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1bd6a32af2
Add mjmEquality, mjmTendon and mjmWrap to C API.
2024-02-10 03:29:22 -08:00
4ad1dc4b84
Mention the roles of "center" and "extent" in visual/global/{azimuth,elevation}. Fixes #1407 .
2024-02-09 09:21:41 -08:00
dc40bbd1f5
Refactor global object tables logic.
2024-02-09 06:49:13 -08:00
6fa139a693
Add mjmActuator and mjmSensor.
2024-02-09 05:10:10 -08:00
e3cbad280c
Add mjmJoint, mjmCamera, and mjmLight to C API.
2024-02-09 04:44:04 -08:00
e77c3cb258
Update MJX viewer to use mjx.get_data_into and fix bad function parameters.
2024-02-08 16:31:26 -08:00
4933a2c7b6
Improve performance of getting and putting MJX device data by reducing cost of ncon.
2024-02-08 16:05:47 -08:00
3e2d62c248
Improve performance of getting and putting MJX device data with large numpy arrays.
2024-02-08 15:00:47 -08:00
1fe258fb60
Add mjmGeom to C API.
2024-02-08 06:51:44 -08:00
3baab3784a
Update MJX notebook to work with brax 0.10.0.
2024-02-07 14:47:57 -08:00
e4fada1963
Correct use of uninitialized value and clean up FullInertia function
2024-02-07 11:36:51 -08:00
ea69f20b43
Unrolled matmul for small matrices in MJX improves steps/sec by 10-20%.
2024-02-07 10:47:55 -08:00
8b17d260a3
Add user_init for setting default parameters.
2024-02-07 04:41:39 -08:00
a3e49d582e
Add mjmBody and mjmPlugin and their compiler C APIs.
2024-02-07 04:16:20 -08:00
b9c50ad79c
Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias.
2024-02-06 17:20:24 -08:00
19c41aa965
Merge pull request #1401 from driesmarzougui:main
2024-02-06 14:49:35 -08:00
38cbc9e543
Improve MJX performance on NVIDIA GPU by enabling Triton GEMM.
2024-02-06 10:29:29 -08:00
84f20ffb66
Automated g4 rollback of changelist 604607692.
2024-02-06 09:46:02 -08:00
737342bdfe
Move fullinertia from mjCAlternative to mjCBody.
2024-02-06 04:42:02 -08:00
01439f28b3
Add AddFreeJoint and remove isfree from AddJoint.
2024-02-06 03:48:48 -08:00
3b2dd06c54
Add compiler C API for mjmSite.
2024-02-06 01:50:01 -08:00
f763254a00
Updating Mujoco Release version number to v3.1.3
2024-02-05 15:58:30 -08:00
f75923a48d
Updated version numbers to cmake files
2024-02-05 12:54:43 -08:00
81adba763e
Update title - Version number and date to Version 3.1.2 (February 05, 2024)
2024-02-05 11:03:32 -08:00
41ad07c4ff
Fix numbering in changelog.rst
2024-02-05 09:49:25 -08:00
55cbbd00af
Merge pull request #1381 from ryanwhite04:patch-1
2024-02-05 05:57:19 -08:00
e3dc54f609
Emit only one warning about ARB_depth_buffer_float or ARB_clip_control.
2024-02-05 03:35:05 -08:00
2bbf5424e4
Improve option/actuatorgroupdisable documentation.
2024-02-05 03:25:48 -08:00
ed36956b0d
fix https://github.com/google-deepmind/mujoco/issues/1379
2024-02-05 10:59:08 +01:00
ced37ffbb2
Add refsite to list of non-defaultable attributes.
2024-02-04 20:46:20 -08:00
66a8bef6fa
Merge pull request #1392 from alefram:fix-mj_forward-link
2024-02-04 09:49:27 -08:00
eb844a4b77
When computing suitable initial font scale for a display, let 250% be the maximum size. Workaround for #1274 .
