7d8e810ab1
Fix IPython history corruption when using launch_repl.
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PiperOrigin-RevId: 508064761
Change-Id: I58fa2e4f35b57a1ab68c3172ba5c0d4495e40ced
2023-02-08 06:37:42 -08:00
15b6e6f060
Remove remarks in the documentation that suggest mj_name2id is inefficient.
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`mj_name2id` has been replaced by a hash map lookup in 2.3.2.
PiperOrigin-RevId: 507816210
Change-Id: I3ee038fa6ec3258d51218588a43398f98a0f6de2
2023-02-07 10:13:45 -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
6b80b010af
Merge pull request #705 from hartikainen:bug/mj_deleteFileVFS-infinite-loop
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PiperOrigin-RevId: 507544780
Change-Id: Ie5819d4cc567dce44ceb59624a889a06ecdd7c1b
2023-02-06 12:01:11 -08:00
10c5d6a1e5
Add missing entries to 2.3.2 changelog.
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PiperOrigin-RevId: 507522863
Change-Id: Id6c094a8054440de4aa918575f6e45d49519861c
2023-02-06 10:44:18 -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
e2691f58a5
Update mjd_transitionFD documentation.
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Fixes #713
PiperOrigin-RevId: 506248062
Change-Id: I1fbf8b378f500a6463a07eb5da5349c4f01ccb88
2023-02-01 01:53:05 -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
929e09f84a
Improve URDF geom name loading API.
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PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
2023-01-27 07:29:45 -08:00
c741dfce7d
Implement a more performant mju_transposeSparse that doesn't require dense memory allocation.
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PiperOrigin-RevId: 505044194
Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
2023-01-27 00:20:01 -08:00
6ba4d6f0de
Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates.
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PiperOrigin-RevId: 502624466
Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
2023-01-17 10:31:50 -08:00
d022cd1a31
Fix broken launch_repl in the Python viewer.
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The REPL functionality was broken in 9fcf3b0c2e
2023-01-13 04:59:22 -08:00
deb14dc081
Autogenerate functions.rst for API reference docs.
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PiperOrigin-RevId: 501496950
Change-Id: I92ab013e6acb4d6772eb5dcf56740105908afc97
2023-01-12 01:34:28 -08:00
15c2e0362a
Split functions API from APIreference.rst.
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PiperOrigin-RevId: 501209457
Change-Id: Ia77fe988fb34e323a2c66503903c4618f5fb3087
2023-01-11 01:13:37 -08:00
adf71cc6b4
Improve mesh-fitting image in changelog.
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PiperOrigin-RevId: 500782543
Change-Id: Iecec45abd3cb1e5a06df58ae32ebe1998584024a
2023-01-09 12:40:10 -08:00
703b33c064
Add geom names to URDF parsing in MuJoCo.
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Fixes #566
PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
2023-01-09 10:34:22 -08:00
19b6c70e13
Use global coordinates for computing the frame position of a primitive geom fitted to a mesh.
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PiperOrigin-RevId: 500720200
Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
2023-01-09 08:29:27 -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
928eb7a067
Add link from "build from source" sections to GitHub CI.
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PiperOrigin-RevId: 499737486
Change-Id: If9c5fa730166bfc73b828c87cf4ba4ddb9ace28c
2023-01-04 23:59:10 -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
4bc76c93ae
Remove "name" attribute from plugin specifiers.
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PiperOrigin-RevId: 499187319
Change-Id: I0755a071eb4eee917fdf32db49a47fd16afa58f9
2023-01-03 05:03:20 -08:00
68ffbffc53
Fix typo.
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PiperOrigin-RevId: 497330766
Change-Id: Ie8ce4968407498ca4398995734e7868b7af72c6f
2022-12-23 02:00:33 -08:00
69c74f850e
Hierarchical restructuring of docs Programming chapter
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PiperOrigin-RevId: 495941670
Change-Id: I7f92d90fd58b9e22b59c54861277be60cb43323d
2022-12-16 12:56:47 -08:00
30b4309af9
Rename mjpPlugin.capabilities -> mjpPlugin.capabilityflags
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PiperOrigin-RevId: 495080532
Change-Id: I81743472b816a331890a7cb05bfb7a89ebf07ff9
2022-12-13 11:33:27 -08:00
5c021d042b
Modify signature of plugin reset callback.
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The `reset` function is called inside `mj_resetData`, before any physics forwarding call has been made. It is therefore an error to read anything from mjData at this stage.
The only valid operation on mjData during `reset` is for a plugin to write into its own state variable slots and data struct. We modify the function signature to only provide access to these.
PiperOrigin-RevId: 495032492
Change-Id: Ic6d2967d2571a9083cbca1ba239ca70a8a51f474
2022-12-13 08:41:35 -08:00
29a8c69825
Undo doc permalink change.
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PiperOrigin-RevId: 493858259
Change-Id: I7467fd4b405fa71cd47f0beab6b654e0c74b51da
2022-12-08 04:33:12 -08:00
7baee096a5
Update references.h for docs.
