- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.
BEGIN_PUBLIC
Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.
- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.
END_PUBLIC
PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
Add missing `ctrl` attribute to keyframe indexer.
END_PUBLIC
Context: Making an LQR notebook for the Skydio drone and wanted to read the ctrl attribute in the keyframe stored in the XML.
PiperOrigin-RevId: 564806350
Change-Id: I5af3189cc8be87915f9d320d95f0fab551ef87fa
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
Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.
PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.
To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.
Fixes https://github.com/deepmind/mujoco/issues/796
PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
Also missing struct fields to the Python bindings that were discovered as a result of the new `introspect` metadata.
PiperOrigin-RevId: 523947396
Change-Id: I367fd2dc8d5fd7e5712a45b70a5c50da51d152e4
Before this change, these functions can return before an internal call to `mj_forward`, which results in a race condition if the user script then tries to modify the physics state.
Fixes#783Fixes#790
PiperOrigin-RevId: 523214378
Change-Id: I8a4c6cef0f5d3ec781fd2c5cae3c20dd4b8be67f
This allows rendering from non-main threads as the context is not tied to a Cocoa window.
Fixes#742Fixes#798
PiperOrigin-RevId: 523144359
Change-Id: I98432debdd034814c313eda94e38c248c3c1f76c
Yuval Tassa