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234 Commits

Author SHA1 Message Date
Yuval Tassa 7951b4597f Improve favicons for iOS and Android. 
PiperOrigin-RevId: 520336136
Change-Id: I002393b49a42ce257b3d36942203c0acadc01685
 2023-03-29 08:01:55 -07:00
Yuval Tassa 045609c704 Add high-res readthedocs favicons for iOS and Android. 
PiperOrigin-RevId: 520324992
Change-Id: If22c228eee50570c63357f08b8cd1eab2fab55f8
 2023-03-29 07:06:34 -07:00
Yuval Tassa 24b9bf9bc7 Lint doc/conf.py 
PiperOrigin-RevId: 520317031
Change-Id: I33fb5bdc8344a6a69e4c3d3038b52ece81c73000
 2023-03-29 06:23:11 -07:00
Yuval Tassa 2127d0bb3f Improvements to API TOC 
PiperOrigin-RevId: 520284861
Change-Id: Iac8c05d6d18f1e7f89728c5c5f5aa6395d0a1899
 2023-03-29 03:21:43 -07:00
Yuval Tassa 62aa38f5f1 Reduce size of ellipsoidinertia image in changelog. 
PiperOrigin-RevId: 519203289
Change-Id: Ia23cd9429d8266a7e293ae9310609724276d1d12
 2023-03-24 12:00:27 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -07:00
Yuval Tassa 2a471d1e11 Standardize docstrings in mjmodel.h 
PiperOrigin-RevId: 519139821
Change-Id: I5a28c7415870012de1e219d2d00ea4ea9a495ec7
 2023-03-24 07:38:39 -07:00
Kevin Zakka 5bc497cdf7 Fix a typo in mjvisualize.h. 
PiperOrigin-RevId: 518940577
Change-Id: Iedb0c54cfde3ee01a99a4a706f9ff6833ad3333c
 2023-03-23 13:00:26 -07:00
Yuval Tassa ce6c9053e2 Fix bug in engine_derivative.c 
- 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
Nimrod Gileadi e58d53e747 Update changelog.rst for version 2.3.3 
PiperOrigin-RevId: 517932202
Change-Id: I55063e9bc5da2d424b1ad303834d8f11cb0a0fa9
 2023-03-20 04:40:15 -07:00
Nimrod Gileadi 33a2ce73d4 Update MuJoCo version to 2.3.3. 
PiperOrigin-RevId: 517931617
Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9
 2023-03-20 04:36:09 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Yuval Tassa fae5e822c0 Add links to default attributes. 
PiperOrigin-RevId: 517639045
Change-Id: I45f766bda8ce5bd182ba2669c4121c21896d40c1
 2023-03-18 07:07:01 -07:00
Yuval Tassa d97ff39e86 Improvements to schema table. 
- 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
Saran Tunyasuvunakool 7a0def9791 Add viewer.launch_passive and mjpython to the changelog. 
PiperOrigin-RevId: 517458183
Change-Id: Idaa39fed2ab9d4a82b92b7a1a1cefb80b5b36fcf
 2023-03-17 11:09:27 -07:00
Yuval Tassa 7bff68dac8 Fix syntax of permalinks. 
PiperOrigin-RevId: 517428359
Change-Id: I1409f91ca3b82116464b264c1b798807636506f0
 2023-03-17 09:12:54 -07:00
Yuval Tassa 62d200db33 Improve mid-phase images in changelog. 
PiperOrigin-RevId: 517390561
Change-Id: Ib2775a5590bc5d03cf7cec1112659829d0dc8ce8
 2023-03-17 05:38:39 -07:00
Alessio Quaglino 70959c1a2c Added a collision midphase on geom pairs using rotated AABBs static trees. 
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
 2023-03-17 02:37:29 -07:00
Yuval Tassa d59a919ef6 Minor style fixes. 
PiperOrigin-RevId: 517193740
Change-Id: I093e57efa1480e5d1d6053493b665e145f9b3f87
 2023-03-16 12:24:06 -07:00
Saran Tunyasuvunakool e20ab6c96f Add a number of missing struct fields to Python bindings. 
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
Copybara-Service a04c4314fd Merge pull request #770 from jonas-eschmann:patch-1 
PiperOrigin-RevId: 517174871
Change-Id: I9a52f6bc79777fb7d987eaf057185d9c0e87e477
 2023-03-16 11:15:11 -07:00
Yuval Tassa 1731baa925 Add links to all attributes in XMLreference.rst 
PiperOrigin-RevId: 517158584
Change-Id: Ia50a2840049e1c5c24eb2f571483d65537276296
 2023-03-16 10:22:53 -07:00
Yuval Tassa 448ab1a299 More consistent formatting of mjdata.h 
PiperOrigin-RevId: 517142236
Change-Id: I3ee93e10b843cb3f3a73a6a19e6b96f23be05cc3
 2023-03-16 09:23:53 -07:00
Yuval Tassa 8c7f6ce5a0 New implicitfast integrator and sparse RNE derivatives for implicit. 
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
 2023-03-15 13:17:41 -07:00
jonas-eschmann 1fa538a43b Fixing typo in the documentation 2023-03-15 16:10:50 -04:00
Kyle Bayes 056e849273 Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices. 
PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
 2023-03-15 06:56:16 -07:00
Yuval Tassa fe18e58ad2 Rendering of mjGEOM_LINE respects size[0] (width argument of mjv_makeconnector), denominated in pixels. 
- 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
Yuval Tassa 972770ba55 Improve order of sections in APIfunctions.rst 
PiperOrigin-RevId: 516518339
Change-Id: I84e973e6f9034a5d24f20791c13b3880fedde46c
 2023-03-14 07:26:29 -07:00
Saran Tunyasuvunakool 2f0fb1e4ef Workaround for broken VSync in Simulate on macOS. 
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
Yuval Tassa c16d4d0d25 Move mjtByte definition from mjmodel.h to mjtnum.h. 
PiperOrigin-RevId: 516193927
Change-Id: Idbba21119ef2f7da3ab6f6f21611a757658aad23
 2023-03-13 06:38:46 -07:00
Yuval Tassa b4d29abfc1 Add table of contents to API Functions documentation page. 
PiperOrigin-RevId: 516191825
Change-Id: I792aa72e748443a3f422d0b6cf65a2803f3ec012
 2023-03-13 06:26:52 -07:00
Yuval Tassa 2f03da740a Fix typos. 
PiperOrigin-RevId: 516135725
Change-Id: I094f6af5d3ef8dd6a93430c09c61f29c23f55e02
 2023-03-13 01:01:45 -07:00
Yuval Tassa c57a588ab5 Re-organise API data structure documentation. 
PiperOrigin-RevId: 515515875
Change-Id: I743a0409eb9b867249a90d5c1cb4d77bacade4dc
 2023-03-09 20:24:32 -08:00
Kyle Bayes 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. 
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
 2023-03-09 13:51:27 -08:00
Yuval Tassa 2e6a37e8c5 Changelog: Move the image under the "Simulate" heading. 
PiperOrigin-RevId: 514666433
Change-Id: Ief3f10260fb071412fdd0d4b481fb10ee99b71ff
 2023-03-07 02:09:16 -08:00
Copybara-Service 93b4d4981d Merge pull request #758 from PeterMitrano:main 
PiperOrigin-RevId: 514385239
Change-Id: Ie85f355f1bdcd0b81ff228b71685e37552f679ea
 2023-03-06 06:38:00 -08:00
Kevin Zakka ed52b4084e Add missing affine gaintype to XMLreference. 
PiperOrigin-RevId: 514359011
Change-Id: I96668ed20dbb20b4d2b60a08eb71286bdfe5fe37
 2023-03-06 06:37:26 -08:00
Yuval Tassa 367c254f54 Remove .cc suffix from sample code titles. 
PiperOrigin-RevId: 514342526
Change-Id: I4484b70e1c4da7dc98e362cfef16195224d0c65e
 2023-03-06 06:37:10 -08:00
Kyle Bayes 49dd6b4193 Clean up mj_id2name and mj_name2id. 
PiperOrigin-RevId: 514340647
Change-Id: Idf895b2d7a4a8833725afbe5c71c777081b42d9e
 2023-03-06 06:36:48 -08:00
Peter Mitrano fa4c55a21a found another potential typo 2023-03-06 02:09:35 +00:00
Peter Mitrano 277be19c5c fix potential typo 2023-03-06 02:06:56 +00:00
Yuval Tassa fd1070cf03 Delete remaining code related to now-removed distance equality constraint. 
PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
 2023-03-01 17:57:54 -08:00
Kyle Bayes 50bebcb4ee Precount number of non-zeros for constraint Jacobian sparse matrix. 
PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
 2023-02-28 08:57:56 -08:00
Yuval Tassa cadab1f438 Make the word extent more clearly visible in documentation of zfar and znear. 
Fixes #746.

PiperOrigin-RevId: 511719937
Change-Id: If697e2dd4992dfa3f345ae4caa25bd67d015a91b
 2023-02-23 01:33:27 -08:00
Yuval Tassa 7542c90cd2 Improved behaviour of mouse-spring interactions. 
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
Alessio Quaglino 9756ed0d80 Read normals and textures from OBJ, do not duplicate vertices. 
PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
 2023-02-17 10:15:25 -08:00
Yuval Tassa 35967a30d9 Fix order of API function sections, add missing Plugins section. 
PiperOrigin-RevId: 510442237
Change-Id: I1fd4e309f33f45247eac84233745bfa35b5d796f
 2023-02-17 08:50:25 -08:00
Kyle Bayes 090c25988a Split API reference pages into Data Structures and Functions pages. 
PiperOrigin-RevId: 510422950
Change-Id: I6b2eebab0c0020b80fec83094aa65c6a412e277e
 2023-02-17 07:06:20 -08:00
Yuval Tassa 2607e67f8d Add contact labels showing which geom pairs are in contact. 
PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
 2023-02-17 07:03:19 -08:00
Yuval Tassa a6730aa740 Keep only immediate parent in XMLreference TOC header names. 
PiperOrigin-RevId: 510095682
Change-Id: I72973c955cce14a90f5af0037b2abc5f2ee3644c
 2023-02-16 03:29:02 -08:00