3e034e38b2
Add constraint island discovery
...
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
eaf78b798b
Bump dev version number to 2.3.8.
...
PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
2023-07-20 03:27:50 -07:00
c9246e1f50
Release version 2.3.7.
...
PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
2023-07-20 02:13:55 -07:00
b5bef1b639
Describe c-frame variables.
...
Fixes #982 .
PiperOrigin-RevId: 548060614
Change-Id: I2164afc07c02e657b1b924a5afc59209356b57eb
2023-07-14 01:59:43 -07:00
5cfbb6ac8b
Add mjd_quatIntegrate, expose mjd_subQuat.
...
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
2023-07-07 05:33:24 -07:00
95167fab2d
Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly.
...
PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
2023-07-04 08:09:01 -07:00
c50c92ccc8
Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization.
...
PiperOrigin-RevId: 542343761
Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e
2023-06-21 13:19:36 -07:00
f67e359532
Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.
...
PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:56:48 -07:00
6434001747
Remove "Main struct types" subsection from APItypes.rst, for quicker access (fewer clicks) to main struct reference.
...
PiperOrigin-RevId: 539525003
Change-Id: I01a3b7e4b054c3acda0a0070c227d50d7f43ea72
2023-06-11 20:00:15 -07:00
466c9aca82
Remove mj_activate and mj_deactivate.
...
PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
2023-06-08 08:55:39 -07:00
03d6d27f64
Use mesh BVH for speeding up ray mesh intersection.
...
PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
2023-05-22 12:05:20 -07:00
770b4b363a
Added optional smoothing to muscle dynamics:
...
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.
PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
2023-05-12 04:58:53 -07:00
73fde667a5
fix typos
2023-05-09 20:59:43 +00:00
ff1fa84d32
Cosmetic documentation improvements
...
PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
2023-05-07 02:10:18 -07:00
49efa9cc15
Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment.
...
Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
2023-05-06 09:22:37 -07:00
67f0f5154f
Add various improvements for resource providers.
...
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
2023-05-05 07:03:49 -07:00
42a16f65c2
Fix typo in mjd_inverseFD documentation.
...
PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
2023-05-03 01:30:44 -07:00
8686339726
Fix typo.
...
PiperOrigin-RevId: 528763706
Change-Id: Ia8c92fdd7e21ecd456684b4ea443aea017971972
2023-05-02 06:24:18 -07:00
b0bc330b54
Add utility functions for banded-then-dense symmetric matrices.
...
PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
2023-05-02 05:58:08 -07:00
2ad82d5998
Add mj_multiRay function to perform multiple ray intersection with the same source.
...
PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
2023-05-01 23:02:45 -07:00
c50177d301
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
...
Fixes #703 .
PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
2023-04-28 09:04:41 -07:00
90e14ac8d0
Bump version number to 2.3.6.
...
Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.
PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
2023-04-27 14:40:32 -07:00
e3cdc410d6
Rename centered argument of mjd_transitionFD to flg_centered, to conform with the rest of the API.
...
PiperOrigin-RevId: 527258079
Change-Id: I77817be8ee007a572c79e9cd41f7c5728a091fb3
2023-04-26 07:18:52 -07:00
db3b49b60f
Bump version number to 2.3.5.
...
PiperOrigin-RevId: 526918869
Change-Id: I9f19600b0c1b855ef0834e5c026b204bf1dc06c4
2023-04-25 03:52:12 -07:00
0630b7543d
Bump version number to 2.3.4.
...
PiperOrigin-RevId: 525745444
Change-Id: I8a9994b72a0a2ba3f371bee2c2bea947ad8f4fd1
2023-04-20 07:52:46 -07:00
b362cb4972
Expose a handle for the Python viewer.
...
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.
To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.
Fixes https://github.com/deepmind/mujoco/issues/796
PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
2023-04-20 05:59:19 -07:00
fe3dccfd1d
Add a new plugin / extension mechanism called a resource provider along with retrofitting VFS on top of it.
...
A resource provider provides a mechanism for MuJoCo to read from filesystems other than the OS filesystem or the Virtual File System (VFS).
