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Author SHA1 Message Date
Alessio Quaglino ffca553f64 Do not use the inertia box for volume computation. 
PiperOrigin-RevId: 582319067
Change-Id: I347d820f48faab15b609bcfc8295b07bd2d0f7ed
 2023-11-14 07:46:33 -08:00
Erik Frey c8146372cf Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts. 
PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
 2023-11-13 16:48:49 -08:00
Nimrod Gileadi 97ad543051 Test-only change: Don't update actuator_force in Advance in TestActuator. 
Actuators update actuator_force in compute and not in advance.

PiperOrigin-RevId: 581985081
Change-Id: I013d6c4f0888ee8e25df15a6f58c9e3412d33ceb
 2023-11-13 09:11:42 -08:00
Nimrod Gileadi f1bf394415 Add missing commas in attribute lists in XML reference. 
PiperOrigin-RevId: 581984255
Change-Id: Ie834a9578357bba68839d5172892cd9d6329122e
 2023-11-13 09:08:43 -08:00
Alessio Quaglino 9ae40e718e Define mj_multiRay bindings explicitly. 
Fixes #1184.

PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
 2023-11-13 07:31:22 -08:00
Erik Frey d0cabcf7db Only apply torquescale once, when setting efc_pos. 
PiperOrigin-RevId: 580694671
Change-Id: Ic0e2ee773d65d4fd92f4b4102cdfdd040516680a
 2023-11-08 16:15:36 -08:00
Saran Tunyasuvunakool cdf55e2ae9 Do not override search bar text color when data-theme="auto" in light mode. 
PiperOrigin-RevId: 580546595
Change-Id: If39cd937e9288c860b8b713911f0ef5114aee5f5
 2023-11-08 08:46:08 -08:00
Yuval Tassa 57e6940f57 Prevent division by zero in testspeed. This can happen when parts of the pipeline are disabled. 
PiperOrigin-RevId: 580208528
Change-Id: Ia5971ea9f15e0b19896392e86a65592357b2df61
 2023-11-07 09:38:30 -08:00
Saran Tunyasuvunakool 7207b60b5a Place untrusted data from the git commit metadata in environment variables. 
This prevents bash from executing strings in the commit metadata as code when reporting build errors.

PiperOrigin-RevId: 580155315
Change-Id: I4046eabd76eba14297fffe4e2fced59259d80f21
 2023-11-07 06:14:17 -08:00
Yuval Tassa 1881c2d881 Improve sorting of samples in documentation. 
PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
 2023-11-06 08:12:24 -08:00
Yuval Tassa 8a5e2b19a8 Improve mjContact documentation. Fixes #1136 
PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
 2023-11-06 07:28:51 -08:00
Yuval Tassa dafd041ad8 Minor documentation improvements. 
PiperOrigin-RevId: 579825348
Change-Id: Iba81616fe9fc7d57a640775efd46afb5fc2f27bf
 2023-11-06 06:36:13 -08:00
Yuval Tassa 0f37deca0d Documentation improvements. 
Fixes #598 #691 #1071 #1072

PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
 2023-11-06 05:56:02 -08:00
Yuval Tassa 5a9239e11c Improve inline documentation of mj_passive and mj_subtreeVel. 
PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
 2023-11-06 05:12:11 -08:00
Yuval Tassa a6687885a5 In mj_sensorAcc, flip condition for triggering call to mj_rnePostConstraint to enumerate sensors that require the call rather than eliminating those that do not. 
PiperOrigin-RevId: 579804886
Change-Id: I1093fcfa66e637015cd702d7e59ec3bcddc670ef
 2023-11-06 04:51:53 -08:00
Alessio Quaglino 19de607ec8 Undo incorrect change in height field processing. 
PiperOrigin-RevId: 579502934
Change-Id: Id1fba8fe29a8eb4d4f0358173b34093401e6230e
 2023-11-04 12:33:21 -07:00
Alessio Quaglino 549fdddf3d Fixed a bug with height fields AABB. 
PiperOrigin-RevId: 579488048
Change-Id: I69a2d05f922b58947b1d468b5b31a4743d375d71
 2023-11-04 10:28:00 -07:00
Yuval Tassa c45996bba8 Add cell to tutorial colab demonstrating procedural camera control. 
https://youtu.be/cE3s_IfO4g4

PiperOrigin-RevId: 579466532
Change-Id: I433db285bcfa2b9fab0c11e1fef1e25af8187901
 2023-11-04 07:43:06 -07:00
Kevin Zakka 7b9a0cdce6 Correct passive viewer pane argument documentation. Resolves #1166. 
PiperOrigin-RevId: 579360444
Change-Id: I9fffa9d466f57eed1cfd5b4b86110739e8e66399
 2023-11-03 18:57:07 -07:00
Yuval Tassa f70cec5775 Remove temporary banner 
PiperOrigin-RevId: 579317175
Change-Id: I26444eb467919e40d249ee5befee0164250a28d7
 2023-11-03 15:07:40 -07:00
Saran Tunyasuvunakool f7bdd5dc0e Upgrade pip to version 23.3.1. 
PiperOrigin-RevId: 579062729
Change-Id: Id6a78e6002a7aabb0f947d7722d5c178d5d9ca62
 2023-11-02 21:20:55 -07:00
Alessio Quaglino 7a7cfc0f60 Improve flex docs. 
Fixes #1141 and #1152.

