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  • 3ca97248a3 Fix comparison in engine_core_constraint_test. Yuval Tassa 2024-12-11 04:10:06 -08:00
  • 049a260102 Remove superfluous newlines in Schema exception messages. Yuval Tassa 2024-12-10 11:17:51 -08:00
  • f4593d5d79 Highlight XML strings using pygments in mjSpec notebook. Yuval Tassa 2024-12-10 10:05:53 -08:00
  • a364308d5a Use GJK to recover contact points for sphere and capsule geoms in nativeccd. Kyle Bayes 2024-12-10 08:52:26 -08:00
  • a7fed25fdd Document how to save MjSpec to XML. Fixes #2075 Yuval Tassa 2024-12-10 08:03:58 -08:00
  • 83c0ac148c Merge pull request #2277 from traversaro:patch-43 Copybara-Service 2024-12-10 06:05:56 -08:00
  • 4a40e3fd15 Merge pull request #1721 from stonfute:main Copybara-Service 2024-12-10 03:17:08 -08:00
  • f3b3024291 Add pyink and isort config. Reformat. Baruch Tabanpour 2024-12-09 21:10:00 -08:00
  • 6f6244b739 Fix MJX get_data_into. Taylor Howell 2024-12-09 11:53:53 -08:00
  • 1c4c7b012c CSR implementation of mj_solveLD. Yuval Tassa 2024-12-09 09:33:20 -08:00
  • 537fc2ff45 Use diagonal index to speed up mju_solveLUSparse. Yuval Tassa 2024-12-09 08:52:31 -08:00
  • bd1d94c282 Fix mjx.rst. Taylor Howell 2024-12-09 08:46:45 -08:00
  • 3a14ada308 Store index of diagonal element for C and D in mjData. Yuval Tassa 2024-12-09 08:00:29 -08:00
  • b8344c191f Internal change. Google DeepMind 2024-12-09 07:07:34 -08:00
  • f7f1c84a1e Print solver and solver iterations in testspeed Yuval Tassa 2024-12-08 06:00:23 -08:00
  • 376dc59ea0 GitHub Actions: Use macos-13 image instead of deprecated macos-12 Silvio Traversaro 2024-12-07 17:25:19 +01:00
  • 756a8d716a Reduce cmake test boilerplate Silvio 2024-12-07 16:01:45 +01:00
  • c1d97d4a22 Fix #2237. Baruch Tabanpour 2024-12-06 10:45:37 -08:00
  • 15cb1fdfb4 Merge pull request #2271 from xela-95:patch-1 Copybara-Service 2024-12-06 07:26:47 -08:00
  • fa8af0eea9 Add MuJoCo sparsification fields to MJX data structures. Saran Tunyasuvunakool 2024-12-06 06:40:08 -08:00
  • f547d58351 Fix typo in docs Yuval Tassa 2024-12-06 04:15:17 -08:00
  • 342a72839a Fix typo in mjx.rst Alessandro Croci 2024-12-06 09:16:37 +01:00
  • fb8e40208c Update references to JAX's GitHub repo Jake Harmon 2024-12-05 08:35:40 -08:00
  • 41968f1527 Support body.find_all("joint") in bindings. Alessio Quaglino 2024-12-05 04:53:46 -08:00
  • a729acb4fa Add spec find_sensor, find_actuator functions. Alessio Quaglino 2024-12-05 03:41:30 -08:00
  • f882f4b065 Remove requirement to specify a name prefix or suffix during attach. Alessio Quaglino 2024-12-05 03:18:51 -08:00
  • 503e5e1815 Change site.attach to accept a spec instead of a body. Alessio Quaglino 2024-12-05 03:09:17 -08:00
  • 10239a673b Change from parent ID to parent pointer in mjCBody. Alessio Quaglino 2024-12-05 02:31:54 -08:00
  • 977fb913cf Remove hanging vertex from flexcomp circle type. Alessio Quaglino 2024-12-04 10:36:47 -08:00
  • a3b9f986c0 Add spec.find_site(). Alessio Quaglino 2024-12-04 08:20:03 -08:00
  • d1b02556ef Allow keyword arguments in attach. Alessio Quaglino 2024-12-04 07:30:33 -08:00
  • afc86ac1b3 Associate children of deleted body to the newly created frame in mjs_bodyToFrame. Alessio Quaglino 2024-12-04 06:29:41 -08:00
  • 0ba717a653 Print supernode values in mj_printData Yuval Tassa 2024-12-04 04:40:15 -08:00
  • 0e7d2ef6df Fix bug in box-sphere collider. Fixes #2206 Yuval Tassa 2024-12-04 01:18:26 -08:00
  • ec9986dcb7 Clean up changelog. Yuval Tassa 2024-12-03 09:38:18 -08:00
