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151 Commits

Author SHA1 Message Date
Kevin Zakka 29a8c69825 Undo doc permalink change. 
PiperOrigin-RevId: 493858259
Change-Id: I7467fd4b405fa71cd47f0beab6b654e0c74b51da
 2022-12-08 04:33:12 -08:00
Kyle Bayes 7baee096a5 Update references.h for docs. 
PiperOrigin-RevId: 493571258
Change-Id: Ie2c5f2a16116e8a056e69aed3adbed9b891c4eea
 2022-12-07 04:52:06 -08:00
Saran Tunyasuvunakool e4f1d584ad Add control plugin API. 
PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
 2022-12-06 08:23:49 -08:00
Kyle Bayes 60fbb77b2a Fix typos in MuJoCo 2.3.1 changelog. 
PiperOrigin-RevId: 493305455
Change-Id: I10c8dc198e60d9dd5ef107fc7210c80b66e123c9
 2022-12-06 07:56:21 -08:00
Saran Tunyasuvunakool 36641cdb2c Update release date for 2.3.1. 
PiperOrigin-RevId: 493165432
Change-Id: Ib88d2e487d7726076f50f8a44a44d1d2d72a15ab
 2022-12-05 18:16:08 -08:00
Kyle Bayes 73fb61e3e2 Bump version number to 2.3.1. 
PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
 2022-12-05 12:13:55 -08:00
Kyle Bayes ef695bb8a8 Add Renderer class to Python native bindings. 
PiperOrigin-RevId: 492994751
Change-Id: Iebbe5980668a15b1cd62c0076cc131255462b2eb
 2022-12-05 06:54:33 -08:00
Kevin Zakka 1ef5f9266e Improve the documentation. 
* Add code block `copy` button via `sphinx_copybutton`
* Change permalink icon

PiperOrigin-RevId: 492955205
Change-Id: I2bcebcf7dd1fcace26ba03a4e348cb46eb838b57
 2022-12-05 02:48:22 -08:00
Copybara-Service dc212c276d Merge pull request #612 from qleonardolp:patch-1 
PiperOrigin-RevId: 492705106
Change-Id: I2265892aeca413e221a2cbb2244021c74afefd58
 2022-12-03 10:49:22 -08:00
Saran Tunyasuvunakool 0846f38c82 Rename Python mujoco.simulate to mujoco.viewer. 
PiperOrigin-RevId: 492701386
Change-Id: I059c572e2a63bd5529e863a9404720973df8ea46
 2022-12-03 10:09:42 -08:00
Yuval Tassa dee1d6020a Make "acc" the default computation stage for sensors of type user. 
PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
 2022-12-03 07:50:15 -08:00
Alessio Quaglino 0d52feaa94 Add updateScene callback for plugins. 
PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
 2022-12-02 10:11:32 -08:00
Alessio Quaglino 89185b4af2 Using full path when adding a file to VFS. Fixes #616. 
PiperOrigin-RevId: 492204185
Change-Id: If2b2230c095fe0bb776fcc3ffda48f13d0be5cb2
 2022-12-01 08:34:20 -08:00
Kevin Zakka 07371e5e08 Make Python bindings source installation instructions in docs match README. 
PiperOrigin-RevId: 491961258
Change-Id: I4d2749b3963db3034d5fc8fca5bd43ab416117f7
 2022-11-30 10:45:36 -08:00
Leonardo Felipe dos Santos ab56a394bc Update computation.rst 
spell check
 2022-11-29 17:49:25 -03:00
Saran Tunyasuvunakool df25d7d602 Raise an informative error when running on macOS under Rosetta 2. 
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
Kyle Bayes 5f7d9f4f02 Autogenerate C code snippets using new Sphinx extension for the API reference docs. 
PiperOrigin-RevId: 491613858
Change-Id: I0a878038bee5e929237fa23686f97319b15bddfc
 2022-11-29 06:02:48 -08:00
Kyle Bayes 5a8e861152 Add MuJoCo tutorial Colab using the native Python bindings. 
PiperOrigin-RevId: 491424124
Change-Id: I5bdeb68fd1bd1b4bc92fb40e0b876d9dcfc568cb
 2022-11-28 13:09:51 -08:00
Alessio Quaglino d0b1a97338 Deformable solid plugin for particles. 
Using coordinate-free formula equivalent to linear finite elements.

PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
 2022-11-28 05:32:30 -08:00
Yuval Tassa 165e72f798 Apply force perturbations at selection point rather than body center-of-mass. 
PiperOrigin-RevId: 489996756
Change-Id: I87870a0c1d173449f15a7249f2459a6b726ff417
 2022-11-21 09:13:16 -08:00
Alessio Quaglino 638c9a6994 Support capsules in URDF import. 
PiperOrigin-RevId: 489980760
Change-Id: I1c21e736a86f6637a00e2062727d2e6fd5694c42
 2022-11-21 07:58:42 -08:00
Yuval Tassa 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"`. 
PiperOrigin-RevId: 489652972
Change-Id: I0a8f21ee1a2f5292e6bbcfe3785536cfd1498b85
 2022-11-19 02:05:42 -08:00
Copybara-Service 0c3492fed9 Merge pull request #589 from vaxenburg:patch-1 
PiperOrigin-RevId: 489434606
Change-Id: Idd7e2fa2fe5786ad87a2097e29a867290fa00034
 2022-11-18 03:27:51 -08:00
Roman Vaxenburg 68d9fd3f2e Update APIreference.rst 2022-11-17 12:13:49 -05:00
Saran Tunyasuvunakool 9ecade0707 Move plugin loading and scanning logic from Simulate to MuJoCo library. 
PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
 2022-11-16 13:15:51 -08:00
Saran Tunyasuvunakool 2ebc5f097b Change simulate plugin directory name to mujoco_plugin. 
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
Kevin Zakka 571b703f1c Switch documentation to custom furo theme with dark mode option. 
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
Alessio Quaglino 7b0fbc63f8 Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac. 
PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
 2022-11-14 07:31:32 -08:00
Copybara-Service f7b256de91 Merge pull request #419 from aftersomemath:simulate-python 
PiperOrigin-RevId: 487496285
Change-Id: I17d15bd2a3886e5ce1631f4eb78afa94830d08cc
 2022-11-10 04:12:34 -08:00
Yuval Tassa 0b45129ca4 Clarification regarding saving integration state variables. 
Fix some documentation bugs.

