This is to properly handle the case where the interpreter wants to exit immediately, e.g. when `mjpython --version` is run.
Currently, we call `PyGILState_Ensure` regardless of the result of `Py_InitializeFromConfig` resulting in a segfault, as in issue #2870.
PiperOrigin-RevId: 869652555
Change-Id: I3a898279eb8aa25afbaece904cfdcc4fdcc92972
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4cabc9c52dc07ea2d64a3de6dbd58e47a2ad023c by Kevin Zakka <kevinarmandzakka@gmail.com>:
Add system identification tutorial and fix template packaging
- Add sysid tutorial notebook (sysid.ipynb)
- Include HTML templates in package-data to fix TemplateNotFound errors
when pip installing mujoco[sysid]
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3092 from kevinzakka:sysid-notebook 4cabc9c52dc07ea2d64a3de6dbd58e47a2ad023c
PiperOrigin-RevId: 868900119
Change-Id: I53c4cc94b5fb6f864c5cee589af9dfad9bfc8744
Adds a test which verifies that we can index into the texture buffer at offsets larger than can be represented by a 32-bit signed int.
PiperOrigin-RevId: 868756646
Change-Id: Ibc1a2b269fce41aec370611b0aab77803837e7a8
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 861550939
Change-Id: I070eb4bcc2982466c8f368f7918005538baa5185
Removed the GIL lock in set_figures, clear_figures, set_texts, clear_texts, set_images, and clear_images
PiperOrigin-RevId: 861245200
Change-Id: I52f21d82f9813752c7cb357213c24ea6188583db
This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 856166919
Change-Id: Id723d612ffc0bff020705cf19ef95fbf24676840
This allows calling `mujoco.mj_copyData(dest, model, src)` to copy data between existing `mjData` instances.
PiperOrigin-RevId: 855150139
Change-Id: If122cb7acf590846e25ee15f9770c3c087147169
Updates function comments to consistently use a semicolon (`;`) before describing the return value and to use the imperative form "return" instead of "returns".
Also fix error in docstring of `mjp_registerResourceProvider`
PiperOrigin-RevId: 854888532
Change-Id: I311239a2770ded5febece9958ae4e94c1e522600
When compiling with threading, we will block the main thread anyways waiting for all threads to complete.
PiperOrigin-RevId: 854230560
Change-Id: Ief689d381afaa3aacc5d712a8df0cb4b6762251c
This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
Taylor Howell