Change GitHub org name to google-deepmind.

PiperOrigin-RevId: 563512242 Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
2023-09-07 12:32:28 -07:00
parent 1a3215e329
commit 7e5a7b76fc
26 changed files with 213 additions and 208 deletions
@@ -237,8 +237,8 @@ Writing plugins

 This section, targeted at developers, is incomplete. We encourage people who wish to write their own plugins
 to contact the MuJoCo development team for help. A good starting point for experienced developers is the
-`associated tests <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_plugin_test.cc>`_ and the first-party
-plugins in the `first-party plugin directory <https://github.com/deepmind/mujoco/tree/main/plugin>`_.
+`associated tests <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_plugin_test.cc>`_ and the
+first-party plugins in the `first-party plugin directory <https://github.com/google-deepmind/mujoco/tree/main/plugin>`_.

 A future version of this section will include:

@@ -250,19 +250,19 @@ A future version of this section will include:

 Currently, there are three directories of first-party plugins:

-* **elasticity:** The plugins in the `elasticity/ <https://github.com/deepmind/mujoco/tree/main/plugin/elasticity>`__
+* **elasticity:** The plugins in the `elasticity/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/elasticity>`__
  directory are passive forces based on continuum mechanics for 1-dimensional and 3-dimensional bodies. The
  1D model is invariant under rotations and captures the large deformation of elastic cables, decoupling twisting and
  bending strains. The 3D solid is a
  `Saint Venant-Kirchhoff <https://en.wikipedia.org/wiki/Hyperelastic_material#Saint_Venant%E2%80%93Kirchhoff_model>`__
  model discretized with piecewise linear finite elements, which is suitable for large deformations with small strains.
-* **sensor:** The plugins in the `sensor/ <https://github.com/deepmind/mujoco/tree/main/plugin/sensor>`__
+* **sensor:** The plugins in the `sensor/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/sensor>`__
  directory implement custom sensors. Currently the sole sensor plugin is the touch grid sensor, see the
-  `README <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`__ for details.
-* **sdf:** The plugins in the `sdf/ <https://github.com/deepmind/mujoco/tree/main/plugin/sdf>`__
+  `README <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`__ for details.
+* **sdf:** The plugins in the `sdf/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/sdf>`__
  directory specify custom shapes in a mesh-free manner, by defining methods computing a signed distance field and its
  gradient at query points. This shape then acts as a new geom type in the collision table at the top of
-  `engine_collision_driver.c <https://github.com/deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.
+  `engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.

  Collision points are found by minimizing the maximum of the two colliding SDFs via gradient descent.
  Because SDFs are non-convex, multiple starting points are required in order to converge to multiple local minima.
@@ -46,8 +46,8 @@ Getting started

 MuJoCo is an open-source project. Pre-built dynamic libraries are available for x86_64 and arm64 machines running
 Windows, Linux, and macOS. These can be downloaded from the `GitHub Releases page
-<https://github.com/deepmind/mujoco/releases>`_. Users who do not intend to develop or modify core MuJoCo code are
-encouraged to use our pre-built libraries, as these come bundled with the same versions of dependencies that we
+<https://github.com/google-deepmind/mujoco/releases>`_. Users who do not intend to develop or modify core MuJoCo code
+are encouraged to use our pre-built libraries, as these come bundled with the same versions of dependencies that we
 regularly test against, and benefit from build flags that have been tuned for performance. Our pre-built libraries are
 almost entirely self-contained and do not require any other library to be present, outside the standard C runtime. We
 also hide all symbols apart from those that form MuJoCo's public API, thus ensuring that it can coexist with any other
@@ -76,10 +76,10 @@ directory; it contains error and warning messages, and can be deleted at any tim

 After verifying that the simulator works, you may also want to re-compile the code samples to ensure that you have a
 working development environment. We provide Makefiles for `Windows
-<https://github.com/deepmind/mujoco/blob/main/sample/Makefile.windows>`_, `macOS
-<https://github.com/deepmind/mujoco/blob/main/sample/Makefile.macos>`_, and `Linux
-<https://github.com/deepmind/mujoco/blob/main/sample/Makefile>`_, and also a cross-platform `CMake
-<https://github.com/deepmind/mujoco/blob/main/sample/CMakeLists.txt>`_ setup that can be used to build sample
+<https://github.com/google-deepmind/mujoco/blob/main/sample/Makefile.windows>`_, `macOS
+<https://github.com/google-deepmind/mujoco/blob/main/sample/Makefile.macos>`_, and `Linux
+<https://github.com/google-deepmind/mujoco/blob/main/sample/Makefile>`_, and also a cross-platform `CMake
+<https://github.com/google-deepmind/mujoco/blob/main/sample/CMakeLists.txt>`_ setup that can be used to build sample
 applications independently of the MuJoCo library itself. If you are using the vanilla Makefile, we assume that you are
 using Visual Studio on Windows and LLVM/Clang on Linux. On Windows, you also need to either open a Visual Studio command
 prompt with native x64 tools or call the ``vcvarsall.bat`` script that comes with your MSVC installation to set up the
@@ -127,11 +127,12 @@ target directory.
 #. After building, install with ``cmake --install .``

 When building on Windows, use Visual Studio 2019 or later and make sure Windows SDK version 10.0.22000 or later is
-installed (see `here <https://github.com/deepmind/mujoco/issues/862>`__ for more details).
+installed (see `here <https://github.com/google-deepmind/mujoco/issues/862>`__ for more details).

