571db3b14e355dd5
 2024-12-19 12:42:09 -08:00
Copybara-Service 526637f118 Merge pull request #2276 from traversaro:reducetestboilerplate 
PiperOrigin-RevId: 707613522
Change-Id: Ic945c6b057b77f3462dbdb758139af12133f6a8f
 2024-12-18 11:22:59 -08:00
Kristian Hartikainen edec8c5e3a Copybara import of the project: 
--
0e1aae484a1a6d2d52d0b99bf62f116d42ed9a1f by Kristian Hartikainen <kristian.hartikainen@gmail.com>:

Fix typo in `changelog.rst`

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2298 from hartikainen:patch-1 0e1aae484a1a6d2d52d0b99bf62f116d42ed9a1f
PiperOrigin-RevId: 707528220
Change-Id: Ie3bc28cf7a8456e4ba8bfc405ab7190a84d5a69e
 2024-12-18 06:31:09 -08:00
AaronYoung5 3ef5ebcf01 removed trailing spaces 2024-12-17 12:57:48 -05:00
AaronYoung5 287256e63f added struct function for spec bindings 2024-12-16 14:22:59 -05:00
AaronYoung5 0cf5500b6a Fixed MjSpec introspection with visual.rgba and visual.headlight. Added access to MjSpec.visual.global_. 2024-12-16 14:20:18 -05:00
Alessio Quaglino 644dfc7fb5 Fix assigning bytes to texture data. 
PiperOrigin-RevId: 706747323
Change-Id: I6b0ee67d4f35db3a149ba8d9979546d3c712bb8b
 2024-12-16 10:05:23 -08:00
Levi Burner a7eb6efd4e Copybara import of the project: 
--
3a95b62f59e81bfef0f076afb173ecc14b27943d by Levi Burner <leviburner@gmail.com>:

rollout prototype native threadpool for comparing to python threads

--
efd8be1124ac839b902de45973a3ca8b9f2215e6 by Levi Burner <leviburner@gmail.com>:

copy mjpcs threadpool into python bindings

--
75603eea3e8362e354a9675e8a6cd14e56ec3d28 by Levi Burner <leviburner@gmail.com>:

rollout use threadpool as translation unit

--
06b90febd021663f6cc81fd7895e4d6e2008ed97 by Levi Burner <leviburner@gmail.com>:

rollout add chunk_divisor parameter

--
298ab2f3c0d6e12530832c3cdbf784dd92d54806 by Levi Burner <leviburner@gmail.com>:

rollout add native threading test

--
169cf9978e7abad6edd1392b8e6aab995e4f8f10 by Levi Burner <leviburner@gmail.com>:

rollout exchange chunk_divisor arg for chunk_size

--
265af851d74432d261277d3dbda11cdef1841bc8 by Levi Burner <leviburner@gmail.com>:

rollout fix cosmetics

--
1e8bffa88bf36190501b334bef31147e23db39f7 by Levi Burner <leviburner@gmail.com>:

make native rollout a class instead of a function

--
ba788214b047577f58c41ce0ab6c62c277cd8b0d by Levi Burner <leviburner@gmail.com>:

rollout update docs and changelog

--
e4cb7732319e04cba2ab2c2ad848c659f6309808 by Levi Burner <leviburner@gmail.com>:

rollout don't register atexit handler for Rollout objects

--
5a08d2efdbbbb01d4b1231ff9a36a1dc44f4d9ee by Levi Burner <leviburner@gmail.com>:

rollout nthread kwarg, rename shutdown_pool to close, fixups

--
f622378543596a208339af0208fa3a70bf2a8007 by Levi Burner <leviburner@gmail.com>:

rollout add missing .close() calls

--
50f3ebca43c53eac03f03943c34bb1e46967bd4f by Levi Burner <leviburner@gmail.com>:

rollout return immediately

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2282 from aftersomemath:rollout-threaded 50f3ebca43c53eac03f03943c34bb1e46967bd4f
PiperOrigin-RevId: 706744277
Change-Id: I1ab2263b7d6ce30cf1908aec8fd5f2eb976a19e6
 2024-12-16 09:57:08 -08:00
Yuval Tassa b26d6f0466 Disable tendon catenary visualization when tendon is actuated. Add note about catenary visualization. 
PiperOrigin-RevId: 706161179
Change-Id: Ifaf571e039306309869078d1a0bcf9a69f1fe9de
 2024-12-14 01:54:40 -08:00
Kyle Bayes ec230fa4b6 Prune face linear map in EPA. 
PiperOrigin-RevId: 705138358
Change-Id: I835ce7094d066b19ee39af48e0b83b51f7a0954e
 2024-12-11 09:44:19 -08:00
Yuval Tassa 2691887500 Add engine-internal convenience macro for allocating typed arrays, improve error message. 
PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
 2024-12-11 09:04:44 -08:00
Yuval Tassa 3ca97248a3 Fix comparison in engine_core_constraint_test. 
(was comparing number to itself)

