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Author SHA1 Message Date
Kyle Bayes 9924cce4b7 Add nnz per row precount method for mju_sqrMatTDSparse. 
PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
 2023-04-04 06:21:22 -07:00
Yuval Tassa 7cc42ecf2a Remove "global" option from [compiler/coordinate](https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate) attribute. 
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older.

PiperOrigin-RevId: 521739137
Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
 2023-04-04 05:59:38 -07:00
Kyle Bayes b327058641 Avoid computing constraint Jacobian matrix supernodes when not using AVX. 
PiperOrigin-RevId: 521728016
Change-Id: I308e6283a6a1968a3d9946f04ba4367c50b1c63d
 2023-04-04 04:52:49 -07:00
Yuval Tassa 01b84089dd Document engine plugins. 
Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.

PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
 2023-04-03 07:55:21 -07:00
Yuval Tassa ebb150fa3d Change docs preferred monospace font to Inconsolata 
PiperOrigin-RevId: 521425957
Change-Id: Ie3014b924fbf711ce643f1e555aa723b85383023
 2023-04-03 04:53:38 -07:00
Yuval Tassa 4ce00f7e2d Add notes section to APItypes documentation, add note about representation of convex hulls. 
PiperOrigin-RevId: 521416156
Change-Id: Ia752b2fc5e4826a8d27af4167c40d9d7424bb069
 2023-04-03 03:55:10 -07:00
Yuval Tassa 64229c089a Cosmetic improvements to public headers. 
PiperOrigin-RevId: 521415262
Change-Id: Iee5d6baec78242f5a033c8b5cdd285af4a0895fa
 2023-04-03 03:49:24 -07:00
Alessio Quaglino 5f132af625 Add midphase and broadphase statistics to mjData. 
PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
 2023-04-03 00:59:59 -07:00
Yuval Tassa c29f32657c Fix broken links in the documentation. 
PiperOrigin-RevId: 520657874
Change-Id: Idd01c40f87e0f2afcbd2d2bfd98fab95edc2371e
 2023-03-30 09:18:06 -07:00
Yuval Tassa 3fd5164524 Fix heading level of function types. 
PiperOrigin-RevId: 520653499
Change-Id: I8b5265b9a9b43eab40616a78570f558ff85e4ec8
 2023-03-30 09:00:46 -07:00
Yuval Tassa c65e046043 Don't save actdim="{0,1}" for state{less,ful} actuators, respectively. 
actdim has a default value of -1 (==unset), which means it currently gets saved for all actuators. After this change, it will only be saved if the value is > 1, errors are thrown for stateful actuators with actdim=0 and stateless actuators with actdim>0.

PiperOrigin-RevId: 520627313
Change-Id: Ia498dae5c7314cfaa0995f8077d297c2339a5c35
 2023-03-30 07:00:17 -07:00
Yuval Tassa 0becf8fd98 Remove unused headers in test files. 
PiperOrigin-RevId: 520610859
Change-Id: I5ac906b422a7c02737af85f6a2aea46206f0cb28
 2023-03-30 05:26:33 -07:00
Yuval Tassa 1d6a9e09bb Don't save body pos if "0 0 0". 
PiperOrigin-RevId: 520598416
Change-Id: I5bb6ffaec386f228ac7a5fa221822000635900ae
 2023-03-30 04:09:22 -07:00
Yuval Tassa 3f9defa8d0 Don't save an empty <default/> section. 
PiperOrigin-RevId: 520594748
Change-Id: Ib5e1eb3a93e9d579adeda1052a2c29d724d6b497
 2023-03-30 03:51:14 -07:00
Yuval Tassa ddfcd3b325 Don't save body gravcomp if 0. 
PiperOrigin-RevId: 520592156
Change-Id: Ifb85c1e78498877bc576cfca224c41b3cf47c9ab
 2023-03-30 03:34:04 -07:00
Nimrod Gileadi e4d27d4b90 Remove unnecessary null check. 
This checked that individual char arrays in the MJCF schema were not null, which would never really happen, and triggered some compiler warnings