PiperOrigin-RevId: 525394983
Change-Id: I077ff5a7e2e76806b48b6defb531280aadc8b169
2023-04-19 03:02:22 -07:00
d7ec409eb6
Improve code block for mjFREESTACK documentation.
...
PiperOrigin-RevId: 525150006
Change-Id: Ief5af7ea78658f89449795b58466dac14ab7e32a
2023-04-18 08:11:45 -07:00
9b7d42acb8
Improved numeric constants docs section.
...
PiperOrigin-RevId: 524799733
Change-Id: Ibb941d5bbb57f884ec31e1f00ae0e99cedac2980
2023-04-17 03:26:30 -07:00
01b84089dd
Document engine plugins.
...
Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.
PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
2023-04-03 07:55:21 -07:00
4ce00f7e2d
Add notes section to APItypes documentation, add note about representation of convex hulls.
...
PiperOrigin-RevId: 521416156
Change-Id: Ia752b2fc5e4826a8d27af4167c40d9d7424bb069
2023-04-03 03:55:10 -07:00
c29f32657c
Fix broken links in the documentation.
...
PiperOrigin-RevId: 520657874
Change-Id: Idd01c40f87e0f2afcbd2d2bfd98fab95edc2371e
2023-03-30 09:18:06 -07:00
3fd5164524
Fix heading level of function types.
...
PiperOrigin-RevId: 520653499
Change-Id: I8b5265b9a9b43eab40616a78570f558ff85e4ec8
2023-03-30 09:00:46 -07:00
2127d0bb3f
Improvements to API TOC
...
PiperOrigin-RevId: 520284861
Change-Id: Iac8c05d6d18f1e7f89728c5c5f5aa6395d0a1899
2023-03-29 03:21:43 -07:00
8696247f9d
Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%.
...
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
2023-03-18 13:04:14 -07:00
fe18e58ad2
Rendering of mjGEOM_LINE respects size[0] (width argument of mjv_makeconnector), denominated in pixels.
...
- Before this change, line width was hardcoded to 3 pixels and the width argument of mjv_makeConnector was ignored.
- After this change, the width argument is respected and interpreted in units of pixel. The non-standard width unit is ok since lines can only be drawn programmatically.
PiperOrigin-RevId: 516529265
Change-Id: I27bffabba69cde415d2ada67263a887c9240efbf
2023-03-14 08:17:36 -07:00
972770ba55
Improve order of sections in APIfunctions.rst
...
PiperOrigin-RevId: 516518339
Change-Id: I84e973e6f9034a5d24f20791c13b3880fedde46c
2023-03-14 07:26:29 -07:00
c16d4d0d25
Move mjtByte definition from mjmodel.h to mjtnum.h.
...
PiperOrigin-RevId: 516193927
Change-Id: Idbba21119ef2f7da3ab6f6f21611a757658aad23
2023-03-13 06:38:46 -07:00
b4d29abfc1
Add table of contents to API Functions documentation page.
...
PiperOrigin-RevId: 516191825
Change-Id: I792aa72e748443a3f422d0b6cf65a2803f3ec012
2023-03-13 06:26:52 -07:00
2f03da740a
Fix typos.
...
PiperOrigin-RevId: 516135725
Change-Id: I094f6af5d3ef8dd6a93430c09c61f29c23f55e02
2023-03-13 01:01:45 -07:00
c57a588ab5
Re-organise API data structure documentation.
...
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.
...
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
49dd6b4193
Clean up mj_id2name and mj_name2id.
...
PiperOrigin-RevId: 514340647
Change-Id: Idf895b2d7a4a8833725afbe5c71c777081b42d9e
2023-03-06 06:36:48 -08:00
7542c90cd2
Improved behaviour of mouse-spring interactions.
...
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
35967a30d9
Fix order of API function sections, add missing Plugins section.
...
PiperOrigin-RevId: 510442237
Change-Id: I1fd4e309f33f45247eac84233745bfa35b5d796f
2023-02-17 08:50:25 -08:00
090c25988a
Split API reference pages into Data Structures and Functions pages.
...
PiperOrigin-RevId: 510422950
Change-Id: I6b2eebab0c0020b80fec83094aa65c6a412e277e
2023-02-17 07:06:20 -08:00
Yuval Tassa