2024-02-02 14:40:17 -08:00
f3b48edf2b
fix metadata and update mj_forward link
2024-02-02 18:26:32 -04:00
d8577bfc9a
Revert "fix link of mj_forward on tutorial"
2024-02-02 17:39:44 -04:00
1ed8694dbe
Replace xmlpos with info string for mjCError.
2024-02-02 12:33:50 -08:00
df76b55fe0
Add line error check to user_objects and xml_native_reader tests.
2024-02-02 09:56:43 -08:00
fe57ae498f
Fix typo and improve code snippet in documentation for user_scn.flags.
2024-02-02 07:49:32 -08:00
914a001753
Update UI when rendering flags are changed via user_scn.
2024-02-02 07:15:42 -08:00
7bb0ce4211
[Python Viewer] Allow users to override rendering flags via user_scn.
2024-02-02 06:38:28 -08:00
40c0a91a40
fix link of mj_forward on tutorial
2024-02-01 23:28:40 -04:00
bfa359cb2e
Revert "fix mj_forward link typo"
2024-02-01 23:25:56 -04:00
9f006dccdb
fix mj_forward link typo
2024-02-01 22:45:36 -04:00
92c161a61b
Add ncon to __init__.
2024-02-01 13:37:28 -08:00
58e9fb0baa
Docs: fix link to slider-crank example model.
2024-02-01 09:55:55 -08:00
b3f93d436b
Convert mjmStruct to a C-struct.
2024-02-01 06:56:46 -08:00
ff6581df1c
Merge branch 'usd-integration' of github.com:awesome-aj0123/mujoco into usd-integration
2024-02-01 02:48:17 -06:00
75c0647bcc
adding mujoco uds bridge
2024-02-01 02:47:45 -06:00
7a98038e88
Move mjCSite attributes to mjmSite struct.
2024-01-31 08:06:50 -08:00
38b441b777
Update XMLreference.rst
2024-01-31 19:45:19 +08:00
fae1f3e56d
Merge pull request #1369 from Balint-H:feature/unity-events
2024-01-30 03:33:47 -08:00
8be966cdf9
Avoid NaN in gradient of where. Fixes #1349 .
2024-01-29 12:08:35 -08:00
508669a9f2
Raise not implemented for frictionloss for now. #1344
2024-01-29 11:44:38 -08:00
4fe16dd44e
Merge pull request #1353 from Balint-H:fix/unity-mesh-import
2024-01-29 08:13:04 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
2024-01-29 06:58:30 -08:00
e6847f843d
Copybara import of the project:
2024-01-29 06:39:00 -08:00
70021a7236
Improve ordering of asset documentation, sort by category and usefulness.
2024-01-27 17:23:41 -08:00
3b0a680fa7
Refactor GlobalModel class in the XML API.
2024-01-26 07:32:51 -08:00
669ee0ee48
Fix migration instructions for option/collision.
2024-01-26 07:02:00 -08:00
ee071242c6
Constrain MjScene EventHandlers as events, consistently use MjStepArgs
2024-01-26 14:35:03 +00:00
fb8f77df74
Throw error if qhull is called with NaNs.
2024-01-26 06:12:33 -08:00
076db5d366
Copy face_ into facetexcoord_ if not specified and needed.
2024-01-26 04:53:37 -08:00
4f53d9a0d7
Add AddVector and GetVector to user cache.
2024-01-25 10:12:29 -08:00
a1e5ede266
Allow Brax data structures to inherit from MJX data structures.
2024-01-24 18:02:17 -08:00
e59605135a
Make benchmarks and viewer more accessible.
2024-01-24 17:03:13 -08:00
64b042369b
Readd axis swizzling to the mesh writer
2024-01-24 18:32:55 +00:00
c8e839a666
Do not create contact if there are no DOFs.
2024-01-24 09:36:27 -08:00
aede8cf5cf
Rename user_asset_cache to user_cache.
