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  • c5a677a9de Fix load error message. Fixes #2135 Alessio Quaglino 2024-10-14 05:10:04 -07:00
  • 1945926351 Fix computation of tangential contact forces in MJX _decode_pyramid. Taylor Howell 2024-10-14 05:00:07 -07:00
  • 766cd20273 Add mjs_bodyToFrame() to convert a body to a frame. Alessio Quaglino 2024-10-14 00:38:26 -07:00
  • 52a0149cd1 Resizes keyframes before storing them during attach/detach. Alessio Quaglino 2024-10-13 10:01:26 -07:00
  • 534aedd47d Improve documentation of joint/armature. Yuval Tassa 2024-10-13 07:24:09 -07:00
  • 99259eb0d3 Fix typos in engine_ray.c. Taylor Howell 2024-10-12 16:04:42 -07:00
  • 78ade58aff Remove rootid from touch sensor (unused). Taylor Howell 2024-10-12 08:09:08 -07:00
  • 223892c051 Add tendon position sensor to MJX. Taylor Howell 2024-10-11 08:47:09 -07:00
  • 5fe2b88726 Print ASCII sparse matrix structures in mj_printData. Yuval Tassa 2024-10-11 08:16:05 -07:00
  • 70d6655434 Add faster support functions for NativeCCD. Kyle Bayes 2024-10-11 05:58:44 -07:00
  • 2dd518734f Stop over-allocating memory in Newton solver. Yuval Tassa 2024-10-11 05:08:27 -07:00
  • 9aca4bccac Fix stack usage reporting under ASAN. Yuval Tassa 2024-10-11 04:36:05 -07:00
  • 1d57099e98 Add internal return codes in polytope2 and polytope3 to make debugging in NativeCCD easier. Kyle Bayes 2024-10-11 03:35:28 -07:00
  • ae9ec24d3a Add dm_control creature example to mjSpec tutorial. Alessio Quaglino 2024-10-11 02:45:39 -07:00
  • cdb167f275 Add mjs_attachToSite for attaching a body to a site. Alessio Quaglino 2024-10-10 07:11:16 -07:00
  • 694bdebc19 Fixed a bug that caused dim to be necessary in flexcomp even when it was inferred from GMSH files. Mohammad Hamid 2024-10-10 06:19:40 -07:00
  • 22e4f7fc31 Fix bug in MJX frictionloss. Baruch Tabanpour 2024-10-09 15:49:54 -07:00
  • a26ba2012e Return 0 on success from mjs_activatePlugin instead of using mju_error. Alessio Quaglino 2024-10-09 11:08:38 -07:00
  • 5dcc31a6aa Fix read-from-uninitialized-memory in bindings_test.py Yuval Tassa 2024-10-09 10:12:29 -07:00
  • 9a0dc20821 Move Newton Hessian memory allocation from stack to arena. Yuval Tassa 2024-10-09 08:53:40 -07:00
  • 356d172f56 Update MJX SolverType docstring with Newton. Taylor Howell 2024-10-09 08:07:35 -07:00
  • b1941708dd Add some arena-allocated attributes to compare in mjData pickle/unpickle test. Yuval Tassa 2024-10-09 07:14:02 -07:00
  • 395129bbd3 Improvements to lighting and replication logic in humanoid.xml and 22_humanoids.xml. Yuval Tassa 2024-10-08 15:35:18 -07:00
  • fa22e6d001 Add sphere-ellipsoid, sphere-cylinder. #2126 Baruch Tabanpour 2024-10-08 13:35:52 -07:00
  • 8256546432 Fix bug in xml_native_writer that was causing frames to be skipped. Alessio Quaglino 2024-10-08 12:22:25 -07:00
  • b66da3d369 Add mjData.L, sparse Cholesky factor of Newton solver Hessian. Yuval Tassa 2024-10-08 10:12:10 -07:00
  • 39af655c1e Merge pull request #1939 from goncalog:update-humanoid-notebook Copybara-Service 2024-10-08 10:10:20 -07:00
  • 1f9dca8bc4 Do not expose plugin_slot. Alessio Quaglino 2024-10-07 09:36:36 -07:00
  • 66faba9aa5 Avoid changing semantics of mjsPlugin.name across XML sections. Alessio Quaglino 2024-10-07 07:56:17 -07:00
  • 5bfc7da7de Inline small vector util functions in NativeCCD. Kyle Bayes 2024-10-07 04:10:35 -07:00
  • 160ed9bfe2 Add pulley support to spatial tendons in MJX. Taylor Howell 2024-10-07 03:00:02 -07:00
  • bce43b63ed Merge pull request #2120 from hartikainen:fix-2118 Copybara-Service 2024-10-07 02:39:29 -07:00
  • d3a1ca72d8 Report memory usage in simulate using percentage rather than decimal fraction. Yuval Tassa 2024-10-07 02:36:50 -07:00
