2f0fb1e4ef
Workaround for broken VSync in Simulate on macOS.
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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
c57a588ab5
Re-organise API data structure documentation.
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PiperOrigin-RevId: 515515875
Change-Id: I743a0409eb9b867249a90d5c1cb4d77bacade4dc
2023-03-09 20:24:32 -08:00
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.
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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
2e6a37e8c5
Changelog: Move the image under the "Simulate" heading.
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PiperOrigin-RevId: 514666433
Change-Id: Ief3f10260fb071412fdd0d4b481fb10ee99b71ff
2023-03-07 02:09:16 -08:00
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
49c939eaf0
Document 48e95817e4 in the changelog.
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PiperOrigin-RevId: 508342626
Change-Id: I8505d3c3168d0ebffaff87dc687a831d278a8fcb
2023-02-09 05:03:31 -08:00
71c5f1794d
Remove efc_ fields from joint indexers.
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Since the introduction of arena memory, these fields now have dynamic sizes that change between time steps depending on the number of active constraints. This breaks strict correspondence between joints and `efc_` rows.
Note that these fields can still be accessed directly as attributes on the `MjData` object.
PiperOrigin-RevId: 508342388
Change-Id: I610ae6ca462f6bb5cf8bc199a3436bed3d1a5371
2023-02-09 05:02:11 -08:00
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
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
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
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
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
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
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
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
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
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
9ecade0707
Move plugin loading and scanning logic from Simulate to MuJoCo library.
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PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
2022-11-16 13:15:51 -08:00
2ebc5f097b
Change simulate plugin directory name to mujoco_plugin.
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This helps distro packagers avoid having to create a directory with the generic `plugin` name in system locations.
Context: https://github.com/deepmind/mujoco/issues/552
PiperOrigin-RevId: 489011386
Change-Id: Ie9f1748cbb4f2b9dc8c328064caaeb50c88fdec3
2022-11-16 12:40:31 -08:00
571b703f1c
Switch documentation to custom furo theme with dark mode option.
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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
Co-authored-by: Yuval Tassa <tassa@google.com >
PiperOrigin-RevId: 488975449
Change-Id: Ia2db8ac7ecd27a00ca2c4c9ca5e85b9167813473
2022-11-16 10:24:06 -08:00
7b0fbc63f8
Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac.
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PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
2022-11-14 07:31:32 -08:00
f7b256de91
Merge pull request #419 from aftersomemath:simulate-python
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PiperOrigin-RevId: 487496285
Change-Id: I17d15bd2a3886e5ce1631f4eb78afa94830d08cc
2022-11-10 04:12:34 -08:00
0b45129ca4
Clarification regarding saving integration state variables.
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Fix some documentation bugs.
PiperOrigin-RevId: 487492900
Change-Id: I16ab9ae82cf203ebeaca10baaba7319d214202d0
2022-11-10 03:51:57 -08:00
9fc9823a8c
Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores).
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PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
2022-11-08 08:38:45 -08:00
3b89b0fd30
Particles with arbitrary geoms and joints.
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Fixes #553
PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
2022-11-07 03:22:25 -08:00
36b30e4500
Allow more than 1 activation state per actuator, but only for dyntype user.
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Fixes #305 .
PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
2022-11-07 01:43:02 -08:00
9833f912c1
Renamed Elasticity to Cable and libcable to libelasticity for consistency.
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PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
2022-11-02 11:08:44 -07:00
23092a11d7
Add per-body gravity compensation (buoyancy) passive force.
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PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
2022-11-01 09:48:06 -07:00
893942a729
Allow tendon springlength attribute to take two values between which the spring produces no force (a deadband).
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If given two non-decreasing values, `springlength` specifies a deadband for spring stiffness, inside of which the force is 0 and outside of which force behaves like a regular spring, with the setpoint corresponding to the nearest value. This can be used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See test/engine/testdata/tendon_springlength.xml example model.
Spring-limited spatial tendons whose lower range value is 0 are rendered as catenaries.
Fixes #520 .
PiperOrigin-RevId: 484509706
Change-Id: I6698e94ee36168f52d501e83057559805e05172d
2022-10-28 05:57:37 -07:00
0eb7f871b9
Remove requirement that stateless actuators come before stateful actuators.
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PiperOrigin-RevId: 484332415
Change-Id: I1dae92c0f8e027e4ca71c20ea3f68b2926526f53
2022-10-27 13:18:57 -07:00
f905c7fb7f
Add mju_fill, mju_symmetrize and mju_eye utility functions.
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PiperOrigin-RevId: 484226916
Change-Id: I79593d54e903ddacab0f859bfc6d17eccad7d3a1
2022-10-27 05:28:26 -07:00
28ff96fbd8
Update changelog.rst
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I tested the version 2.3.0 and found the two ends of a cable object are exposed as B_first & B_last instead of B_left & B_right.
2022-10-19 12:39:27 -04:00
Saran Tunyasuvunakool