551a7bbc38
Drop support for Python 3.7.
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Python 3.7 reaches end-of-life on 27 June 2023 (https://devguide.python.org/versions/ ), and future versions of MuJoCo (after 2.3.6) will no longer support it.
PiperOrigin-RevId: 543594006
Change-Id: I66a7db3dab5d08f2fc52912c43e1532080600fc8
2023-06-26 18:05:32 -07:00
a7021df63e
Add primitive sphere-cylinder collider.
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PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
2023-06-26 17:25:32 -07:00
1d6d6f33bf
Cosmetic clean-up and a few micro-optimisations for primitive colliders.
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PiperOrigin-RevId: 543559919
Change-Id: I345ccbdca4303e82d1097a5a4bf9381c9f845617
2023-06-26 15:36:20 -07:00
c50c92ccc8
Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization.
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PiperOrigin-RevId: 542343761
Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e
2023-06-21 13:19:36 -07:00
74747e2ae6
Don't accept NaN geom sizes.
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PiperOrigin-RevId: 542209911
Change-Id: I80f9728e8e624d19783370ba5072f39624c1bbe7
2023-06-21 04:02:48 -07:00
516c5a8bbe
Merge pull request #935 from traversaro:patch-25
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PiperOrigin-RevId: 542013022
Change-Id: I1339ff72c961e815143e9ab423497f603a4b2dd4
2023-06-20 12:23:49 -07:00
0945af7b8a
Apply version number 2.3.6 to the pending changelog.
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PiperOrigin-RevId: 541964989
Change-Id: I66a18f2bae624f63962f28f434b9a5cf90d260c7
2023-06-20 10:08:34 -07:00
f555261934
Bump MuJoCo dependency versions.
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PiperOrigin-RevId: 541945332
Change-Id: I13e67a2ef55a4b61600563c510e8f22405a87943
2023-06-20 09:14:28 -07:00
87f35b7703
Cite [Simulink Blockset for MuJoCo Simulator]( https://github.com/mathworks-robotics/mujoco-simulink-blockset ) in Third Party Section of the README.
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PiperOrigin-RevId: 541848569
Change-Id: I42ad86979a8bbeb5bb8f8ce9dab06b9cc3c74007
2023-06-20 02:48:38 -07:00
06decde594
MujocoDependencies: Move comment back to related code
2023-06-19 15:38:10 +02:00
5e220d43fe
Add missing Nvidia ICD file for glvnd to enable GPU rendering on Colab.
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PiperOrigin-RevId: 541615331
Change-Id: Iff85772bffb245330898e9c2a511d77896bac0cf
2023-06-19 05:37:25 -07:00
ac1f41160d
Add engine internal error macro mjERROR to prepend calling function to error function.
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PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
2023-06-19 03:29:31 -07:00
c9e9cd8b35
Change org name to "Google DeepMind" in various docs.
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PiperOrigin-RevId: 540691205
Change-Id: I9eb99eb18893e6748892334470211dbd9d5808db
2023-06-15 14:28:25 -07:00
2644de2438
Fix typo in README.md.
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PiperOrigin-RevId: 540549566
Change-Id: Id5446379597f777bdb4bb784a52ff6baa3182e01
2023-06-15 05:18:33 -07:00
7f549d2e03
Merge pull request #921 from thowell:main
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PiperOrigin-RevId: 540492521
Change-Id: Ie7a43e259bce15dd0fe3f27e61779afbf08f8686
2023-06-15 00:32:19 -07:00
2b6ea95d16
Fix dimension of res vector in sparse benchmark test.
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PiperOrigin-RevId: 540336845
Change-Id: I79d4c487455a0642d57f36abe0e38eae92f212fa
2023-06-14 11:49:53 -07:00
b81dfbbc48
fix python type_error mj_differentiatePos, mj_integratePos
2023-06-14 12:19:58 -06:00
c79dc39e50
Internal change to parsing benchmarks.
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PiperOrigin-RevId: 539926231
Change-Id: Ia9128df6dad0b720950bbcb458b8ccb95758dae6
2023-06-13 04:54:46 -07:00
b873800ab3
Initial Implementation of MuJoCo Physics Device
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1) Modifications to MJCModel and URDF parsing to enable loading multiple URDF's
2) Device Skeleton for MuJoCo Physics Device
3) Scene Loading and Modifications
4) State Generation
PiperOrigin-RevId: 539676439
Change-Id: Ic65f812b660319443e74f68acd851dba1435ddca
2023-06-12 09:28:27 -07:00
f67e359532
Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.
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PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:56:48 -07:00
84c33e53df
Merge pull request #916 from jc-cr:patch-1
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PiperOrigin-RevId: 539634371
Change-Id: I3690034f4ea10c4e92daeeb4c62b0b060c5c8db5
2023-06-12 06:36:40 -07:00
6434001747
Remove "Main struct types" subsection from APItypes.rst, for quicker access (fewer clicks) to main struct reference.
