7951b4597f
Improve favicons for iOS and Android.
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PiperOrigin-RevId: 520336136
Change-Id: I002393b49a42ce257b3d36942203c0acadc01685
2023-03-29 08:01:55 -07:00
045609c704
Add high-res readthedocs favicons for iOS and Android.
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PiperOrigin-RevId: 520324992
Change-Id: If22c228eee50570c63357f08b8cd1eab2fab55f8
2023-03-29 07:06:34 -07:00
24b9bf9bc7
Lint doc/conf.py
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PiperOrigin-RevId: 520317031
Change-Id: I33fb5bdc8344a6a69e4c3d3038b52ece81c73000
2023-03-29 06:23:11 -07:00
2127d0bb3f
Improvements to API TOC
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PiperOrigin-RevId: 520284861
Change-Id: Iac8c05d6d18f1e7f89728c5c5f5aa6395d0a1899
2023-03-29 03:21:43 -07:00
62aa38f5f1
Reduce size of ellipsoidinertia image in changelog.
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PiperOrigin-RevId: 519203289
Change-Id: Ia23cd9429d8266a7e293ae9310609724276d1d12
2023-03-24 12:00:27 -07:00
3f14d97f6b
Add equivalent inertia ellipsoid visualization.
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PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
2023-03-24 08:47:43 -07:00
2a471d1e11
Standardize docstrings in mjmodel.h
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PiperOrigin-RevId: 519139821
Change-Id: I5a28c7415870012de1e219d2d00ea4ea9a495ec7
2023-03-24 07:38:39 -07:00
5bc497cdf7
Fix a typo in mjvisualize.h.
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PiperOrigin-RevId: 518940577
Change-Id: Iedb0c54cfde3ee01a99a4a706f9ff6833ad3333c
2023-03-23 13:00:26 -07:00
ce6c9053e2
Fix bug in engine_derivative.c
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- The inner loop was reusing and modifying an outer loop variable.
PiperOrigin-RevId: 518843275
Change-Id: I922f8768c4e8ef74c2fb2b1fd897de8234336acf
2023-03-23 06:32:31 -07:00
e58d53e747
Update changelog.rst for version 2.3.3
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PiperOrigin-RevId: 517932202
Change-Id: I55063e9bc5da2d424b1ad303834d8f11cb0a0fa9
2023-03-20 04:40:15 -07:00
33a2ce73d4
Update MuJoCo version to 2.3.3.
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PiperOrigin-RevId: 517931617
Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9
2023-03-20 04:36:09 -07:00
8696247f9d
Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%.
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PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
2023-03-18 13:04:14 -07:00
fae5e822c0
Add links to default attributes.
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PiperOrigin-RevId: 517639045
Change-Id: I45f766bda8ce5bd182ba2669c4121c21896d40c1
2023-03-18 07:07:01 -07:00
d97ff39e86
Improvements to schema table.
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- Schema table now has attribute links and is open by default.
- Attributes are in 4 columns.
- Fixed various documentation bugs made visible by this change.
- Removed distance equality constraint from xml_native_reader.cc
PiperOrigin-RevId: 517558035
Change-Id: Ibc7715587dd4e72253231bfd55bd037f0193b3fd
2023-03-17 18:57:34 -07:00
7a0def9791
Add viewer.launch_passive and mjpython to the changelog.
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PiperOrigin-RevId: 517458183
Change-Id: Idaa39fed2ab9d4a82b92b7a1a1cefb80b5b36fcf
2023-03-17 11:09:27 -07:00
7bff68dac8
Fix syntax of permalinks.
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PiperOrigin-RevId: 517428359
Change-Id: I1409f91ca3b82116464b264c1b798807636506f0
2023-03-17 09:12:54 -07:00
62d200db33
Improve mid-phase images in changelog.
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PiperOrigin-RevId: 517390561
Change-Id: Ib2775a5590bc5d03cf7cec1112659829d0dc8ce8
2023-03-17 05:38:39 -07:00
70959c1a2c
Added a collision midphase on geom pairs using rotated AABBs static trees.
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PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
2023-03-17 02:37:29 -07:00
d59a919ef6
Minor style fixes.
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PiperOrigin-RevId: 517193740
Change-Id: I093e57efa1480e5d1d6053493b665e145f9b3f87
2023-03-16 12:24:06 -07:00
e20ab6c96f
Add a number of missing struct fields to Python bindings.
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It is quite possible that there are a few other fields still missing since we currently do not yet have automated testing of struct field existence.
Fixes #747 .
PiperOrigin-RevId: 517189048
Change-Id: I7c1d95e700eaea05aaa3cde1fd05e1a259553117
2023-03-16 12:05:50 -07:00
a04c4314fd
Merge pull request #770 from jonas-eschmann:patch-1
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PiperOrigin-RevId: 517174871
Change-Id: I9a52f6bc79777fb7d987eaf057185d9c0e87e477
2023-03-16 11:15:11 -07:00
1731baa925
Add links to all attributes in XMLreference.rst
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PiperOrigin-RevId: 517158584
Change-Id: Ia50a2840049e1c5c24eb2f571483d65537276296
2023-03-16 10:22:53 -07:00
448ab1a299
More consistent formatting of mjdata.h
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PiperOrigin-RevId: 517142236
Change-Id: I3ee93e10b843cb3f3a73a6a19e6b96f23be05cc3
2023-03-16 09:23:53 -07:00
8c7f6ce5a0
New implicitfast integrator and sparse RNE derivatives for implicit.
