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Author SHA1 Message Date
Saran Tunyasuvunakool 5f327b0c31 Add missing pybind definition for update_mesh. 
PiperOrigin-RevId: 548395521
Change-Id: Id21a1ef6daa94a221062e7354db3e906611f0f36
 2023-07-15 14:57:38 -07:00
Copybara-Service ac4ed87a9f Merge pull request #985 from thowell:main 
PiperOrigin-RevId: 548330978
Change-Id: I3e9e8e0ae55b8b56ab41ce316a1dd129029cea93
 2023-07-15 03:11:56 -07:00
taylor howell e695a95efb fix mjd_transitionFD comment 2023-07-14 13:50:57 -07:00
Saran Tunyasuvunakool 0ccfef7314 Add update_{hfield,mesh,texture} methods to the passive viewer. 
Fixes #812.
Fixes #958.
Fixes #965.

PiperOrigin-RevId: 548181282
Change-Id: I6eb0cd2ce52c66083e83dd08d69e0cfb4178dbba
 2023-07-14 11:43:36 -07:00
Yuval Tassa b5bef1b639 Describe c-frame variables. 
Fixes #982.

PiperOrigin-RevId: 548060614
Change-Id: I2164afc07c02e657b1b924a5afc59209356b57eb
 2023-07-14 01:59:43 -07:00
Google DeepMind 8f3c488de8 allow specifying static bodies when parsing URDF 
PiperOrigin-RevId: 547664406
Change-Id: I4b555431d1877fb7547c6b550387cd4230c2b0c4
 2023-07-12 19:42:09 -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 77b3533d90 Improve mju_cross implementation. 
- Allow in-place cross product a = a x b using `mju_cross(a, a, b)`.
- Easier for compiler to optimize since tmp cannot alias a or b (verified with godbolt).

PiperOrigin-RevId: 547265908
Change-Id: If965867e08c1bc980e71729e38f6855e32de18b2
 2023-07-11 12:35:02 -07:00
Alessio Quaglino e2677d6057 Check references for BVH data structure. 
PiperOrigin-RevId: 547175700
Change-Id: I10e47f0c81ad25563d1f149bf4d2310ee515b1be
 2023-07-11 06:49:20 -07:00
Kyle Bayes 24c1ec9aec Add support for printing to stdout in mj_saveLastXML. 
PiperOrigin-RevId: 546849864
Change-Id: I799ea3fcd723cf036f82ef5c1ef8152c314072dc
 2023-07-10 06:08:10 -07:00
Yuval Tassa 5cfbb6ac8b Add mjd_quatIntegrate, expose mjd_subQuat. 
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
 2023-07-07 05:33:24 -07:00
Saran Tunyasuvunakool 7401d6786a Add a test to check that mjData values for the world body are initialized. 
PiperOrigin-RevId: 545493742
Change-Id: I502b57450ca858b0e96823a416cd7d930fd34489
 2023-07-04 12:56:56 -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
Alessio Quaglino 46e06c4cac Add elasticity plugins to xml_native_writer_test. Fixes #961. 
PiperOrigin-RevId: 545454207
Change-Id: I4e93499eaa53e5bc8c8afa682986657cef3ac20f
 2023-07-04 08:30:30 -07:00
Saran Tunyasuvunakool 2b38148d24 Explicitly zero out cinert of the world body. 
Values of `cinert` are only set by `mj_comPos` for body 1 and above, which leaves the values for body 0 uninitialized. This triggers a `use-of-uninitialized-value` error under msan when the entire `cinert` array is read.

PiperOrigin-RevId: 545453619
Change-Id: I7bfdb4e4e33677903fc90c6ad070490aa65bf464
 2023-07-04 08:26:02 -07:00
Kyle Bayes 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
Kyle Bayes 82e85e24e5 Fix nv precounting bug for dense allocation in contact constraint. 
PiperOrigin-RevId: 545441998
Change-Id: I12951d9022d78838a67d8e1d9d80d41b73e7c29d
 2023-07-04 07:26:49 -07:00
Copybara-Service d2fc7c1139 Merge pull request #947 from Balint-H:feature/unity-export 
PiperOrigin-RevId: 545261978
Change-Id: I9b4b7eb8dc8fc58581a83435c31bd96384c11a55
 2023-07-03 12:14:10 -07:00
Yuval Tassa 906a8e8b27 Correct shortening of camera name in simulate.cc (for UI menu item) 
Fixes #963