  • 13d3bdedad Add debugging method for printing matrices to stderr to fixture.h Yuval Tassa 2024-12-03 05:19:02 -08:00
  • a793a3417a Raise error in mjx.rne_postconstraint for currently unsupported connect and weld constraints and raise error in mjx.put_model for unsupported sensor and equality constraint combinations. Taylor Howell 2024-12-02 16:27:29 -08:00
  • c90a63a926 Update the version number to 3.2.7 following the 3.2.6 release. Gabe Oppenheimer 2024-12-02 15:28:33 -08:00
  • 0f64959e27 Update the version of eigen3 ahead of the 3.2.6 release Gabe Oppenheimer 2024-12-02 11:11:44 -08:00
  • bbedc7f339 Update the chancelog for the v3.2.6 release Gabe Oppenheimer 2024-12-02 10:55:31 -08:00
  • 82b6dbeb40 Copy attached spec before attaching anything else. Alessio Quaglino 2024-11-29 07:40:44 -08:00
  • 300450f8b8 Add circle to flexcomp and remove rope and loop from composite. Alessio Quaglino 2024-11-27 10:13:28 -08:00
  • 85c6fc1bdb Merge pull request #2250 from aftersomemath:rollout-list Copybara-Service 2024-11-27 08:52:17 -08:00
  • f2e9e38edf Set geom_matid as a jax.Array for visual domain randomization. Baruch Tabanpour 2024-11-27 08:12:35 -08:00
  • e6eab04dd0 rollout fixups and correctly initialize unspecified controls Levi Burner 2024-11-27 07:02:16 -05:00
  • 41b325785a fix creation of std::vector Levi Burner 2024-11-26 16:42:08 -05:00
  • 203602b01f Move computation of flex_vert0 to user_mesh.cc. Alessio Quaglino 2024-11-26 10:16:16 -08:00
  • 5ba4d58497 replace array on stack with std::vector Levi Burner 2024-11-26 13:16:05 -05:00
  • b716837395 Modify MJX solver to support elliptic friction cones with condim=3 and condim=4. Taylor Howell 2024-11-26 05:16:33 -08:00
  • bd361447bb merge items in changelog Levi Burner 2024-11-26 08:22:28 -05:00
  • e310c23267 Fix return value of mj_saveXML and mj_saveXMLString, fixes #2247 Alessio Quaglino 2024-11-26 02:31:53 -08:00
  • 943eb6bc7e rollout accepts a list of models of length nroll Levi Burner 2024-11-24 16:50:28 -05:00
  • 6e129a5ab2 Merge pull request #2246 from aftersomemath:remove-nroll Copybara-Service 2024-11-25 16:05:29 -08:00
  • 96a8f002bc Remove nroll argument from rollout Levi Burner 2024-11-24 15:34:35 -05:00
  • 7e46e21ef3 Add mju_mat2Rot. Alessio Quaglino 2024-11-25 09:17:26 -08:00
  • 50bfbc9148 Use RST link instead of explicit html link. Balint-H 2024-11-25 17:15:42 +00:00
  • f54cc58dc5 Reference the tutorial in the Unity plugin docs, and update information of the existing sections. Balint-H 2024-11-25 14:39:17 +00:00
  • e9a2f055f0 Copybara import of the project: Balint-H 2024-11-25 06:37:52 -08:00
  • 38e4c4812f Merge pull request #2231 from Balint-H:fix/unity-tendon-import Copybara-Service 2024-11-25 06:38:09 -08:00
  • c6ba8f27fd Add bind() method to MjModel and MjData. Alessio Quaglino 2024-11-25 05:53:03 -08:00
  • 13b6055098 Add material namespacing to sites. Alessio Quaglino 2024-11-24 08:38:41 -08:00
  • f909d63cdf Enable to attach a spec to a frame. Alessio Quaglino 2024-11-24 07:34:16 -08:00
  • 3a12db9ad2 Remove id attribute from mjSpec objects in Python bindings. Alessio Quaglino 2024-11-22 11:04:20 -08:00
  • 1d64362adc Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization. Yuval Tassa 2024-11-22 09:37:18 -08:00
  • 74dcd51d83 Update changelog with Python 3.13 support (upcoming release) Yuval Tassa 2024-11-22 04:33:31 -08:00
  • 38ee55a957 Remove unused userfacenormal field from mjSpec. Alessio Quaglino 2024-11-21 05:07:28 -08:00
  • cedd602bc1 Compress dense rows in mjData.actuator_moment Yuval Tassa 2024-11-20 14:08:58 -08:00