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PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:17:41 -07:00
1fa538a43b
Fixing typo in the documentation
2023-03-15 16:10:50 -04:00
056e849273
Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices.
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PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
2023-03-15 06:56:16 -07:00
fe18e58ad2
Rendering of mjGEOM_LINE respects size[0] (width argument of mjv_makeconnector), denominated in pixels.
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- Before this change, line width was hardcoded to 3 pixels and the width argument of mjv_makeConnector was ignored.
- After this change, the width argument is respected and interpreted in units of pixel. The non-standard width unit is ok since lines can only be drawn programmatically.
PiperOrigin-RevId: 516529265
Change-Id: I27bffabba69cde415d2ada67263a887c9240efbf
2023-03-14 08:17:36 -07:00
972770ba55
Improve order of sections in APIfunctions.rst
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PiperOrigin-RevId: 516518339
Change-Id: I84e973e6f9034a5d24f20791c13b3880fedde46c
2023-03-14 07:26:29 -07:00
2f0fb1e4ef
Workaround for broken VSync in Simulate on macOS.
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OpenGL VSync became broken again in macOS 13 (https://github.com/glfw/glfw/issues/2249 ). This workaround is similar to https://github.com/glfw/glfw/pull/2277 but is implemented entirely outside of GLFW.
PiperOrigin-RevId: 516320722
Change-Id: Ib8a651a942f592c74e00ad3c7b22f2dfd156be5f
2023-03-13 14:19:17 -07:00
c16d4d0d25
Move mjtByte definition from mjmodel.h to mjtnum.h.
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PiperOrigin-RevId: 516193927
Change-Id: Idbba21119ef2f7da3ab6f6f21611a757658aad23
2023-03-13 06:38:46 -07:00
b4d29abfc1
Add table of contents to API Functions documentation page.
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PiperOrigin-RevId: 516191825
Change-Id: I792aa72e748443a3f422d0b6cf65a2803f3ec012
2023-03-13 06:26:52 -07:00
2f03da740a
Fix typos.
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PiperOrigin-RevId: 516135725
Change-Id: I094f6af5d3ef8dd6a93430c09c61f29c23f55e02
2023-03-13 01:01:45 -07:00
c57a588ab5
Re-organise API data structure documentation.
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PiperOrigin-RevId: 515515875
Change-Id: I743a0409eb9b867249a90d5c1cb4d77bacade4dc
2023-03-09 20:24:32 -08:00
d3d789cf7d
Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.
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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
2e6a37e8c5
Changelog: Move the image under the "Simulate" heading.
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PiperOrigin-RevId: 514666433
Change-Id: Ief3f10260fb071412fdd0d4b481fb10ee99b71ff
2023-03-07 02:09:16 -08:00
93b4d4981d
Merge pull request #758 from PeterMitrano:main
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PiperOrigin-RevId: 514385239
Change-Id: Ie85f355f1bdcd0b81ff228b71685e37552f679ea
2023-03-06 06:38:00 -08:00
ed52b4084e
Add missing affine gaintype to XMLreference.
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PiperOrigin-RevId: 514359011
Change-Id: I96668ed20dbb20b4d2b60a08eb71286bdfe5fe37
2023-03-06 06:37:26 -08:00
367c254f54
Remove .cc suffix from sample code titles.
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PiperOrigin-RevId: 514342526
Change-Id: I4484b70e1c4da7dc98e362cfef16195224d0c65e
2023-03-06 06:37:10 -08:00
49dd6b4193
Clean up mj_id2name and mj_name2id.
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PiperOrigin-RevId: 514340647
Change-Id: Idf895b2d7a4a8833725afbe5c71c777081b42d9e
2023-03-06 06:36:48 -08:00
fa4c55a21a
found another potential typo
2023-03-06 02:09:35 +00:00
277be19c5c
fix potential typo
2023-03-06 02:06:56 +00:00
fd1070cf03
Delete remaining code related to now-removed distance equality constraint.
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PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
2023-03-01 17:57:54 -08:00
50bebcb4ee
Precount number of non-zeros for constraint Jacobian sparse matrix.
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PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
2023-02-28 08:57:56 -08:00
cadab1f438
Make the word extent more clearly visible in documentation of zfar and znear.
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Fixes #746 .
PiperOrigin-RevId: 511719937
Change-Id: If697e2dd4992dfa3f345ae4caa25bd67d015a91b
2023-02-23 01:33:27 -08:00
7542c90cd2
Improved behaviour of mouse-spring interactions.
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Also:
- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.
PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49
2023-02-20 08:40:33 -08:00
9756ed0d80
Read normals and textures from OBJ, do not duplicate vertices.
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PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
2023-02-17 10:15:25 -08:00
35967a30d9
Fix order of API function sections, add missing Plugins section.
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PiperOrigin-RevId: 510442237
Change-Id: I1fd4e309f33f45247eac84233745bfa35b5d796f
2023-02-17 08:50:25 -08:00
090c25988a
Split API reference pages into Data Structures and Functions pages.
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PiperOrigin-RevId: 510422950
Change-Id: I6b2eebab0c0020b80fec83094aa65c6a412e277e
2023-02-17 07:06:20 -08:00
2607e67f8d
Add contact labels showing which geom pairs are in contact.
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PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
2023-02-17 07:03:19 -08:00
a6730aa740
Keep only immediate parent in XMLreference TOC header names.
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PiperOrigin-RevId: 510095682
Change-Id: I72973c955cce14a90f5af0037b2abc5f2ee3644c
2023-02-16 03:29:02 -08:00
Yuval Tassa