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99 Commits

Author SHA1 Message Date
Gabe Oppenheimer c90a63a926 Update the version number to 3.2.7 following the 3.2.6 release. 
PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
 2024-12-02 15:30:52 -08:00
Yuval Tassa a2a0b95de0 Print arena memory usage in testspeed 
PiperOrigin-RevId: 693681047
Change-Id: Ica5b516d0141199f701567d64e2ea1446491e232
 2024-11-06 04:50:42 -08:00
Kevin Sayed 276f5b04cd Bump MuJoCo version to 3.2.6. 
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
 2024-11-05 14:13:08 -08:00
Google DeepMind ffdb800e45 Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release. 
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
 2024-10-16 14:24:06 -07:00
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Taylor Howell 2c56946547 Increase mjVERSIONSTRING to 3.2.3 after release. 
PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
 2024-08-08 10:31:57 -07:00
Gabe Oppenheimer ebc48d2783 Update the MuJoCo version to v3.2.2 following the 3.2.1 release. 
PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
 2024-08-06 11:39:30 -07:00
Gabe Oppenheimer d538bf994d Update version to 3.2.1 following the 3.2.0 release. 
PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
 2024-08-01 08:35:42 -07:00
Gabe Oppenheimer 22ce22ac8a Update the MuJoCo version number ahead of the 3.2.0 release. 
PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
 2024-07-15 13:16:06 -07:00
Yuval Tassa 1601ab6078 Remove Makefiles. Fixes #402 
These are no longer needed, as the open-source build uses CMake.

PiperOrigin-RevId: 648340374
Change-Id: Ibc704ca3aaab1c48d245e24b071bed6cd846c110
 2024-07-01 05:51:47 -07:00
Yuval Tassa 44be878e7e Enable inter-procedural optimization by default in cmake 
PiperOrigin-RevId: 647336693
Change-Id: I44acf48ed9825dd3e71b06f2aca581cdb17dce34
 2024-06-27 09:05:49 -07:00
Yuval Tassa 3f3b39bbb1 Fix type-related issues in dependent code. Remove hardcoded mjUSEDOUBLE. Add mjUSESINGLE compiler flag. 
This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.

PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
 2024-06-19 10:52:18 -07:00
Meghha Dhoke 1bf90af0e0 Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7 
PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
 2024-06-04 15:27:47 +01:00
Meghha Dhoke 4eca3b048d Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6 
PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
 2024-05-07 14:11:38 -07:00
Yuval Tassa 1c8ff66cc9 Remove const from argv argument in sample.cc 
PiperOrigin-RevId: 627746353
Change-Id: Ib27f9e911a74565d99a7bf0a173085c513047878
 2024-04-24 09:01:45 -07:00
Gabe Oppenheimer 225619c964 Update MuJoCo internal version to be the external version +1 
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
 2024-04-10 14:32:54 -07:00
Copybara-Service 2ba80206ab Merge pull request #1479 from jmargeta:fix-record-command-docs 
PiperOrigin-RevId: 613927858
Change-Id: I8fe30db8677811c98ed4f881b51a0f430d93dd3b
 2024-03-08 07:29:57 -08:00
Jan Margeta 32dc89b425 Rename depthoverlay to adddepth 2024-03-06 21:17:43 +01:00
Jan Margeta 548177d46c Rename depthoverlay argument 2024-03-06 19:14:32 +01:00
Jan Margeta be68f90190 Make depth overlay in video recording optional 
Add docs for the record arguments
 2024-03-06 18:47:14 +01:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -08:00
Meghha Dhoke f763254a00 Updating Mujoco Release version number to v3.1.3 
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
 2024-02-05 15:59:20 -08:00
Yuval Tassa 2feefbc5d2 Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID. 
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
 2024-01-17 10:54:23 -08:00
Google DeepMind 7fb448613f Post release version update: Update to V3.1.2 
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
 2023-12-18 15:03:37 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00
Baruch Tabanpour 1554048856 Bump dev version number to 3.0.2. 
PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
 2023-11-15 12:51:04 -08:00
Yuval Tassa 57e6940f57 Prevent division by zero in testspeed. This can happen when parts of the pipeline are disabled. 
PiperOrigin-RevId: 580208528
Change-Id: Ia5971ea9f15e0b19896392e86a65592357b2df61
 2023-11-07 09:38:30 -08:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00
Yuval Tassa a1b6026b8c Delete derivative code sample. 
PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
 2023-10-14 08:38:37 -07:00
Yuval Tassa c0357ef3d0 Improve documentation related to engine-internal threading. 
PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
 2023-10-13 16:32:38 -07:00
Yuval Tassa fb4cf472ed Delete testxml code sample. 
PiperOrigin-RevId: 573202693
Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
 2023-10-13 06:33:24 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Yuval Tassa bad6bee64f Improve component printout in testspeed 
PiperOrigin-RevId: 572610538
Change-Id: I28745840e457ccef7276c3d37ecf3055d0f594da
 2023-10-11 10:12:32 -07:00
Matthew Bennice 2842245ca9 Multithread parallelizable operations in mj_fwdPosition 
PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
 2023-10-11 08:01:53 -07:00
Yuval Tassa 18d9f1abb0 Improvements to timing. 
- Fixed bug in timing of kinematics, was under-reported.
- Moved timing of inertia and collision into respective functions, in preparation for multi-threading.
- Detailed profiling in `testspeed` is always on, removed command-line flag.
- Improved `testspeed` self-documentation.

PiperOrigin-RevId: 571989548
Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
 2023-10-09 11:14:44 -07:00
Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
 2023-10-05 21:05:19 -07:00
Yuval Tassa 63fd23a934 Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE. 
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.

- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).

- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).

PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
 2023-09-16 08:03:45 -07:00
Alessio Quaglino 492b6a72ec Prevent patches to be applied to an already patched dependency. 
See https://gitlab.kitware.com/cmake/cmake/-/issues/21146

BEGIN_PUBLIC
Prevent patches to be applied to an already patched dependency.
END_PUBLIC

PiperOrigin-RevId: 565624168
Change-Id: I29b36d2cd02f58d5d9e84f9cae5e5bbf8be1b404
 2023-09-15 02:58:54 -07:00
Saran Tunyasuvunakool 860f7b376a Fix GCC and MSVC build. 
PiperOrigin-RevId: 564390190
Change-Id: Icba3eefb394b8d17798679dd9876f127fba5a599
 2023-09-11 08:17:08 -07:00
Saran Tunyasuvunakool 78183e60e1 Refactor thread pool implementation. 
- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.

Otherwise the functionality remains identical.

PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
 2023-09-11 07:20:34 -07:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool 329ed193ac Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC. 
PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
 2023-09-05 11:05:04 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Saran Tunyasuvunakool eaf78b798b Bump dev version number to 2.3.8. 
PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
 2023-07-20 03:27:50 -07:00
Saran Tunyasuvunakool c9246e1f50 Release version 2.3.7. 
PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
 2023-07-20 02:13:55 -07:00
Kyle Bayes 242aea93c6 Bump oldest supported MacOS to version 11. 
PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
 2023-07-12 06:38:26 -07:00
Yuval Tassa 761649c3a3 Improvements to testspeed.cc: 
- Turn on internal profiling by default, adding "other" category.
- Print step timing in microseconds.

PiperOrigin-RevId: 545493349
Change-Id: I0cd5fea1206b3f86f1c757130169975d6862733d
 2023-07-04 12:53:59 -07:00