PiperOrigin-RevId: 705053943
Change-Id: I3d179ab4bb2ed1bc1b74b4edec7ce1114ad16b37
 2024-12-11 04:11:13 -08:00
Yuval Tassa 049a260102 Remove superfluous newlines in Schema exception messages. 
PiperOrigin-RevId: 704781176
Change-Id: Ie23ac2deab4a5173e1e7a60ffe9e751fe054a2dc
 2024-12-10 11:18:51 -08:00
Yuval Tassa f4593d5d79 Highlight XML strings using pygments in mjSpec notebook. 
PiperOrigin-RevId: 704751058
Change-Id: Iaf7fae7f13ef12d59bac762170a6dfca01494164
 2024-12-10 10:06:52 -08:00
Kyle Bayes a364308d5a Use GJK to recover contact points for sphere and capsule geoms in nativeccd. 
PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
 2024-12-10 08:53:27 -08:00
Yuval Tassa a7fed25fdd Document how to save MjSpec to XML. Fixes #2075 
PiperOrigin-RevId: 704712337
Change-Id: I51c1a14c5c48ffc8e37d9e31162a3e70a3b10313
 2024-12-10 08:05:01 -08:00
Copybara-Service 83c0ac148c Merge pull request #2277 from traversaro:patch-43 
PiperOrigin-RevId: 704676667
Change-Id: I9e0161afc7a6b9f45464498aad35337d1d9f9eaa
 2024-12-10 06:05:56 -08:00
Copybara-Service 4a40e3fd15 Merge pull request #1721 from stonfute:main 
PiperOrigin-RevId: 704632980
Change-Id: Iaf90ef7443dd1c519a6df237dfbc4c33c28f179e
 2024-12-10 03:17:08 -08:00
Baruch Tabanpour f3b3024291 Add pyink and isort config. Reformat. 
PiperOrigin-RevId: 704533915
Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
 2024-12-09 21:10:50 -08:00
Taylor Howell 6f6244b739 Fix MJX get_data_into. 
PiperOrigin-RevId: 704367029
Change-Id: I720e624f996a01ab2210a907c610b68ff1ad109c
 2024-12-09 11:54:49 -08:00
Yuval Tassa 1c4c7b012c CSR implementation of mj_solveLD. 
PiperOrigin-RevId: 704316200
Change-Id: Ibaff0284e40b3ebbe43bb489b6211ce739270e27
 2024-12-09 09:34:17 -08:00
Yuval Tassa 537fc2ff45 Use diagonal index to speed up mju_solveLUSparse. 
PiperOrigin-RevId: 704303282
Change-Id: I72c3fbcd31a5564fc792b73efe9d12a151b4d60f
 2024-12-09 08:53:25 -08:00
Taylor Howell bd1d94c282 Fix mjx.rst. 
PiperOrigin-RevId: 704301576
Change-Id: Ia663f5b7fe224ca3e7865829744379eac38fac3e
 2024-12-09 08:47:46 -08:00
Yuval Tassa 3a14ada308 Store index of diagonal element for C and D in mjData. 
PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
 2024-12-09 08:01:30 -08:00
Google DeepMind b8344c191f Internal change. 
PiperOrigin-RevId: 704273388
Change-Id: I6de2aa5bf80353dae4f2faf408c4b4c1c2e14f15
 2024-12-09 07:09:24 -08:00
Yuval Tassa f7f1c84a1e Print solver and solver iterations in testspeed 
PiperOrigin-RevId: 703995960
Change-Id: I9cebcf9e8d29803033ae56991acad4678d8138af
 2024-12-08 06:01:33 -08:00
Silvio Traversaro 376dc59ea0 GitHub Actions: Use macos-13 image instead of deprecated macos-12 2024-12-07 17:25:19 +01:00