2024-01-24 06:04:42 -08:00
0a7be1732c
Adds support for explicit dense/sparse mass matrices to MJX.
2024-01-23 00:31:01 -08:00
aceb52bd09
Improvements to mujoco.rollout:
2024-01-22 07:01:01 -08:00
042e3c9c4c
Reuse indices in mesh parsing, remove trailing nulls in mesh writing
2024-01-20 19:06:15 +00:00
5cbaa23388
Remove TEST_FILES from MJX test_util.py.
2024-01-19 11:14:06 -08:00
a1ddbdf7f8
Add an implementation of a cache for assets for compilation speedups.
2024-01-19 09:02:37 -08:00
a23a368778
clean up rollout.cc
2024-01-19 09:02:27 -08:00
e0864ab7f2
Fix formatting bugs in changelog.
2024-01-19 06:27:32 -08:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
2024-01-19 02:59:06 -08:00
2feefbc5d2
Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID.
2024-01-17 10:53:19 -08:00
edc254b213
Update MJX doc for #1344 .
2024-01-17 10:37:50 -08:00
a14a584f1d
Fix bug in muscle length-gain curve. Fixes #1342
2024-01-17 07:19:11 -08:00
67a00a3a51
Rename mjMAXTHREADS -> mjMAXTHREAD (consistency).
2024-01-17 04:33:00 -08:00
71b0561758
Clean up formatting issues in user_objects.h
2024-01-17 04:20:24 -08:00
a02fc405af
Add naive ray mesh implementation.
2024-01-16 16:28:19 -08:00
ee922be393
Benchmark improvements.
2024-01-16 16:17:06 -08:00
45208a5fe0
Update Sphinx from 4.5.0 to 5.3.0 fixing broken docs build.
2024-01-16 10:03:28 -08:00
80674149ce
Allow pinning flexes to non-simple bodies. Fixes #1270 .
2024-01-16 09:31:15 -08:00
3c1907e678
Fix rendering of links in documentation.
2024-01-16 08:53:33 -08:00
3b440921df
Merge pull request #1268 from Balint-H:feature/unity-hmap-dyn
2024-01-15 12:54:06 -08:00
8f247d5ed6
Merge branch 'google-deepmind:main' into usd-integration
2024-01-15 15:10:49 -05:00
2388b651e8
Unity plug-in: Fix for when xml file has no <compiler> section.
2024-01-15 12:03:32 -08:00
c77f984d9b
Merge pull request #1330 from Balint-H:fix/unity-joint-limits
2024-01-15 07:08:03 -08:00
1e2e0b3053
Remove all visual-only assets if discardvisual is selected, not only the geoms.
2024-01-15 06:38:11 -08:00
acf698e2df
Store pointer to index in mjCBoundingVolume if possible.
2024-01-15 06:03:28 -08:00
cab1c6bb39
Preallocate mjCBoundingVolumeHierarchy and avoid copies during MakeBVH.
2024-01-15 04:47:59 -08:00
5d46c39529
Increased SdfLib bounding box by 10% to prevent querying outside it during collision detection.
2024-01-12 07:53:09 -08:00
66a0cd3b0b
Perform autolimit check on actuators
2024-01-11 16:29:08 +00:00
3a00450d00
Rephrase condition for default limited definition so it's more intuitive
2024-01-11 16:20:13 +00:00
56b30d9d15
Check the autolimits attribute before assigning default values for joint limitedness
2024-01-11 16:09:06 +00:00
79bcfecba4
Tidy up mj_kinematics implementation.
2024-01-11 07:58:55 -08:00
60cd7248c2
Add zero vector shortcut to mju_rotVecQuat.
2024-01-11 03:18:35 -08:00
d4e8070a3f
Update doc about MJX meshes, fixes #1325 .
2024-01-10 13:35:45 -08:00
85ab6183bc
Add ray filtering based on geom transparency and filter params.
2024-01-10 11:57:53 -08:00
Alessio Quaglino