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Upgrade v3 #1

Merged
merged 294 commits into from
May 13, 2024
Merged

Upgrade v3 #1

merged 294 commits into from
May 13, 2024

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DMackRus
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Upgrading to version 3.1.6, everything seems to work fine and is backwards compatible.

v-r-a and others added 30 commits February 26, 2024 20:18
@v-r-a
Merge branch 'google-deepmind:main' into angmomMat
93f9154
@quagla @copybara-github
Add missing global fields to mjmModel.
1f2d673 
PiperOrigin-RevId: 610415124
Change-Id: I07f284804bf73cb67703597973b50b8c00ea8deb
@abhihjoshi
removing usd import from __init__.py
e1531f6
@jaro-sevcik
Remove unnecessary parens
7688e03
@quagla @copybara-github
Use previous edge length when setting the position of a cable body.
478ce0c 
Fixes google-deepmind#1440.

PiperOrigin-RevId: 610690343
Change-Id: I0d5288e68069d1117c0c674530e0644960bab06c
@btaba @copybara-github
Add cameras to MJX. Fixes google-deepmind#1422
2067e20 
PiperOrigin-RevId: 610870732
Change-Id: Iaa39bd00f56046c595dc961281ac23446ca5bdf2
@btaba @copybara-github
Update barkour notebook.
2e43f18 
PiperOrigin-RevId: 610906071
Change-Id: Ie67b86888e195bbd8a8e879547e65fbc2c864534
@copybara-github
Merge pull request google-deepmind#1446 from jaro-sevcik:mjx-solve-m-…
a5ea87b 
…parallel

PiperOrigin-RevId: 610984251
Change-Id: Ifd69480643df236fe2d6b9f77d1b029d2650acff
@yuvaltassa @copybara-github
Improve bindings for mjd_subQuat.
982760a 
- Accept `None` for optional arguments.
- Accept 3x3 matrices for matrix arguments.

PiperOrigin-RevId: 611000820
Change-Id: Id28cdb2ae574f372ff251f94ab4557d9d2eaa80b
@jaro-sevcik
Clean up factor_m
803f0cb
@copybara-github
Merge pull request google-deepmind#1434 from traversaro:patch-32
789188d 
PiperOrigin-RevId: 611046247
Change-Id: I05fa95c13c9c0a9bf5b6b50bb3d201ffbc556dd6
@kbayes @copybara-github
Clean up mjCModel definition.
b2bd377 
PiperOrigin-RevId: 611102699
Change-Id: I64a3927c30f16764742966f4c5e1e0e579af5f50
@quagla @copybara-github
Fix typo in flex and composite error message.
9e1d7d6 
PiperOrigin-RevId: 611115238
Change-Id: Iadb9b4b078e60bca15184f3435380eb67b2da8a9
@copybara-github
Merge pull request google-deepmind#1447 from jaro-sevcik:mjx-factor-m…
f9c46e2 
…-parallel

PiperOrigin-RevId: 611348280
Change-Id: I19ef25c732d43bba0b0a8c296b197948c69d5b52
@quagla @copybara-github
Add disc mesh generation to user_flexcomp.
8f1ea05 
PiperOrigin-RevId: 611462985
Change-Id: I0fc195d8733172f5f4347b04b5de0edfdd12613d
@btaba @copybara-github
Add crude broadphase impl.
419be4c 
PiperOrigin-RevId: 611643683
Change-Id: Id7816dadd7e9f1b8855268b815353c61540c4e0c
@quagla @copybara-github
Replace mjCModel with mjmModel in mjXBase.
1bd44e7 
PiperOrigin-RevId: 611762880
Change-Id: I22254689b6cbf10fe7b61f9742b6ffd6c2074477
@copybara-github
Merge pull request google-deepmind#1428 from Balint-H:feature/unity-p…
73f65ec 
…lugins

PiperOrigin-RevId: 612144507
Change-Id: Ie355c0da2b4a51331aadcfce865a1edd720381b5
@yuvaltassa @copybara-github
Small improvements to MJX performance tuning section.
3d24bdb 
PiperOrigin-RevId: 612377295
Change-Id: I542aba7a33372556b62e3cdb4bf0c1c4d97dc98a
@quagla @copybara-github
Update sdflib version.
edc4db6 
PiperOrigin-RevId: 612389341
Change-Id: Id3e7a4fb51e63b7fef7e9ca7f94a0bc7e54e8413
@Balint-H
Fix rendering of tendons
1baa478
@Balint-H
Conditional compilation for Tendon visualization
2f64cf3
@Balint-H
Remove unnecessary using
f70db6b
@yuvaltassa @copybara-github
Remove special handling of mjModel and mjData strings in autogene…
e142bca 
…rated functions.rst