  • 76a8d01eb9 revert physics_steps_per_control_step Goncalo Gordo 2024-10-05 13:25:47 +01:00
  • b08d6f4724 revert the solver params Goncalo Gordo 2024-10-05 13:23:47 +01:00
  • 0dde0ba4ba Fix external import in colab. Baruch Tabanpour 2024-10-04 18:11:39 -07:00
  • 0887f54307 Add Franka Panda env to MJX colab tutorial. Baruch Tabanpour 2024-10-04 17:35:19 -07:00
  • 6be5decf6c Check for OOM errors once per EPA iteration. Kyle Bayes 2024-10-04 14:14:35 -07:00
  • 6e66cafe76 Capture mjs_attach error message in the Python bindings. Alessio Quaglino 2024-10-04 12:18:36 -07:00
  • 3091665c16 Merge pull request #2122 from hartikainen:update-gitignore Copybara-Service 2024-10-04 11:20:26 -07:00
  • 3f3fe92860 Remove unused argument in mju_sqrMatTDSparseInit Yuval Tassa 2024-10-04 10:44:39 -07:00
  • 7e9481fbeb Merge pull request #2067 from abhihjoshi:documentation Copybara-Service 2024-10-04 10:15:19 -07:00
  • 1d7f511f16 Add MUJOCO_LOG.TXT and .cache to .gitignore Kristian Hartikainen 2024-10-04 18:44:01 +03:00
  • eb095b276c Switch to collision boolean only GJK for contacts instead of using S3D. Kyle Bayes 2024-10-04 08:24:11 -07:00
  • 3ea8be2dcb Merge pull request #2078 from hartikainen:enable-mjb-for-mjx-testspeed Copybara-Service 2024-10-04 08:22:53 -07:00
  • 42c1718d57 Restore RecompileCompare test that was deactivated by mistake. Alessio Quaglino 2024-10-04 07:18:22 -07:00
  • f550aaac62 Merge pull request #2121 from hartikainen:fix-2119 Copybara-Service 2024-10-04 04:47:41 -07:00
  • 3634bd5063 Fix python namespacing Kristian Hartikainen 2024-10-04 10:04:36 +03:00
  • 5d46884efe Rename MuJoCo (mjpython).app -> MuJoCo_(mjpython).app Kristian Hartikainen 2024-10-04 10:06:09 +03:00
  • dba32e827c Exit recursion gracefully when horizon reaches empty polytope in EPA. Kyle Bayes 2024-10-03 15:16:33 -07:00
  • 9d91703871 Replace heap with linear map in EPA. Kyle Bayes 2024-10-03 09:25:50 -07:00
  • a02c37cf12 Use faster cross product in projectOriginPlane for NativeCCD. Kyle Bayes 2024-10-03 09:19:15 -07:00
  • dc995ad341 Remove unnecessary norm calculation in EPA. Kyle Bayes 2024-10-03 09:11:48 -07:00
  • c7c2edf758 Add external sphere and cylinder wrapping for spatial tendons to MJX. Taylor Howell 2024-10-03 03:55:17 -07:00
  • dfd1f8fefc Fixed a bug causing an early stop of tree traversal. Alessio Quaglino 2024-10-03 03:36:57 -07:00
  • 249c4b3f4f Prevent attaching models with different eulerseq, autolimits, or angle options. Alessio Quaglino 2024-10-03 03:26:57 -07:00
  • e973dc74dd Yield ownership of char[], vector<string>, and vector<byte> to mjSpec in Python bindings. Alessio Quaglino 2024-10-02 11:13:45 -07:00
  • 36ee89d6da Copy only referenced plugins. Alessio Quaglino 2024-10-02 09:39:41 -07:00
  • 1a9d307042 Use mocap pos/quat in smooth.kinematics. Baruch Tabanpour 2024-10-01 13:10:38 -07:00
  • befe4af8f0 Add missing includes necessary after changes in libc++ headers. Google DeepMind 2024-10-01 11:07:05 -07:00
  • dfe8e45101 Namespace plugin instances when attaching. Alessio Quaglino 2024-10-01 09:13:43 -07:00
  • 89aea5e217 Add body.find_all() to Python bindings. Alessio Quaglino 2024-10-01 08:56:03 -07:00
  • 8a825e6050 Add auto-generated tree element lists to Python bindings. Alessio Quaglino 2024-10-01 05:22:07 -07:00
  • 62ec802ec1 Tweaks to benchmarks. Yuval Tassa 2024-10-01 04:07:33 -07:00
  • cb745db412 Ensure ten_wrapnum/wrapadr are int type. Baruch Tabanpour 2024-09-30 14:01:23 -07:00
  • 6832df3091 Replace mjs_setActivePlugins with mjs_activatePlugin. Alessio Quaglino 2024-09-30 09:45:25 -07:00
  • cf13413c0b Clean up dual solver functions. Yuval Tassa 2024-09-30 08:30:34 -07:00