PiperOrigin-RevId: 545187656
Change-Id: Ib213d693569d884915fba99f150df4fd5f53984c
 2023-07-03 04:32:27 -07:00
Bálint Hodossy 0e4d638d11 Add exporter based on existing MjScene functionality 2023-07-02 08:55:51 +01:00
Copybara-Service a36cb0ce3f Merge pull request #949 from Ein04:patch-1 
PiperOrigin-RevId: 544517699
Change-Id: Ic12feb62f3e90d93b1be122a90f0a6fe062ac411
 2023-06-29 18:32:37 -07:00
Yuval Tassa bce2043762 Tighten const qualifiers in collision functions. 
PiperOrigin-RevId: 543789453
Change-Id: I929c68b9100a093738c0de6c0965dab4ded1084b
 2023-06-27 10:44:58 -07:00
Copybara-Service b96532181c Merge pull request #936 from thowell:main 
PiperOrigin-RevId: 543653302
Change-Id: I174efb329a9023199ba0267d3fcd308805ff9cd0
 2023-06-26 23:59:08 -07:00
Saran Tunyasuvunakool 551a7bbc38 Drop support for Python 3.7. 
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
Yuval Tassa a7021df63e Add primitive sphere-cylinder collider. 
PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
 2023-06-26 17:25:32 -07:00
Yuval Tassa 1d6d6f33bf Cosmetic clean-up and a few micro-optimisations for primitive colliders. 
PiperOrigin-RevId: 543559919
Change-Id: I345ccbdca4303e82d1097a5a4bf9381c9f845617
 2023-06-26 15:36:20 -07:00
Ruiyu G ca3823343d fix typo in computation.rst 2023-06-22 17:28:56 -07:00
Ruiyu G 14cc32bbe5 Fix typo. 2023-06-22 16:39:44 -07:00
Yuval Tassa 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
Nimrod Gileadi 74747e2ae6 Don't accept NaN geom sizes. 
PiperOrigin-RevId: 542209911
Change-Id: I80f9728e8e624d19783370ba5072f39624c1bbe7
 2023-06-21 04:02:48 -07:00
Copybara-Service 516c5a8bbe Merge pull request #935 from traversaro:patch-25 
PiperOrigin-RevId: 542013022
Change-Id: I1339ff72c961e815143e9ab423497f603a4b2dd4
 2023-06-20 12:23:49 -07:00
Saran Tunyasuvunakool 0945af7b8a Apply version number 2.3.6 to the pending changelog. 
PiperOrigin-RevId: 541964989
Change-Id: I66a18f2bae624f63962f28f434b9a5cf90d260c7
 2023-06-20 10:08:34 -07:00
Saran Tunyasuvunakool f555261934 Bump MuJoCo dependency versions. 
PiperOrigin-RevId: 541945332
Change-Id: I13e67a2ef55a4b61600563c510e8f22405a87943
 2023-06-20 09:14:28 -07:00
Yuval Tassa 87f35b7703 Cite [Simulink Blockset for MuJoCo Simulator](https://github.com/mathworks-robotics/mujoco-simulink-blockset) in Third Party Section of the README. 
PiperOrigin-RevId: 541848569
Change-Id: I42ad86979a8bbeb5bb8f8ce9dab06b9cc3c74007
 2023-06-20 02:48:38 -07:00
Taylor Howell 52aa5b645c Update python.rst 2023-06-19 14:12:08 -07:00
Silvio Traversaro 06decde594 MujocoDependencies: Move comment back to related code 2023-06-19 15:38:10 +02:00
Saran Tunyasuvunakool 5e220d43fe Add missing Nvidia ICD file for glvnd to enable GPU rendering on Colab. 
PiperOrigin-RevId: 541615331
Change-Id: Iff85772bffb245330898e9c2a511d77896bac0cf
 2023-06-19 05:37:25 -07:00
Kyle Bayes ac1f41160d Add engine internal error macro mjERROR to prepend calling function to error function. 
PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
 2023-06-19 03:29:31 -07:00
Saran Tunyasuvunakool c9e9cd8b35 Change org name to "Google DeepMind" in various docs. 
PiperOrigin-RevId: 540691205
Change-Id: I9eb99eb18893e6748892334470211dbd9d5808db
 2023-06-15 14:28:25 -07:00
Kyle Bayes 2644de2438 Fix typo in README.md. 
PiperOrigin-RevId: 540549566
Change-Id: Id5446379597f777bdb4bb784a52ff6baa3182e01
 2023-06-15 05:18:33 -07:00
Copybara-Service 7f549d2e03 Merge pull request #921 from thowell:main 
PiperOrigin-RevId: 540492521
Change-Id: Ie7a43e259bce15dd0fe3f27e61779afbf08f8686
 2023-06-15 00:32:19 -07:00
Kyle Bayes 2b6ea95d16 Fix dimension of res vector in sparse benchmark test. 
PiperOrigin-RevId: 540336845
Change-Id: I79d4c487455a0642d57f36abe0e38eae92f212fa
 2023-06-14 11:49:53 -07:00
taylor howell b81dfbbc48 fix python type_error mj_differentiatePos, mj_integratePos 2023-06-14 12:19:58 -06:00
Kyle Bayes c79dc39e50 Internal change to parsing benchmarks. 
PiperOrigin-RevId: 539926231
Change-Id: Ia9128df6dad0b720950bbcb458b8ccb95758dae6
 2023-06-13 04:54:46 -07:00
DeepMind b873800ab3 Initial Implementation of MuJoCo Physics Device 
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
Yuval Tassa 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
Copybara-Service 84c33e53df Merge pull request #916 from jc-cr:patch-1 
PiperOrigin-RevId: 539634371
Change-Id: I3690034f4ea10c4e92daeeb4c62b0b060c5c8db5
 2023-06-12 06:36:40 -07:00
Yuval Tassa 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
JC b3b05c0435 remove extra new line when editing 2023-06-09 22:14:32 -05:00
JC 849ed472c0 removed trailing whitespaces 2023-06-09 22:13:04 -05:00