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Author SHA1 Message Date
Copybara-Service 11ec067321 Merge pull request #295 from aftersomemath:lower-cmake 
PiperOrigin-RevId: 450658474
Change-Id: Ia25fd5cdbb8c7108cd04c1409d360cea0a1cf6c0
 2022-05-24 05:27:33 -07:00
Levi Burner b9534c4e76 Lower cmake version to 3.16 to support Ubuntu 20.04 2022-05-24 00:23:02 -04:00
Kevin Zakka 70b19d5fd6 Typo fixes in programming.rst. 
PiperOrigin-RevId: 450494768
Change-Id: I039430931c3357135724aaccff609bd8fd8a2553
 2022-05-23 12:05:00 -07:00
Saran Tunyasuvunakool 98cea58c5e Add a build shield to README.md. 
PiperOrigin-RevId: 450490553
Change-Id: I9be149134966f9a744bbbc5810ed22da43f0a586
 2022-05-23 11:48:13 -07:00
Saran Tunyasuvunakool 01e232446d Add build.yml for GitHub Actions. 
PiperOrigin-RevId: 450475783
Change-Id: I2384b64459c327b94ac98aa0bdd8a5258c5cda0f
 2022-05-23 10:47:11 -07:00
Kevin Zakka 89d95ad3c7 Nit fixes in README. 
PiperOrigin-RevId: 450435777
Change-Id: I8d9c969cce1d16560ca50fbda3704ac808c20477
 2022-05-23 07:40:45 -07:00
Nimrod Gileadi 098b125d02 Install mujoco headers under include/mujoco. 
PiperOrigin-RevId: 450428761
Change-Id: I40dc43f1594b32b732775fe540d58645517933a5
 2022-05-23 07:00:23 -07:00
Saran Tunyasuvunakool a2ee3d8df0 Fix a typo in changelog.rst and update intro in overview.rst. 
PiperOrigin-RevId: 450422495
Change-Id: Icc10fd6cfae38cb51a7499cba9b05e002e68e986
 2022-05-23 06:21:58 -07:00
Saran Tunyasuvunakool 7eb4ab3a8f Fix documentation typos and CMake framework setup for macOS. 
The previous commit missed out some recent changes in the internal repo. This commit brings the public GitHub repo in sync.

PiperOrigin-RevId: 450377010
Change-Id: I59a68ae4a39c5cd5ed5f7df77ba870273243d623
 2022-05-23 14:06:12 +01:00
DeepMind 64bc6d27b2 Add implicit integrator. 
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
  - Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
  - Damping and fluid-drag passive forces.
  - Actuation forces.

A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost.

PiperOrigin-RevId: 450377010
Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
 2022-05-23 01:22:15 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00
Saran Tunyasuvunakool 0e5d062302 Fix GIL-not-held bug in mjr_readPixels. 
PiperOrigin-RevId: 441813459
Change-Id: I2f15cb77ca243b890fd0825ebbc9b910d3ece56f
 2022-04-14 11:35:43 -07:00
Saran Tunyasuvunakool 87539dbd24 Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD. 
PiperOrigin-RevId: 441482552
Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
 2022-04-13 16:22:26 +01:00
Saran Tunyasuvunakool 55c1c91382 Don't return ndarray with empty shape through named indexers. 
NumPy arrays with an empty shape cannot be assigned via the usual syntax.

Fixes: #238.
Related: #237.
PiperOrigin-RevId: 441265437
Change-Id: Ib0de22c83f9babe9a97682dc5a32660c198ad68c
 2022-04-12 20:57:16 +01:00
Saran Tunyasuvunakool 0d5d1f5ff2 Add -Wl,-no-as-needed to Linux Makefile. 
GCC's linker drops dependency on libGL because neither MuJoCo, GLFW, nor the sample applications themselves explicitly depend on OpenGL symbols.

PiperOrigin-RevId: 439372170
Change-Id: I122d1d9658484e901f422d35395ad5929c7a9021
 2022-04-04 19:43:58 +01:00
Saran Tunyasuvunakool 90dea1bdfb Version 2.1.4: Switch to GLAD, minor improvements to simulate. 
PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
 2022-04-04 13:53:21 +01:00
Saran Tunyasuvunakool 3c71720d83 Revert commit d627374545. 
This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.

