8cc983af5b
Remove stray build option
2022-10-04 15:11:19 -04:00
95a4b1c551
simulate python: fix cmake, glfw usage, update Python version of physics loop
2022-10-04 14:37:06 -04:00
0b6bf42840
WIP Python bindings for Simulate tested on Linux only
2022-10-04 12:34:49 -04:00
c13979cd17
Add id and name properties to MjModel and MjData indexers.
...
PiperOrigin-RevId: 476078133
Change-Id: I905cc8ec147ac595cd56f0a42e38013ae1ac6903
2022-09-22 06:19:03 -07:00
6e256c03b7
Fix location of LQR colab notebook.
...
PiperOrigin-RevId: 475562228
Change-Id: Ifa51caee6c573a15814b57fb1237d0fdb859c4b8
2022-09-20 08:35:22 -07:00
f151e84a1d
Add LQR tutorial colab notebook.
...
PiperOrigin-RevId: 475551810
Change-Id: Iac8ca4fff88331f325e34fef01b41307603a6416
2022-09-20 07:41:16 -07:00
f4e7fa97af
Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x.
...
PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
2022-09-14 08:05:28 -07:00
8957976674
Add mju_boxQP solving box-constrained quadratic programs.
...
PiperOrigin-RevId: 474256629
Change-Id: I87d70fe6899608122fe0688b017420a3e81afae2
2022-09-14 04:31:34 -07:00
9b694103e6
Update dependencies in CMake.
...
PiperOrigin-RevId: 472698116
Change-Id: I0afc29468555339e0a2cac27977bd68246e483f3
2022-09-07 05:17:54 -07:00
94b6ae2b69
Bump version number to 2.2.2.
...
PiperOrigin-RevId: 472513958
Change-Id: I42f321c6681fdd42c5f80368f612534aa885af74
2022-09-06 11:32:55 -07:00
e3a82247c2
Add sensor matrices to mjd_transitionFD.
...
- Also add missing `mj_jacSubtreeCom` to Python bindings.
PiperOrigin-RevId: 471610181
Change-Id: I31410d194527ce6a7bdbd01e176f3a41efa52d84
2022-09-01 13:00:36 -07:00
7b7cf0c27a
Add mjd_transitionFD to Python bindings.
...
PiperOrigin-RevId: 468731887
Change-Id: I2152e10bc0f50a6c6a6b6832b1e7ef7c413976f7
2022-08-19 10:27:40 -07:00
b966a37855
Add optional azimuth and elevation to initial free camera.
...
- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
2022-08-05 01:04:02 -07:00
3a3ca37615
Fix msan bugs in bindings_test.py.
...
PiperOrigin-RevId: 465321721
Change-Id: Ie5bfbf5fb0cd3f2b3db3adc86bff3cb1c4df3da0
2022-08-04 08:36:05 -07:00
3d77eb1ef4
Add adhesion actuators.
...
- Adhesion actuators using contact normals as force transmission mechanism.
- Related video: https://youtu.be/HdBue4MUZys
Closes #229
PiperOrigin-RevId: 464389367
Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
2022-07-31 08:54:06 -07:00
373cc894a8
Bump version number to 2.2.1.
...
PiperOrigin-RevId: 461471944
Change-Id: Ia752d992fabdc57b822bc30b01030c19162917ac
2022-07-17 09:50:31 -07:00
2d0995b47c
Add visualisation groups to skins.
...
PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
2022-07-01 04:57:34 -07:00
41bcf2d621
Python bindings: Add __repr__ implementations to grouped views.
...
PiperOrigin-RevId: 457704673
Change-Id: Idf0d2132ce0872e6ae3eef319b4c3119ab769cd0
2022-06-28 05:23:16 -07:00
e14cf7ddf1
Python bindings: Give a detailed error message when passing non-existent name.
...
List all valid names in the error message.
Fix an off-by-one error when accessing elements by numeric index (rather than name).
PiperOrigin-RevId: 457702283
Change-Id: I6e4f1518b4ecd9ca91ac9b0bf6b0963fc0a9bd18
2022-06-28 05:06:28 -07:00
a077db1b91
Implement __repr__ and __eq__ on MjrRect in Python bindings.
...
PiperOrigin-RevId: 457457401
Change-Id: I0d395ff301fbcf775b4766ac81c830a625b3be63
2022-06-27 05:55:38 -07:00
6048a55daf
Add intvelocity actuator shortcut.
...
PiperOrigin-RevId: 454899823
Change-Id: I9b5494baacfab5a7d03bd680d0ded06a7790e75e
2022-06-14 10:36:58 -07:00
185b79f664
Make msan treat mjData buffer as uninitialized in mj_resetData.
...