  • 1767c11d46 Direct assignment of mjData.moment_rownnz Yuval Tassa 2024-11-20 11:23:41 -08:00
  • a1b18e707a Compress actuator_moment memory using nJmom <= nu x nv. Taylor Howell 2024-11-20 10:52:20 -08:00
  • aae5fd6906 Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel. Taylor Howell 2024-11-20 04:29:55 -08:00
  • cd84011d7b Default to nativeccd for geomDistance test. Kyle Bayes 2024-11-20 04:13:22 -08:00
  • 867e8b8adb Fix ARM issues with tests with nativeccd. Kyle Bayes 2024-11-20 02:29:11 -08:00
  • 34c6f9b76b Update build_requirements_usd.txt. Saran Tunyasuvunakool 2024-11-19 14:05:59 -08:00
  • 58d68d08d3 Refactor CopyPlugins() out of TryCompile() Yuval Tassa 2024-11-19 10:46:03 -08:00
  • 821f1d3f98 Do not namespace empty actuator strings during attach. Alessio Quaglino 2024-11-19 10:41:15 -08:00
  • e18567545b Update various requirements.txt files. Saran Tunyasuvunakool 2024-11-19 07:30:01 -08:00
  • 5c23ae11ef Fix bug in material texrepeat attribute, fixes #2223. Yuval Tassa 2024-11-19 06:29:49 -08:00
  • 072039ac60 Update Google Benchmark library to v1.9.0. Saran Tunyasuvunakool 2024-11-19 01:26:45 -08:00
  • 1feaf8fd67 Add *rgba fields as jax.Arrays for visual domain rando. Baruch Tabanpour 2024-11-15 16:54:44 -08:00
  • 0cb35a0fe1 Populate missing fields in mjCCDStatus in GJK code. Kyle Bayes 2024-11-15 12:23:03 -08:00
  • f91588a171 Fallback to polytope3 if tetrahedron from GJK has the origin on a face (most likely due to a numerical issue). Kyle Bayes 2024-11-15 06:51:59 -08:00
  • 386662106b Reshape arrays for LQR notebooks for Mujoco sparse2dense Silvia Cruciani 2024-11-14 09:40:29 -08:00
  • 6b3d34d9be Fix swapped params in tendons on XML import Balint-H 2024-11-14 17:32:28 +00:00
  • 0a0de6615d Back out of gjkIntersect when convergence fails due to algorithm oscillating between two support points. Also, fix related bug in box support function. Kyle Bayes 2024-11-14 05:11:30 -08:00
  • 536c60a0ac Print arena usage percentage in mjData print. Yuval Tassa 2024-11-14 03:51:39 -08:00
  • 9f51ba50db Fix field ordering in mjModel. Yuval Tassa 2024-11-14 03:44:42 -08:00
  • 0e8cca93e1 Refactor nativeccd interface. Kyle Bayes 2024-11-13 10:27:54 -08:00
  • c68ee8055e Fix ordering in mjxmacro.h. Taylor Howell 2024-11-13 03:11:14 -08:00
  • 45f908c165 Enable attaching plugins not instantiated in the extension section. Alessio Quaglino 2024-11-12 09:33:32 -08:00
  • eb77d5b933 Fix bug in mesh hillclimbing support function. Kyle Bayes 2024-11-12 06:35:46 -08:00
  • f7cc1c2e5b Read solref from jnt_solref when the user calls model.joint.solref. Alessio Quaglino 2024-11-11 11:14:11 -08:00
  • 0f381a9ebd Add muscle actuators to MJX. Taylor Howell 2024-11-11 07:45:11 -08:00
  • 414b677eb8 print memory footprint of model and data Yuval Tassa 2024-11-07 05:55:04 -08:00
  • d6d3d6bb25 Fix typo in changelog. Yuval Tassa 2024-11-07 00:18:41 -08:00
  • 18f88efe17 Contact visualization: if penetration is deeper than height, extend cylinder to show computed depth. Yuval Tassa 2024-11-06 14:45:40 -08:00
  • a2a0b95de0 Print arena memory usage in testspeed Yuval Tassa 2024-11-06 04:49:45 -08:00
  • 276f5b04cd Bump MuJoCo version to 3.2.6. Kevin Sayed 2024-11-05 14:12:19 -08:00
  • f9569cdab0 Fix #2212. Baruch Tabanpour 2024-11-05 04:16:20 -08:00
  • b7bbb2b25c Update the MuJoCo changelog for the 3.2.5 release Google DeepMind 2024-11-04 11:18:59 -08:00
  • 298ce31e39 Update docs to highlight nativeccd Yuval Tassa 2024-11-04 04:33:59 -08:00