PiperOrigin-RevId: 612714709
Change-Id: Ie6c139d2c41488cd19c9bf5152b912a51b2f3a34
@quagla @copybara-github
Move CompareModel to fixture.
9efa4eb 
PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
@kbayes @copybara-github
Speed up String2Vector.
31384bd 
PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
@quagla @copybara-github
Update changelog for 3.1.0.
49ddb7c 
Fixes google-deepmind#1472.

PiperOrigin-RevId: 612787350
Change-Id: Ia5609266462b5d537ce0c03efa764f1f32bc9389
@copybara-github
Merge pull request google-deepmind#1450 from v-r-a:angmomMat
6b7d714 
PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
@copybara-github
Merge pull request google-deepmind#1470 from Balint-H:bugfix/unity-te…
0631a40 
…ndon-rendering

PiperOrigin-RevId: 612839845
Change-Id: Idf5b5cec4adc350b3ed36e902e2e52fbe9080281
@btaba @copybara-github
Fix egregious bug in broadphase.
224fbd0 
PiperOrigin-RevId: 612856292
Change-Id: I622ca00509c27f351ce5efefc139b2f2e141c8e9
quagla and others added 28 commits May 1, 2024 09:06
@quagla @copybara-github
Set all flex edges to rigid when the flex is rigid.
7eb8c4b 
PiperOrigin-RevId: 629740153
Change-Id: Ib2fb6f64e3d160268d2521d63830f41e44d03b20
@kbayes @copybara-github
Add another unit test for caching PNG decoded images verifying that w…
dc68bc6 
…hen a PNG file is updated the stale cached asset is not used.

PiperOrigin-RevId: 629748520
Change-Id: I6935a3d172ac1459602d3d82ac548adeb08a7b11
@quagla @copybara-github
Remove C-style vectors from user_mesh.
259d387 
PiperOrigin-RevId: 630031676
Change-Id: I87cba3eb816095657acd886037af2c0f06fe4fdd
@kbayes @copybara-github
Fix uninitialized variable error in asset cache.
61a651c 
PiperOrigin-RevId: 630491063
Change-Id: If5ac05beaee28b38975845682b92a9cb767f009b
@yuvaltassa @copybara-github
Remove urdfeffort attribute, parse URDF "effort" into `mjsJoint.act…
ac1af8e 
…forcerange`.

PiperOrigin-RevId: 630796429
Change-Id: I45363aca8afcce68bf48b2e8bdb556b39852f073
@yuvaltassa @copybara-github
Rename remaining model to spec in xml/
62bc837 
PiperOrigin-RevId: 630855094
Change-Id: Ib921fe43b9b5a5a64867ef4c8c1cca217c27a5aa
@yuvaltassa @copybara-github
Documentation updates:
3e35eeb 
- Added a section on preventing slip in the modeling chapter.
- Added more intuitive descriptions of friction coefficients in the Computation chapter.
- Fixed some en-dashes and em-dashes.

PiperOrigin-RevId: 630856003
Change-Id: I8e767e6c5a95affdeb72ef9bc424bdd18f58e4df
@yuvaltassa @copybara-github
Update Python documentation.
93b57c1 
PiperOrigin-RevId: 631189628
Change-Id: I17d0fbe476fc14bbad525a302f588bf773a2244b
@yuvaltassa @copybara-github
Updates to minimize.least_squares. Fixes google-deepmind#1585
34e537e 
- Residual callable is vectorized for easy multithreading by the user. Internally all vectors are now explicitly column vectors.
- Removed central findiff option, it wasn't applicable at the bounds anyway and just complicated the code.
- Added optional user-provided norm function for non-quadratic (robust) norms.
- Added an iter_callback callable for user convenience.
- Added option to internally check user-provided Jacobian and norm against finite differences.
- Updated the notebook accordingly.