  • e6e6e3b51b Copy plugins when attaching a model. Alessio Quaglino 2024-09-30 08:06:54 -07:00
  • 43a82e08be Add benchmark test for collisions. Kyle Bayes 2024-09-30 06:45:08 -07:00
  • 40b2ae92e5 Reset pending keyframes in source model after attaching. Alessio Quaglino 2024-09-30 05:04:12 -07:00
  • 58a49bad96 Add nested keyframes attachment test. Alessio Quaglino 2024-09-29 11:56:50 -07:00
  • 807ee852d0 Merge pull request #2097 from emotodorov:ui Copybara-Service 2024-09-27 13:16:01 -07:00
  • 25e4d75a07 Return attached body/frame in mjs_attachBody/Frame. Alessio Quaglino 2024-09-27 08:32:52 -07:00
  • 176345b4e1 Remove meaningless const qualifier for scalar arguments in sparse function signatures. Yuval Tassa 2024-09-27 06:36:13 -07:00
  • 6a6e10d779 Add mju_cholFactorNNZ to compute the number of non-zeros per row for sparse Cholesky factorization. Taylor Howell 2024-09-27 05:38:07 -07:00
  • bb6da503dc Make 3 the default number of channels in mjsTexture. Alessio Quaglino 2024-09-27 03:30:26 -07:00
  • a985faef51 section checkbox highligting Emo Todorov 2024-09-26 22:22:02 -04:00
  • 6a415da267 Make from_file() and from_string() classmethod functions. Alessio Quaglino 2024-09-26 15:15:01 -07:00
  • 8bbf9c7b4f Rename config.yaml -> config.yml. Yuval Tassa 2024-09-26 11:25:12 -07:00
  • d758349632 Correct the docs about available attributes on the default/mesh tag. Nimrod Gileadi 2024-09-26 06:30:31 -07:00
  • 86ea1e498c Update pillow dependency used in tests to 10.3.0. Nimrod Gileadi 2024-09-26 05:51:59 -07:00
  • 6f031f2293 Enable binary .mjb in mjx/viewer.py Kristian Hartikainen 2024-09-26 12:38:56 +03:00
  • 827401554e Enable binary .mjb in mjx/testspeed.py Kristian Hartikainen 2024-09-23 11:30:13 +03:00
  • 30cd8cc0e2 Add keyword argument example to code block in model editing section of the documentation. Taylor Howell 2024-09-25 04:32:53 -07:00
  • 1eb6fc2285 Disallow using elasticity and edge constraints at the same time. Alessio Quaglino 2024-09-25 02:55:05 -07:00
  • 2785dbc0da Add tendon types to MJX name2id and id2name. Erik Frey 2024-09-24 15:45:40 -07:00
  • 306e52c30f internal change. Baruch Tabanpour 2024-09-24 12:37:06 -07:00
  • f0d52813b8 Copy joint state to the modified mjSpec when detaching bodies. Alessio Quaglino 2024-09-24 12:25:37 -07:00
  • b09c1a977e Add jit flag to viewer (easier debugging). Make convex.xml stable. Baruch Tabanpour 2024-09-24 10:48:40 -07:00
  • 5bca7876c4 Update spec.from_string() and spec.from_file() to match the respective mjModel functions. Alessio Quaglino 2024-09-24 06:56:27 -07:00
  • 910cd89cc7 Merge pull request #2083 from jjyyxx:patch-1 Copybara-Service 2024-09-24 05:42:17 -07:00
  • 55962538c4 Fix typo in programming documentation Yuxuan Jiang 2024-09-24 15:33:27 +08:00
  • 3a17be2d24 Add pause key to MJX viewer. Baruch Tabanpour 2024-09-23 15:22:27 -07:00
  • 5838f84777 Fix bug where MJX data tendon fields are incorrect after calling put_data. Erik Frey 2024-09-23 13:11:16 -07:00
  • 1ee57a1fca Fix the initialization of the EGL context in multiprocessing Yu Fang 2024-09-23 12:01:25 -07:00
  • 456dcc150c Updating documentation for comments Abhishek Joshi 2024-09-23 14:10:48 -04:00
  • 5219893813 Replace mjQUICKSORT with std::stable_sort in user_mesh.cc Yuval Tassa 2024-09-23 11:05:44 -07:00
  • bbe8a0c516 Strip weak_types in mjx.put_model. Google DeepMind 2024-09-23 10:53:43 -07:00
  • 84e0e2839d Improve error message when requested stack allocation is larger than 2^64 bytes. Yuval Tassa 2024-09-23 10:33:41 -07:00
  • 76b48b8e61 Add site semantics to weld constraint in MJX. Taylor Howell 2024-09-23 09:24:12 -07:00