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PiperOrigin-RevId: 539525003
Change-Id: I01a3b7e4b054c3acda0a0070c227d50d7f43ea72
2023-06-11 20:00:15 -07:00
b3b05c0435
remove extra new line when editing
2023-06-09 22:14:32 -05:00
849ed472c0
removed trailing whitespaces
2023-06-09 22:13:04 -05:00
15618d8f94
Corrected index.rst example code samples
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Added the missing humanoid directory path to window and linux sample terminal commands
2023-06-09 21:55:02 -05:00
4a086edb43
Fix wrong link in changelog.
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PiperOrigin-RevId: 539106369
Change-Id: I228cbf426322e9b3756e64788cb9db0cd271ffa1
2023-06-09 09:45:55 -07:00
81d74c56e1
Separate mj_addM into dense and sparse functions.
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PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
2023-06-09 06:44:19 -07:00
466c9aca82
Remove mj_activate and mj_deactivate.
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PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
2023-06-08 08:55:39 -07:00
188b04fba5
Use std::stable_sort in model compiler.
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PiperOrigin-RevId: 538791034
Change-Id: I6c8eceffeb765a8a9801fee996d6ebf2964d8453
2023-06-08 08:21:34 -07:00
833d30858d
Add note regarding reproducibility
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PiperOrigin-RevId: 538535494
Change-Id: Icc37c95df77a9e30868a2ef866c5e603239e728b
2023-06-07 10:56:18 -07:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
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PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
83e70954d7
Improve documentation of solver parameters.
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PiperOrigin-RevId: 538098136
Change-Id: I6a25fd066d5a1a7ef7b28c73accbd15c497fcba4
2023-06-06 00:30:15 -07:00
1efdcbf511
Merge pull request #896 from Beanpow:fix_doc
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PiperOrigin-RevId: 537977702
Change-Id: I1ecc4caba7ce434a61625fa8b01bdc5769747f4a
2023-06-05 14:11:52 -07:00
39b744b231
Fix the effective time constant function of muscle
2023-06-02 16:53:32 +08:00
86f22cb26b
Fix typo.
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PiperOrigin-RevId: 537211345
Change-Id: Icec139ee4651e32008bf71d990d5dbe7434df67d
2023-06-01 21:37:54 -07:00
8efb04eb79
Improved docs chapter order, rename Models to Model Gallery.
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PiperOrigin-RevId: 536819755
Change-Id: Ia2151a464c423b1ca13719285e4016832f448399
2023-05-31 14:13:41 -07:00
4beab79946
Remove outdated reference in computation chapter.
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PiperOrigin-RevId: 536818445
Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187
2023-05-31 14:08:57 -07:00
d1c6561f1c
Add spaces around comparison operators in render/ and ui/ source files.
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PiperOrigin-RevId: 536001297
Change-Id: Ia0d97bf9f886aea03b8363e4d97e18301520909f
2023-05-28 07:04:49 -07:00
455b1cd2e2
Add spaces around comparison operators in engine source files.
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PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
2023-05-28 05:02:34 -07:00
d40c395917
Add Visualization tab to simulate.
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Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
2023-05-27 05:08:15 -07:00
ea6789b376
Add emoji to README.
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PiperOrigin-RevId: 535670105
Change-Id: Ic9bf3e029eb5db8aa30a48c64d3f0d5fdb814f89
2023-05-26 11:27:28 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
1d79657512
Fix out-of-bound read in mju_combineSparseCount.
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PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
2023-05-26 07:44:47 -07:00
cce7fb04d1
Fix out of bounds write in clampedDiff in engine_derivative_fd.c
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PiperOrigin-RevId: 535234007
Change-Id: I1ca54df1324346cd250409125939fdf6f63cee04
2023-05-25 06:25:08 -07:00
c66d79409c
Change mj_ray behaviour to match geom visualisation conventions:
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- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.
Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.
PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
2023-05-24 13:52:21 -07:00
55c7f45dc5
Fix sparse matmul logic in addJTBJSparse.
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Also rename arguments and loop variables in `addJTBJSparse` for additional clarity.
PiperOrigin-RevId: 534908360
Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
2023-05-24 11:02:35 -07:00
d82465d710
Fix use of uninitialised memory.
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PiperOrigin-RevId: 534783070
Change-Id: I4fddc983a8ac7213049366d909c57c303ab0e521
2023-05-24 04:39:57 -07:00
03d6d27f64
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
2023-05-22 12:05:20 -07:00
fbbdf70401
Make XMLWriterLocaleTest hold a copy of the old locale string.
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The rationale is the same as in 0d0a41d549
2023-05-22 05:34:24 -07:00
bb8044e5f3
Set minimum tree slider depth to 0.
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PiperOrigin-RevId: 534003561
Change-Id: I42ccd0eab15b5a3c9852f8944c6b191f7999c113
2023-05-22 02:39:58 -07:00
Saran Tunyasuvunakool