 .. tip::
   As a reference, a working build configuration can be found in MuJoCo's
-   `continuous integration setup <https://github.com/deepmind/mujoco/blob/main/.github/workflows/build.yml>`_ on GitHub.
+   `continuous integration setup <https://github.com/google-deepmind/mujoco/blob/main/.github/workflows/build.yml>`_ on
+   GitHub.

 .. _inHeader:

@@ -141,36 +142,36 @@ Header files
 The distribution contains several header files which are identical on all platforms. They are also available from the
 links below, to make this documentation self-contained.

-`mujoco.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`__
+`mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`__
   This is the main header file and must be included in all programs using MuJoCo. It defines all API functions and
   global variables, and includes the all other header files except mjxmacro.h.
-`mjmodel.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`__
+`mjmodel.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`__
   Defines the C structure :ref:`mjModel` which is the runtime representation of the
   model being simulated. It also defines a number of primitive types and other structures needed to define mjModel.
-`mjdata.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__
+`mjdata.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjdata.h>`__
   Defines the C structure :ref:`mjData` which is the workspace where all computations
   read their inputs and write their outputs. It also defines primitive types and other structures needed to define
   mjData.
-`mjvisualize.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`__
+`mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`__
   Defines the primitive types and structures needed by the abstract visualizer.
-`mjrender.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`__
+`mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`__
   Defines the primitive types and structures needed by the OpenGL renderer.
-`mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__
+`mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__
   Defines the primitive types and structures needed by the UI framework.
-`mjtnum.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
+`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
   Defines MuJoCo's ``mjtNum`` floating-point type to be either ``double`` or ``float``. See :ref:`mjtNum`.
-`mjmacro.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__
+`mjmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__
   Defines C macros that are useful in user code.
-`mjxmacro.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`__
+`mjxmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`__
   This file is optional and is not included by mujoco.h. It defines :ref:`X Macros <tyXMacro>` that can
   automate the mapping of mjModel and mjData into scripting languages, as well as other operations that require
   accessing all fields of mjModel and mjData. See code sample :ref:`testxml.cc <saTestXML>`.
-`mjexport.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjexport.h>`__
+`mjexport.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjexport.h>`__
   Macros used for exporting public symbols from the MuJoCo library. This header should not be used directly by client
   code.
-`mjplugin.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`__
+`mjplugin.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjplugin.h>`__
   Defines data structures required by :ref:`engine plugins<exPlugin>`.
-`mjthread.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`__
+`mjthread.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjthread.h>`__
   Defines data structures and functions required by :ref:`thread<Thread>`.

 .. _inVersion:
@@ -9,8 +9,8 @@ with the library.

 .. _saTestspeed:

-`testspeed <https://github.com/deepmind/mujoco/blob/main/sample/testspeed.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`testspeed <https://github.com/google-deepmind/mujoco/blob/main/sample/testspeed.cc>`_
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 This code sample tests the simulation speed for a given model. The command line arguments are the model file, the
 number of time steps to simulate, the number of parallel threads to use, and a flag to enable internal profiling (the
@@ -28,8 +28,8 @@ explicitly as explained in the :ref:`simulation loop <siSimulation>` section bel

 .. _saTestXML:

-`testxml <https://github.com/deepmind/mujoco/blob/main/sample/testxml.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`testxml <https://github.com/google-deepmind/mujoco/blob/main/sample/testxml.cc>`_
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 This code sample tests the parser, compiler and XML writer. The testing code does the following:

@@ -50,8 +50,8 @@ field which is resolved at runtime.

 .. _saCompile:

-`compile <https://github.com/deepmind/mujoco/blob/main/sample/compile.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`compile <https://github.com/google-deepmind/mujoco/blob/main/sample/compile.cc>`_
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 This code sample evokes the built-in parser and compiler. It implements all possible model conversions from (MJCF, URDF,
 MJB) format to (MJCF, MJB, TXT) format. Models saved as MJCF use a canonical subset of our format as described in the
@@ -63,8 +63,8 @@ with mjData, although this is not done by the code sample.

 .. _saBasic:

-`basic <https://github.com/deepmind/mujoco/blob/main/sample/basic.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`basic <https://github.com/google-deepmind/mujoco/blob/main/sample/basic.cc>`_
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 This code sample is a minimal interactive simulator. The model file must be provided as command-line argument. It
 opens an OpenGL window using the platform-independent GLFW library, and renders the simulation state at 60 fps while
@@ -77,8 +77,8 @@ illustration of the concepts in that guide.

 .. _saSimulate:

-`simulate <https://github.com/deepmind/mujoco/blob/main/simulate>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`simulate <https://github.com/google-deepmind/mujoco/blob/main/simulate>`_
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 This code sample is a fully-featured interactive simulator. It opens an OpenGL window using the platform-independent
 GLFW library, and renders the simulation state in it. There is built-in help, simulation statistics, profiler, sensor
@@ -117,7 +117,7 @@ Windows power plan so that the minimum processor state is 100%.

 .. _saRecord:

-`record <https://github.com/deepmind/mujoco/blob/main/sample/record.cc>`_
+`record <https://github.com/google-deepmind/mujoco/blob/main/sample/record.cc>`_
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 This code sample simulates the passive dynamics of a given model, renders it offscreen, reads the color and depth pixel
@@ -155,8 +155,8 @@ But we cannot yet assume that all users have it installed.

 .. _saDerivative:

-`derivative <https://github.com/deepmind/mujoco/blob/main/sample/derivative.cc>`_
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+`derivative <https://github.com/google-deepmind/mujoco/blob/main/sample/derivative.cc>`_
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 This code sample illustrates the numerical approximation of forward and inverse dynamics derivatives via finite
 differences. The process involves a number of epochs. In each epoch the simulation is advanced for a specified number