PiperOrigin-RevId: 487492900
Change-Id: I16ab9ae82cf203ebeaca10baaba7319d214202d0
 2022-11-10 03:51:57 -08:00
Alessio Quaglino 9fc9823a8c Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores). 
PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
 2022-11-08 08:38:45 -08:00
Yuval Tassa 5004a4c8c5 Better memory setting and reporting, updated example models. 
- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.

PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
 2022-11-07 10:36:37 -08:00
Alessio Quaglino 3b89b0fd30 Particles with arbitrary geoms and joints. 
Fixes #553

PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
 2022-11-07 03:22:25 -08:00
Alessio Quaglino fd4d47e4a5 Format memory warning in human-friendly way. 
PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491
 2022-11-07 02:56:07 -08:00
Yuval Tassa 36b30e4500 Allow more than 1 activation state per actuator, but only for dyntype user. 
Fixes #305.

PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
 2022-11-07 01:43:02 -08:00
Alessio Quaglino 9833f912c1 Renamed Elasticity to Cable and libcable to libelasticity for consistency. 
PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
 2022-11-02 11:08:44 -07:00
Yuval Tassa c83be2bc05 Add mju_clip, mju_fill, mju_eye and mju_symmetrize to python bindings. 
- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.

PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
 2022-11-02 09:22:28 -07:00
Alessio Quaglino 7458a6e90f Remove unused "flat" attribute from XML schema. 
PiperOrigin-RevId: 485358643
Change-Id: Ia9e46b346e86e3784ad12be32404ac22ce4c881a
 2022-11-01 10:41:47 -07:00
Kyle Bayes 23092a11d7 Add per-body gravity compensation (buoyancy) passive force. 
PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
 2022-11-01 09:48:06 -07:00
Yuval Tassa 8db949ac19 Improve rendering of LaTex equation in composite documentation. 
PiperOrigin-RevId: 484509794
Change-Id: Ie98cd33414c119417279a6d87f37886fb74eeb8a
 2022-10-28 05:58:28 -07:00
Yuval Tassa 893942a729 Allow tendon springlength attribute to take two values between which the spring produces no force (a deadband). 
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
Yuval Tassa 0eb7f871b9 Remove requirement that stateless actuators come before stateful actuators. 
PiperOrigin-RevId: 484332415
Change-Id: I1dae92c0f8e027e4ca71c20ea3f68b2926526f53
 2022-10-27 13:18:57 -07:00
Yuval Tassa f905c7fb7f Add mju_fill, mju_symmetrize and mju_eye utility functions. 
PiperOrigin-RevId: 484226916
Change-Id: I79593d54e903ddacab0f859bfc6d17eccad7d3a1
 2022-10-27 05:28:26 -07:00
Zixing Wang 28ff96fbd8 Update changelog.rst 
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
Yuval Tassa 84d168442a Fix link text in changelog. 
PiperOrigin-RevId: 481879587
Change-Id: Ifa5a6062d7e6a9f53e1e6d3e2ecf343cabec9fd9
 2022-10-18 04:00:19 -07:00
Saran Tunyasuvunakool 57b0b36699 Bump version number to 2.3.0. 
PiperOrigin-RevId: 481823754
Change-Id: Ie8c2c65b11178952355830ef019fe2efdf774189
 2022-10-17 22:36:59 -07:00
Yuval Tassa c7c6a870b4 Fix rendering of example attribute in XMLreference.rst 
PiperOrigin-RevId: 481614595
Change-Id: Ie582b2ba0b3fc89e3296337b0d43c492ac0d65fa
 2022-10-17 05:29:28 -07:00
Saran Tunyasuvunakool ec6ea6a69e Fix a memory leak when using Python callbacks. 
Fixes #527.

PiperOrigin-RevId: 481173711
Change-Id: Ie176a8bda09727b6be8b6641d3be9a75c675d566
 2022-10-14 10:12:11 -07:00
Alessio Quaglino af74044e43 Add YouTube cable videos to changelog. 
PiperOrigin-RevId: 481138236
Change-Id: Ibabbc312ea265f9193daf01abd8e81876f1dadfb
 2022-10-14 15:18:20 +01:00
Alessio Quaglino ca99ed8664 Check if updating XMLschema is necessary. 
PiperOrigin-RevId: 481105158
Change-Id: I7b5199e595a73a4d988d90dee40a8cd759f86218
 2022-10-14 03:27:05 -07:00