PiperOrigin-RevId: 631205889
Change-Id: I3b9f8893756e329640de464e6f2e26a39e7dbd9e
@yuvaltassa @copybara-github
Move notebook copyright notice into HTML comment.
a40de1b 
PiperOrigin-RevId: 631222581
Change-Id: I2fe86425677cf14cbfb72cb9d32b645682edc47f
@kbayes @copybara-github
Enable compiler asset cache for public use, and add changelog entry.
ad04596 
PiperOrigin-RevId: 631352810
Change-Id: If6208327499e3e4bd37cbb2a1b0cdcfb912c1056
@kbayes @copybara-github
Fix compile-time size_t narrowing to bool.
dbb258e 
PiperOrigin-RevId: 631381101
Change-Id: I5188c352354573476decb8ae6bc007faf623a884
@quagla @copybara-github
Update MarchingCubeCpp to version f03a1b3ec29b1d7d865691ca8aea4f1eb2c…
4647f79 
…2873d.

PiperOrigin-RevId: 631401047
Change-Id: I3e82f7f1188470f8c40bd2e6ce1df2bd813c96c5
@yuvaltassa @copybara-github
Replace .copy() with list() in minimize.py
8d89652 
PiperOrigin-RevId: 631413376
Change-Id: I06dd3e3897078b57b0a0668b2182fa62dcd4a74e
@erikfrey @copybara-github
Add new differentiable physics tutorial to readme.
24bc1c8 
PiperOrigin-RevId: 631458983
Change-Id: Ic0ef9e93397a974be50f0616571a4a5fea6f2b21
@dhoke-megha @copybara-github
Update abseil to LTS 20240116.2.
efbcd86 
This is a minor update to the previous version, LTS 20240116.1. The only change is a fix for a bug in the `absl::StrFormat` function.

PiperOrigin-RevId: 631495397
Change-Id: I28aec52fb526a2168900a4ee93ffc6e11650a3be
@dhoke-megha @copybara-github
Update changelog for MuJoCo 3.1.5
e001975 
PiperOrigin-RevId: 631497384
Change-Id: I04bf6d0a4e744ab61becda5212e76b30c392f5b2
@dhoke-megha @copybara-github
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
4eca3b0 
PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
@quagla @copybara-github
Update BVH during fusestatic. Fixes google-deepmind#1069 and google-d…
96844db 
…eepmind#1577.

PiperOrigin-RevId: 631748750
Change-Id: I4e1ae01207568c90fc49bcd7d9f760f5187f1afa
@kbayes @copybara-github
Encapsulate mjCModel internal lists.
13bf9ae 
PiperOrigin-RevId: 631760335
Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
@copybara-github
BEGIN_PUBLIC
d6bc8c7 
Replaced "shark" test models with lighter models to speed up tests.
END_PUBLIC.

- procedurally generated light cube
- replaced shark GMSH with cube for all tests with extension GMSH
- Reduced size of shark model used for tests with extension Ftetwild

PiperOrigin-RevId: 631776421
Change-Id: I66f6b4058b86338a10d06c39bc93bef1c6fbdab6
@quagla @copybara-github
Prevent visualization of SDF iterations from writing outside the maxi…
1d18178 
…mum allocated vector. Fixes google-deepmind#1539.

PiperOrigin-RevId: 632071103
Change-Id: Idf91ede1661e717ad338f601a5482ab171d7f625
@yuvaltassa @copybara-github
Fix bug in compiler error string construction.
39601b0 
PiperOrigin-RevId: 632404023
Change-Id: I79e24e44fc4eec67b76fbf62b053b169ba3070a3
@yuvaltassa @copybara-github
Update requirements.txt for mujoco and mjx.
31de1da 
PiperOrigin-RevId: 632441444
Change-Id: Ia9ff35b453476b2f1f5a7a8facc819a8925dcd8b
@yuvaltassa @copybara-github
Add mj_geomDistance API function and sensors for geometric distance…
02d0154 
…, normal direction and segment between between two geoms. Fixes google-deepmind#51

PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
@yuvaltassa @copybara-github
Add some missing const qualifiers.
65d4f04 
PiperOrigin-RevId: 632463634
Change-Id: Id3e3e53371f8ed53d970ad7c471bbefd2a70cf5a
@btaba @copybara-github
Add contact force support function. google-deepmind#1555
c6b1293 
PiperOrigin-RevId: 632591177
Change-Id: I15aa00686d9f885330506d2d63443c700cc029f6
@DMackRus
Merge branch 'google-deepmind:main' into upgrade_v3
afe4985
@DMackRus DMackRus merged commit afe9926 into main May 13, 2024
@DMackRus DMackRus deleted the upgrade_v3 branch May 13, 2024 13:48
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