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Author SHA1 Message Date
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
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
JC 15618d8f94 Corrected index.rst example code samples 
Added the missing humanoid directory path to window and linux sample terminal commands
 2023-06-09 21:55:02 -05:00
Yuval Tassa 4a086edb43 Fix wrong link in changelog. 
PiperOrigin-RevId: 539106369
Change-Id: I228cbf426322e9b3756e64788cb9db0cd271ffa1
 2023-06-09 09:45:55 -07:00
Kyle Bayes 81d74c56e1 Separate mj_addM into dense and sparse functions. 
PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
 2023-06-09 06:44:19 -07:00
Yuval Tassa 466c9aca82 Remove mj_activate and mj_deactivate. 
PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
 2023-06-08 08:55:39 -07:00
Yuval Tassa 188b04fba5 Use std::stable_sort in model compiler. 
PiperOrigin-RevId: 538791034
Change-Id: I6c8eceffeb765a8a9801fee996d6ebf2964d8453
 2023-06-08 08:21:34 -07:00
Yuval Tassa 833d30858d Add note regarding reproducibility 
PiperOrigin-RevId: 538535494
Change-Id: Icc37c95df77a9e30868a2ef866c5e603239e728b
 2023-06-07 10:56:18 -07:00
Yuval Tassa 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. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -07:00
Yuval Tassa 83e70954d7 Improve documentation of solver parameters. 
PiperOrigin-RevId: 538098136
Change-Id: I6a25fd066d5a1a7ef7b28c73accbd15c497fcba4
 2023-06-06 00:30:15 -07:00
Copybara-Service 1efdcbf511 Merge pull request #896 from Beanpow:fix_doc 
PiperOrigin-RevId: 537977702
Change-Id: I1ecc4caba7ce434a61625fa8b01bdc5769747f4a
 2023-06-05 14:11:52 -07:00
Beanpow 39b744b231 Fix the effective time constant function of muscle 2023-06-02 16:53:32 +08:00
Yuval Tassa 86f22cb26b Fix typo. 
PiperOrigin-RevId: 537211345
Change-Id: Icec139ee4651e32008bf71d990d5dbe7434df67d
 2023-06-01 21:37:54 -07:00
Yuval Tassa 8efb04eb79 Improved docs chapter order, rename Models to Model Gallery. 
PiperOrigin-RevId: 536819755
Change-Id: Ia2151a464c423b1ca13719285e4016832f448399
 2023-05-31 14:13:41 -07:00
Yuval Tassa 4beab79946 Remove outdated reference in computation chapter. 
PiperOrigin-RevId: 536818445
Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187
 2023-05-31 14:08:57 -07:00
Yuval Tassa d1c6561f1c Add spaces around comparison operators in render/ and ui/ source files. 
PiperOrigin-RevId: 536001297
Change-Id: Ia0d97bf9f886aea03b8363e4d97e18301520909f
 2023-05-28 07:04:49 -07:00
Yuval Tassa 455b1cd2e2 Add spaces around comparison operators in engine source files. 
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
 2023-05-28 05:02:34 -07:00
Yuval Tassa d40c395917 Add Visualization tab to simulate. 
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
Yuval Tassa ea6789b376 Add emoji to README. 
PiperOrigin-RevId: 535670105
Change-Id: Ic9bf3e029eb5db8aa30a48c64d3f0d5fdb814f89
 2023-05-26 11:27:28 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Saran Tunyasuvunakool 1d79657512 Fix out-of-bound read in mju_combineSparseCount. 
PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
 2023-05-26 07:44:47 -07:00
Yuval Tassa cce7fb04d1 Fix out of bounds write in clampedDiff in engine_derivative_fd.c 
PiperOrigin-RevId: 535234007
Change-Id: I1ca54df1324346cd250409125939fdf6f63cee04
 2023-05-25 06:25:08 -07:00
Yuval Tassa c66d79409c Change mj_ray behaviour to match geom visualisation conventions: 
- 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
Saran Tunyasuvunakool 55c7f45dc5 Fix sparse matmul logic in addJTBJSparse. 
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
Yuval Tassa d82465d710 Fix use of uninitialised memory. 
PiperOrigin-RevId: 534783070
Change-Id: I4fddc983a8ac7213049366d909c57c303ab0e521
 2023-05-24 04:39:57 -07:00
Alessio Quaglino 03d6d27f64 Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
 2023-05-22 12:05:20 -07:00
Saran Tunyasuvunakool fbbdf70401 Make XMLWriterLocaleTest hold a copy of the old locale string. 
The rationale is the same as in 0d0a41d549. XMLWriterLocaleTest still sporadically fails with a stack buffer overflow error when built with MSVC 2019 prior to this change.

PiperOrigin-RevId: 534035241
Change-Id: I1c50457e386724021b8d97ab1fb9cc2ece795292
 2023-05-22 05:34:24 -07:00
Yuval Tassa bb8044e5f3 Set minimum tree slider depth to 0. 
PiperOrigin-RevId: 534003561
Change-Id: I42ccd0eab15b5a3c9852f8944c6b191f7999c113
 2023-05-22 02:39:58 -07:00
Yuval Tassa e338034995 Fix links in README. 
PiperOrigin-RevId: 533444487
Change-Id: Ifc1743095f1c4e204360689c681066ca89944804
 2023-05-19 07:05:17 -07:00
Yuval Tassa f5936eac7b - Mention mujoco_wasm in README. 
- Move Documentation and Getting Started above Installation.
- Delete link to the acquisition and open-sourcing announcements.

PiperOrigin-RevId: 533434989
Change-Id: I5ac9281cee953c46d618d63fdf9bfd7d39e8f264
 2023-05-19 06:11:53 -07:00
Yuval Tassa 20e06ba353 Add missing braces. 
PiperOrigin-RevId: 533419351
Change-Id: Iad54f6cb6d63c05e6a2f81526b22a914e2a23ba2
 2023-05-19 04:35:12 -07:00
Alessio Quaglino a09246c095 Removed key for visualizing the mesh tree. 
PiperOrigin-RevId: 533126358
Change-Id: I8b30691c78cbae4b8ad44ac16fb7567b2a131dcf
 2023-05-18 07:52:34 -07:00
Yuval Tassa eca0df4c6c Improve formatting of cubelet vertices. 
PiperOrigin-RevId: 533031494
Change-Id: I27b6e9eb17c3ebb1382d0e3d5ccb2402f00fbddc
 2023-05-17 23:32:07 -07:00
Kevin Zakka dee9a958b4 Tweak cube XML. 
PiperOrigin-RevId: 532851091
Change-Id: Icb089b914874e940985a08f6587c390732431f92
 2023-05-17 11:26:57 -07:00
Alessio Quaglino dab49d487c Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
 2023-05-16 11:10:38 -07:00
Alessio Quaglino 9db444cd46 Fixed texture mapping bug. Before this fix, the first texture coordinate was not correctly processed. 
Fixes #859.

PiperOrigin-RevId: 532501028
Change-Id: I1fe9ca470f4d64af606479b91387e43bc56c23dc
 2023-05-16 10:25:04 -07:00
Alessio Quaglino 9d1a21f99d Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
 2023-05-16 08:17:50 -07:00