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PiperOrigin-RevId: 493571258
Change-Id: Ie2c5f2a16116e8a056e69aed3adbed9b891c4eea
2022-12-07 04:52:06 -08:00
e4f1d584ad
Add control plugin API.
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PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
2022-12-06 08:23:49 -08:00
60fbb77b2a
Fix typos in MuJoCo 2.3.1 changelog.
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PiperOrigin-RevId: 493305455
Change-Id: I10c8dc198e60d9dd5ef107fc7210c80b66e123c9
2022-12-06 07:56:21 -08:00
36641cdb2c
Update release date for 2.3.1.
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PiperOrigin-RevId: 493165432
Change-Id: Ib88d2e487d7726076f50f8a44a44d1d2d72a15ab
2022-12-05 18:16:08 -08:00
73fb61e3e2
Bump version number to 2.3.1.
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PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
2022-12-05 12:13:55 -08:00
ef695bb8a8
Add Renderer class to Python native bindings.
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PiperOrigin-RevId: 492994751
Change-Id: Iebbe5980668a15b1cd62c0076cc131255462b2eb
2022-12-05 06:54:33 -08:00
1ef5f9266e
Improve the documentation.
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* Add code block `copy` button via `sphinx_copybutton`
* Change permalink icon
PiperOrigin-RevId: 492955205
Change-Id: I2bcebcf7dd1fcace26ba03a4e348cb46eb838b57
2022-12-05 02:48:22 -08:00
dc212c276d
Merge pull request #612 from qleonardolp:patch-1
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PiperOrigin-RevId: 492705106
Change-Id: I2265892aeca413e221a2cbb2244021c74afefd58
2022-12-03 10:49:22 -08:00
0846f38c82
Rename Python mujoco.simulate to mujoco.viewer.
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PiperOrigin-RevId: 492701386
Change-Id: I059c572e2a63bd5529e863a9404720973df8ea46
2022-12-03 10:09:42 -08:00
dee1d6020a
Make "acc" the default computation stage for sensors of type user.
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PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
2022-12-03 07:50:15 -08:00
0d52feaa94
Add updateScene callback for plugins.
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PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
2022-12-02 10:11:32 -08:00
89185b4af2
Using full path when adding a file to VFS. Fixes #616 .
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PiperOrigin-RevId: 492204185
Change-Id: If2b2230c095fe0bb776fcc3ffda48f13d0be5cb2
2022-12-01 08:34:20 -08:00
07371e5e08
Make Python bindings source installation instructions in docs match README.
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PiperOrigin-RevId: 491961258
Change-Id: I4d2749b3963db3034d5fc8fca5bd43ab416117f7
2022-11-30 10:45:36 -08:00
ab56a394bc
Update computation.rst
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spell check
2022-11-29 17:49:25 -03:00
df25d7d602
Raise an informative error when running on macOS under Rosetta 2.
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Current users only get a cryptic "Illegal instruction" crash.
Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
2022-11-29 12:19:06 -08:00
5f7d9f4f02
Autogenerate C code snippets using new Sphinx extension for the API reference docs.
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PiperOrigin-RevId: 491613858
Change-Id: I0a878038bee5e929237fa23686f97319b15bddfc
2022-11-29 06:02:48 -08:00
5a8e861152
Add MuJoCo tutorial Colab using the native Python bindings.
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PiperOrigin-RevId: 491424124
Change-Id: I5bdeb68fd1bd1b4bc92fb40e0b876d9dcfc568cb
2022-11-28 13:09:51 -08:00
d0b1a97338
Deformable solid plugin for particles.
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Using coordinate-free formula equivalent to linear finite elements.
PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
2022-11-28 05:32:30 -08:00
165e72f798
Apply force perturbations at selection point rather than body center-of-mass.
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PiperOrigin-RevId: 489996756
Change-Id: I87870a0c1d173449f15a7249f2459a6b726ff417
2022-11-21 09:13:16 -08:00
638c9a6994
Support capsules in URDF import.
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PiperOrigin-RevId: 489980760
Change-Id: I1c21e736a86f6637a00e2062727d2e6fd5694c42
2022-11-21 07:58:42 -08:00
221c63d744
Sensors of type user no longer require objtype and objname. If unspecified, the objtype will be mjOBJ_UNKNOWN. Also, `user sensors datatype default is now "real"`.
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PiperOrigin-RevId: 489652972
Change-Id: I0a8f21ee1a2f5292e6bbcfe3785536cfd1498b85
2022-11-19 02:05:42 -08:00
0c3492fed9
Merge pull request #589 from vaxenburg:patch-1
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PiperOrigin-RevId: 489434606
Change-Id: Idd7e2fa2fe5786ad87a2097e29a867290fa00034
2022-11-18 03:27:51 -08:00
68d9fd3f2e
Update APIreference.rst
2022-11-17 12:13:49 -05:00
Saran Tunyasuvunakool