PiperOrigin-RevId: 578855375
Change-Id: I44746c3ae331edcb22b7e16744fb38369039e888
 2023-11-02 08:05:12 -07:00
Google DeepMind e6dc5ed176 Add inner radius as a parameter for the sdf gear plugin. 
PiperOrigin-RevId: 578789045
Change-Id: Id69418d6b1adcce404927de4ed68c94a5ec1f66f
 2023-11-02 03:02:32 -07:00
Erik Frey 3c0a56c1e5 Adds support for Newton solver to MJX. 
PiperOrigin-RevId: 578738033
Change-Id: Id0e68c7b961380cb1ed88b40d99f202c3fa8e228
 2023-11-01 22:05:10 -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
Baruch Tabanpour 45878b7eef Raise an exception in MJX if given a model with tendons. 
Fixes #1149

PiperOrigin-RevId: 578278430
Change-Id: Ie633975b830379ca554438307a6e674675eaf8e7
 2023-10-31 13:09:27 -07:00
Google DeepMind 7e419276ca Increase maximum number of UI elements per section in Simulate. 
PiperOrigin-RevId: 578268786
Change-Id: Ia584fb1782a6f20cdb64ec13bfa0bbcb211b1165
 2023-10-31 12:36:39 -07:00
Nimrod Gileadi 084facc9ab Python bindings: Store a reference to MjModel in MjDataWrapper. 
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
Nimrod Gileadi 64a59bb2dc Use the correct free function to free plugin data. 
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
Erik Frey 7069976557 Implement joint equality constraint. Streamline constraint functions. 
PiperOrigin-RevId: 577905570
Change-Id: I70580d21e3c612606b967cdd84ad22794c672397
 2023-10-30 11:38:15 -07:00
Alessio Quaglino 50843cad30 Add defaults to SDF plugin attributes. 
Expose diameter and number of teeth for the gear SDF.

PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
 2023-10-30 03:09:25 -07:00
Yuval Tassa c921c3956e Change keyboard shortcut key to visualize equality constraints from N to E. Delete the keyboard shortcut of the Selection Point. 
PiperOrigin-RevId: 577770608
Change-Id: I5428a58dff93c95bcb71c27d0e65d2303a23b129
 2023-10-30 02:42:26 -07:00
Yuval Tassa 0f94b4a5ad Documentation improvements. 
PiperOrigin-RevId: 577620389
Change-Id: Ib104a57a2b2b35c334855782d548ff064e74e9d2
 2023-10-29 06:56:59 -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
Erik Frey 930c707e00 Ensure equality constraints are active irrespective of sign. 
Fixes #1129

PiperOrigin-RevId: 577337939
Change-Id: Id835bb6d361525e5cb26f7696038d73d3c1a703e
 2023-10-27 16:51:58 -07:00
Saran Tunyasuvunakool 4c24be9ee3 Make mjpython.py work with Python from CommandLineTools. 
PiperOrigin-RevId: 577305478
Change-Id: Iec4b23c97f80462e5c16aca5ac4450faf3181a0c
 2023-10-27 14:26:16 -07:00
Saran Tunyasuvunakool 621487bd92 Reorganise the changelog. 
PiperOrigin-RevId: 577290399
Change-Id: Idb831c48dddf9384cfae23a11bcb7dce6899fb47
 2023-10-27 13:31:03 -07:00
Erik Frey 189dcc865b Use typing for Sequence instead of collections.abc 
PiperOrigin-RevId: 577247039
Change-Id: If09884429070d74bcf517da78a3fa43c158978a2
 2023-10-27 10:55:08 -07:00
Kevin Zakka 88d67fd6f6 Add CoRL event as a temporary banner in docs. 
PiperOrigin-RevId: 577246026
Change-Id: I0615eb6ee8d6ac928785877db0ba6703c01e301b
 2023-10-27 10:51:57 -07:00
Alessio Quaglino 40d927c9fa Move 2d and 3d plugin force computation to elasticity.h. 
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
Nimrod Gileadi f8c5ad2ba8 Check for errors when calling std::stod in XML loading. 
PiperOrigin-RevId: 576608985
Change-Id: I148ca67d8960d73c281df2d6f2440d47940a6369
 2023-10-25 12:26:43 -07:00
Alessio Quaglino 034bb62986 Add cam_intrinsic to mjvSceneState. 
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
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 5231a335bf Improve documentation regarding choice of integrator. Fixes #1085 
PiperOrigin-RevId: 576546484
Change-Id: I7192a0c32e1aed8e201d1db953b657e605cd74f0
 2023-10-25 09:04:45 -07:00
Yuval Tassa a89412bb4a Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}. 
PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
 2023-10-25 05:01:45 -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
Yuval Tassa 8eb36d9a7c Improvements to simulate UI 
- 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
Erik Frey 843360b732 Avoid efc rows for joints with no limit. 
Fixes #1117

PiperOrigin-RevId: 576276387
Change-Id: I7d2a3860b19d83d65acf1995f7be05cb2d1247d4
 2023-10-24 14:12:28 -07:00
Erik Frey 29f6f06788 Bump benchmarks from V100 to A100 to match published numbers. 
PiperOrigin-RevId: 576230623
Change-Id: Ib17ffd210a781e1024f8bb484c75547ee39876f7
 2023-10-24 12:38:01 -07:00