Fixes #217.

Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
 2022-03-31 11:54:51 +01:00
Copybara-Service e1e0d5c435 Merge pull request #210 from kevinzakka:version-no 
PiperOrigin-RevId: 438310559
Change-Id: I8b7409c513144805d3f5afc0f1c2a23b5d649630
 2022-03-30 08:39:09 -07:00
Copybara-Service 4616529f32 Merge pull request #209 from kevinzakka:install-instructions 
PiperOrigin-RevId: 438270229
Change-Id: I6ea4b1a7f6763f06e5a931b2ab252195da6c287a
 2022-03-30 04:45:59 -07:00
Kevin Zakka 0c9bbec26f Nit. 2022-03-29 15:32:04 -07:00
Kevin Zakka c047b9a530 Remove screenshot and assets dir. 2022-03-29 15:25:07 -07:00
Kevin Zakka 117a9cfcf2 Nits. 2022-03-29 10:56:07 -07:00
Kevin Zakka 647fc7770e Address Saran's comments. 2022-03-29 10:32:16 -07:00
Kevin Zakka 5639ee22fc Remove extraneous line. 2022-03-29 10:11:41 -07:00
Kevin Zakka 8dc08d3733 Use mujoco function instead. 2022-03-29 10:08:43 -07:00
Yuval Tassa e3e98ac2c6 Minor changes to simulate: 
- Rename "set key", "reset to key" to "save key" and "load key", respectively.
- Change bindings of F6 and F7 from the not very useful "vertical sync" and "busy wait" to the more useful cycling of frames and labels (as in Domain Explorer).

PiperOrigin-RevId: 438017260
Change-Id: I6d67e99f785f2777e131c591188f554722af7f49
 2022-03-29 16:18:19 +01:00
Yuval Tassa d627374545 Add contact frame visualisation. 
This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.

PiperOrigin-RevId: 437256700
Change-Id: I5eab737fc98018399e151552778c6109088bf614
 2022-03-29 13:08:05 +01:00
Kevin Zakka 691ea00716 Add module level version dunder. 2022-03-26 20:38:57 -07:00
Kevin Zakka 95350ce482 Improve source installation of python bindings. 
Add support for conda environments.
Add step by step instructions in the README.
 2022-03-26 18:46:10 -07:00
Yuval Tassa 21338e6178 Fix bug in simulate where pressing '[' or ']' when a model is not loaded will causes a crash. 
PiperOrigin-RevId: 436791755
Change-Id: I0bfec45eecef4bbb8db8f47f0d1e8a0276399b8f
 2022-03-23 22:42:07 +00:00
Nimrod Gileadi df048e54c0 Update MuJoCo to version 2.1.3. 
PiperOrigin-RevId: 436727767
Change-Id: I9b1b0084021e83f790efa46eab9a980cbde4953f
 2022-03-23 16:57:26 +00:00
Saran Tunyasuvunakool d1db62c6bd Add precompiled Python files to .gitignore. 
PiperOrigin-RevId: 436717146
Change-Id: I99198038ce8242d60c28fe97ac8e3710a68f5fe6
 2022-03-23 16:57:26 +00:00
Yuval Tassa ed775c8f04 Improvements to simulate: 
- Add '[' and ']' to cycle through fixed cameras.
- Remove options to step backwards or step 100 steps forwards or back.
- Add missing elements from built-in help.
- Reorder help strings.

PiperOrigin-RevId: 436497103
Change-Id: I9f910ea328c859239b46c9d7a47e4ee16a43f1ad
 2022-03-23 16:57:26 +00:00
Nimrod Gileadi edd00714ee Add .DS_Store to MuJoCo's .gitignore. 
.DS_Store is created by macOS.

PiperOrigin-RevId: 436477360
Change-Id: I9b3e72d89916bcaea88f3f34f73bf211dabb8467
 2022-03-23 16:57:26 +00:00
Nimrod Gileadi c6984b42af Add a free() method to mujoco.MjrContext. 
Up the mujoco bindings version to 2.1.2.post2.

Keep the capsule deconstructor which calls mj_freeContext, because mjr_freeContext is idempotent.

