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
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
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
ace5b74f83
Rename inteval attribute in mjLROpt to interval.
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PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
2023-02-13 10:54:25 -08:00
dd632b7ccc
Bump MuJoCo version to 2.3.2.
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PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
2023-02-07 02:35:17 -08:00
9a7f4a768a
Remove control plugin API.
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This is a rollback of f937ffd93326b2964e33689b0dc6024124776a9e.
PiperOrigin-RevId: 507456400
Change-Id: I2026510e6065eb440c0c899fcc5a2cc8ff5afd49
2023-02-06 05:52:17 -08:00
7feecf6e94
Improve behaviour of set-pose mouse interactions with free and mocap bodies.
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PiperOrigin-RevId: 506051745
Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
2023-01-31 10:57:19 -08:00
1215067f5c
Add an option in mjrContext for mjr_readPixels output format.
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PiperOrigin-RevId: 500342924
Change-Id: I43e8c6208db341e2bdbef10382b7293c35bdca65
2023-01-07 00:11:01 -08:00
e40775fab3
Abstract out GLFW calls from Simulate.
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PiperOrigin-RevId: 500129478
Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
2023-01-06 02:45:56 -08:00
6824cd50e2
Update MJBindings.cs to correctly reflect pointer-to-pointer types.
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PiperOrigin-RevId: 499881915
Change-Id: Ibd25d8e38258c7d1372a066dadbffcf4c1dd2d6b
2023-01-05 08:10:54 -08:00
f1007df013
Implement hash map for mj_name2id using djb2 and linear probing.
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PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
2023-01-04 07:57:55 -08:00
7a248a8bde
Rename bindings file for consistency.
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PiperOrigin-RevId: 494779230
Change-Id: I693a0e389febc51276bde565bbbfc87c241f15e0
2022-12-12 11:24:12 -08:00
Kyle Bayes