Also allow a `Callable[[], [MjModel, MjData]]` to be provided as an argument to `launch` instead of a fixed MjModel/MjData instance. This allows users to customise the behaviour of the Reload button.
Context: https://github.com/deepmind/mujoco/discussions/576#discussioncomment-4161429
PiperOrigin-RevId: 492296268
Change-Id: Ic4b797d2ea8a6967f7e3e7316f2184ea94a86d8b
Current users only get a cryptic "Illegal instruction" crash.
Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
*** Reason for rollback ***
Breakage at https://github.com/deepmind/mujoco/actions/runs/3427459759
*** Original change description ***
Add test to catch missing Python function bindings.
***
PiperOrigin-RevId: 487505205
Change-Id: Iec3b588380b4b6fc7a3249ccdef08e48b42a7892
Since upgrading to Clang 15, abseil fails to build, because of abseil/abseil-cpp#1201.
PiperOrigin-RevId: 486190797
Change-Id: Ibaa1c03b8d21ae4a83c3825c8d56363aa2f89505
- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.
PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
The GIL bug was introduced in ec6ea6a69e and is resolved by decrementing the refcount before returning from MjWrapperLookup.
PiperOrigin-RevId: 481558798
Change-Id: I2744287d48635a55ae6d2ec46c9e43fe881019d8
- Added new `cable` composite type:
* The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
* The boundary bodies are exposed with the names:`B_left` and `B_right`.
* The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new `cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
* New cable example showing the formation of plectoneme.
* New coil example.
* New belt example showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
- Adhesion actuators using contact normals as force transmission mechanism.
- Related video: https://youtu.be/HdBue4MUZysCloses#229
PiperOrigin-RevId: 464389367
Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
This badge now works correctly since version 2.2.1 has been uploaded to PyPI.
PiperOrigin-RevId: 461476606
Change-Id: I22b40d2fbf900a7cbd86b04f7af69c313bcc721d
Kyle Bayes