PiperOrigin-RevId: 435714183
Change-Id: I9f8615f85f2b3e383f447f6684e61200039d57d4
 2022-03-23 16:57:25 +00:00
Saran Tunyasuvunakool df202d23b1 Implement reversed arithmetic operators for enums and fix division behavior. 
PiperOrigin-RevId: 435408435
Change-Id: Ifeeff679cff658d5aae96a9ba5fee19d499656a3
 2022-03-23 16:57:25 +00:00
Saran Tunyasuvunakool 295602b3eb Implement binary operations between enums and numbers. 
PiperOrigin-RevId: 435352475
Change-Id: I95ffab7d35898b8e04e00e2f37933b7959b90097
 2022-03-23 16:57:25 +00:00
Levi Burner 4d1ed50388 Make python build work with older cmake versions (at least 3.16.3 as comes with Ubuntu 20.04) 
Merge pull request #192 from aftersomemath:lower-cmake-version-required

Closes #192

PiperOrigin-RevId: 435330489
Change-Id: I15e182fef12692a446e70da99176c001ee255be7
 2022-03-17 14:30:28 +00:00
Tom Erez 286c23169d Update binary version in Unity installation script. 
PiperOrigin-RevId: 435178219
Change-Id: I0cf372bc5e42aa585dbf2ce60f97ea7fcec2595f
 2022-03-17 14:30:28 +00:00
Tom Erez e7670179fd Adding a note about the locale fix in the Unity CHANGELOG. 
PiperOrigin-RevId: 435173666
Change-Id: I1ac3cfe120e590dfdd452df2be9b0efffc3fa62c
 2022-03-17 14:30:28 +00:00
Saran Tunyasuvunakool c669ec35cf Update README.md and CONTRIBUTING.md to reflect the updated repository. 
PiperOrigin-RevId: 435166719
Change-Id: I6531008950a7492c5f6c4557b78492cee0fe8822
 2022-03-17 14:30:28 +00:00
Saran Tunyasuvunakool b7b7af06d9 Add .cmake files and fix LICENSE file path in make_sdist.sh. 
Also make minor modifications to Python bindings code for GCC compatibility.

Fixes #191.

PiperOrigin-RevId: 435127640
Change-Id: I8bd3a35bbb2724a24341072ba8df3da4372f83d3
 2022-03-16 19:42:11 +00:00
Yuval Tassa 5aba2c9fc6 Mention mug in changelog 
PiperOrigin-RevId: 435124165
Change-Id: Ib460023fc8bd7b672bf2d0f786bbeb7c51b44590
 2022-03-16 19:42:11 +00:00
Saran Tunyasuvunakool b44fe609e4 Remove a stray print statement in __init__.py. 
Also declare a dependency of libglewegl.so on libOpenGL.so.

PiperOrigin-RevId: 435071069
Change-Id: Ie1c7aedcb37523c4829b129d06738e570c5bc1a5
 2022-03-16 19:42:11 +00:00
Yuval Tassa 46500072e8 Add textured mug model with collision geometry. 
PiperOrigin-RevId: 435061460
Change-Id: I894ad32420759aa5d426cb71f441bbc714acc477
 2022-03-16 19:42:10 +00:00
Saran Tunyasuvunakool 147efb5192 Add 2.1.2 release date and document experimental fluid interaction model in the changelog. 
PiperOrigin-RevId: 434760829
Change-Id: I71d3ca9864890927d2945c73767511e5e973be73
 2022-03-15 15:45:08 +00:00
Saran Tunyasuvunakool 3577e2cf8b Version 2.1.2: Python bindings, OBJ assets support, bugfixes. 
PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
 2022-03-15 14:04:44 +00:00
Tom Erez 175d25cd9f Add copyright headers. 
PiperOrigin-RevId: 427984296
Change-Id: Icb09d12ebf97fa64d858c70d8ddcef9bc07802ac
 2022-02-11 14:10:45 +00:00
Tom Erez 6de9eafa13 Initial release of the Unity plugin. 
PiperOrigin-RevId: 425947505
 2022-02-02 20:44:39 +00:00
Saran Tunyasuvunakool 8ec3dd97a4 Add SECURITY.md. 
PiperOrigin-RevId: 425469162
Change-Id: I89e0da6e7a06276b038600b3e241bde68650c063
 2022-01-31 23:00:20 +00:00