Indiscriminate memset into d->buffer and m->buffer previously caused msan to not detect uninitialized reads.
Also fix tests with uninitialized read bugs that are detected by msan after this change.
PiperOrigin-RevId: 451508224
Change-Id: I1f4b080a8ef765c34ba7a0adc2c686419f6e5516
2022-05-27 16:34:33 -07:00
aefab0e9dc
Build Python bindings in build.yml.
...
We currently skip building the Python bindings on Windows since MSVC takes an hour+ on them. Internally, we use Clang for our Windows build, so are not affected by this issue.
PiperOrigin-RevId: 450914163
Change-Id: I329aab28f3a2aeb1896242a8712f89d8ecff2f92
2022-05-25 07:01:59 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
...
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
0e5d062302
Fix GIL-not-held bug in mjr_readPixels.
...
PiperOrigin-RevId: 441813459
Change-Id: I2f15cb77ca243b890fd0825ebbc9b910d3ece56f
2022-04-14 11:35:43 -07:00
87539dbd24
Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD.
...
PiperOrigin-RevId: 441482552
Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
2022-04-13 16:22:26 +01:00
55c1c91382
Don't return ndarray with empty shape through named indexers.
...
NumPy arrays with an empty shape cannot be assigned via the usual syntax.
Fixes : #238 .
Related: #237 .
PiperOrigin-RevId: 441265437
Change-Id: Ib0de22c83f9babe9a97682dc5a32660c198ad68c
2022-04-12 20:57:16 +01:00
90dea1bdfb
Version 2.1.4: Switch to GLAD, minor improvements to simulate.
...
PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
2022-04-04 13:53:21 +01:00
3c71720d83
Revert commit d627374545.
...
This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.
Fixes #217 .
Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
2022-03-31 11:54:51 +01:00
e1e0d5c435
Merge pull request #210 from kevinzakka:version-no
...
PiperOrigin-RevId: 438310559
Change-Id: I8b7409c513144805d3f5afc0f1c2a23b5d649630
2022-03-30 08:39:09 -07:00
5639ee22fc
Remove extraneous line.
2022-03-29 10:11:41 -07:00
8dc08d3733
Use mujoco function instead.
2022-03-29 10:08:43 -07:00
d627374545
Add contact frame visualisation.
...
This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.
PiperOrigin-RevId: 437256700
Change-Id: I5eab737fc98018399e151552778c6109088bf614
2022-03-29 13:08:05 +01:00
691ea00716
Add module level version dunder.
2022-03-26 20:38:57 -07:00
df048e54c0
Update MuJoCo to version 2.1.3.
...
PiperOrigin-RevId: 436727767
Change-Id: I9b1b0084021e83f790efa46eab9a980cbde4953f
2022-03-23 16:57:26 +00:00
c6984b42af
Add a free() method to mujoco.MjrContext.
...
Up the mujoco bindings version to 2.1.2.post2.
Keep the capsule deconstructor which calls mj_freeContext, because mjr_freeContext is idempotent.
PiperOrigin-RevId: 435714183
Change-Id: I9f8615f85f2b3e383f447f6684e61200039d57d4
2022-03-23 16:57:25 +00:00
df202d23b1
Implement reversed arithmetic operators for enums and fix division behavior.
...
PiperOrigin-RevId: 435408435
Change-Id: Ifeeff679cff658d5aae96a9ba5fee19d499656a3
2022-03-23 16:57:25 +00:00
295602b3eb
Implement binary operations between enums and numbers.
...
PiperOrigin-RevId: 435352475
Change-Id: I95ffab7d35898b8e04e00e2f37933b7959b90097
2022-03-23 16:57:25 +00:00
4d1ed50388
Make python build work with older cmake versions (at least 3.16.3 as comes with Ubuntu 20.04)
...
Merge pull request #192 from aftersomemath:lower-cmake-version-required
Closes #192
PiperOrigin-RevId: 435330489
Change-Id: I15e182fef12692a446e70da99176c001ee255be7
2022-03-17 14:30:28 +00:00
b7b7af06d9
Add .cmake files and fix LICENSE file path in make_sdist.sh.
...
Also make minor modifications to Python bindings code for GCC compatibility.
Fixes #191 .
PiperOrigin-RevId: 435127640
Change-Id: I8bd3a35bbb2724a24341072ba8df3da4372f83d3
2022-03-16 19:42:11 +00:00
b44fe609e4
Remove a stray print statement in __init__.py.
...
Also declare a dependency of libglewegl.so on libOpenGL.so.
PiperOrigin-RevId: 435071069
Change-Id: Ie1c7aedcb37523c4829b129d06738e570c5bc1a5
2022-03-16 19:42:11 +00:00
3577e2cf8b
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
...
PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
Levi Burner