PiperOrigin-RevId: 520348916
Change-Id: Ic8b82737460ed3bcf44d9629cd0c7de5782bee8c
 2023-03-29 08:54:15 -07:00
Yuval Tassa 7951b4597f Improve favicons for iOS and Android. 
PiperOrigin-RevId: 520336136
Change-Id: I002393b49a42ce257b3d36942203c0acadc01685
 2023-03-29 08:01:55 -07:00
Yuval Tassa 045609c704 Add high-res readthedocs favicons for iOS and Android. 
PiperOrigin-RevId: 520324992
Change-Id: If22c228eee50570c63357f08b8cd1eab2fab55f8
 2023-03-29 07:06:34 -07:00
Yuval Tassa 24b9bf9bc7 Lint doc/conf.py 
PiperOrigin-RevId: 520317031
Change-Id: I33fb5bdc8344a6a69e4c3d3038b52ece81c73000
 2023-03-29 06:23:11 -07:00
Yuval Tassa 2127d0bb3f Improvements to API TOC 
PiperOrigin-RevId: 520284861
Change-Id: Iac8c05d6d18f1e7f89728c5c5f5aa6395d0a1899
 2023-03-29 03:21:43 -07:00
Yuval Tassa 62aa38f5f1 Reduce size of ellipsoidinertia image in changelog. 
PiperOrigin-RevId: 519203289
Change-Id: Ia23cd9429d8266a7e293ae9310609724276d1d12
 2023-03-24 12:00:27 -07:00
Yuval Tassa d6f2dd143d Avoid variable name shadowing in all engine source files. 
PiperOrigin-RevId: 519179975
Change-Id: I2f9269cd88857b9e758c63978b20f9c9dd17207e
 2023-03-24 10:33:42 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -07:00
Yuval Tassa 2a471d1e11 Standardize docstrings in mjmodel.h 
PiperOrigin-RevId: 519139821
Change-Id: I5a28c7415870012de1e219d2d00ea4ea9a495ec7
 2023-03-24 07:38:39 -07:00
Yuval Tassa 3620376d81 Add model used for testing UI for stacking. 
PiperOrigin-RevId: 519137042
Change-Id: Id16ea2735ea2f853c927fc6f88a9284b2f5aee95
 2023-03-24 07:23:29 -07:00
Nimrod Gileadi 5322291d38 Add a test for fusestatic 
PiperOrigin-RevId: 519112654
Change-Id: Ic15f9d572c281efb0e0b23b2f99e11a880275851
 2023-03-24 04:48:04 -07:00
Yuval Tassa 15ec12b296 Use mju_symmetrize in engine_derivative.c 
PiperOrigin-RevId: 519111361
Change-Id: I3125538dee70eebca7e1e9e7830bde7863be956f
 2023-03-24 04:39:00 -07:00
Kevin Zakka 5bc497cdf7 Fix a typo in mjvisualize.h. 
PiperOrigin-RevId: 518940577
Change-Id: Iedb0c54cfde3ee01a99a4a706f9ff6833ad3333c
 2023-03-23 13:00:26 -07:00
Nimrod Gileadi 0e7e299bf6 Declare loop variables inside for loop in C++ files. 
PiperOrigin-RevId: 518852339
Change-Id: I0174d873d89e48f11b816d337728f213c2798248
 2023-03-23 07:22:36 -07:00
Nimrod Gileadi 145fe7f354 Declare loop variables inside for loop declaration where possible. 
PiperOrigin-RevId: 518846098
Change-Id: Icdb2e5894bd80110552e29270472eeb242e6cf2c
 2023-03-23 06:49:09 -07:00
Yuval Tassa ce6c9053e2 Fix bug in engine_derivative.c 
- The inner loop was reusing and modifying an outer loop variable.

PiperOrigin-RevId: 518843275
Change-Id: I922f8768c4e8ef74c2fb2b1fd897de8234336acf
 2023-03-23 06:32:31 -07:00
Yuval Tassa 0036f4e7ee changes to test/testdata/model.xml 
PiperOrigin-RevId: 518515153
Change-Id: If645f1799a171a385248fa8196b5c41dddcc4540
 2023-03-22 02:43:53 -07:00
Nimrod Gileadi a01318712c Fix a couple of comment typos. 
PiperOrigin-RevId: 518347854
Change-Id: I552554fff199ce244b7b364cf0b0486058de0e22
 2023-03-21 12:27:53 -07:00
Nimrod Gileadi 8a402631a3 Add another test for sizes of arena pointers in mjData. 
PiperOrigin-RevId: 518224754
Change-Id: I034f6778dedeeef49d2bb4a06337044469450f40
 2023-03-21 03:39:19 -07:00
Kyle Bayes dfd463cdb5 Reset nnzJ in resetData. 
PiperOrigin-RevId: 517976421
Change-Id: I329c0096d368062f150c6dbeec181f5b0eeefcbf
 2023-03-20 08:33:36 -07:00
Nimrod Gileadi e58d53e747 Update changelog.rst for version 2.3.3 
PiperOrigin-RevId: 517932202
Change-Id: I55063e9bc5da2d424b1ad303834d8f11cb0a0fa9
 2023-03-20 04:40:15 -07:00
Nimrod Gileadi 33a2ce73d4 Update MuJoCo version to 2.3.3. 
PiperOrigin-RevId: 517931617
Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9
 2023-03-20 04:36:09 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Yuval Tassa fae5e822c0 Add links to default attributes. 
PiperOrigin-RevId: 517639045
Change-Id: I45f766bda8ce5bd182ba2669c4121c21896d40c1
 2023-03-18 07:07:01 -07:00
DeepMind c34826ef1a mujoco.renderer.render to output copy of pixel array. 
Previously, it returned a view into the internal rgb array, which can be confusing to the user.

PiperOrigin-RevId: 517630186
Change-Id: Ibc1e86b6b6345269523bb4c82c37dd325961a8ec
 2023-03-18 05:30:46 -07:00
Yuval Tassa d97ff39e86 Improvements to schema table. 
- Schema table now has attribute links and is open by default.
- Attributes are in 4 columns.
- Fixed various documentation bugs made visible by this change.
- Removed distance equality constraint from xml_native_reader.cc

PiperOrigin-RevId: 517558035
Change-Id: Ibc7715587dd4e72253231bfd55bd037f0193b3fd
 2023-03-17 18:57:34 -07:00
Nimrod Gileadi c6ab23d6b4 Add a missing mjITEM_END when creating the UI for the collision tree. 
This fixes #774.

PiperOrigin-RevId: 517469175
Change-Id: I24a127c59f4a8dd7a5b306558425b90a80ec44f3
 2023-03-17 11:51:06 -07:00
Saran Tunyasuvunakool 7a0def9791 Add viewer.launch_passive and mjpython to the changelog. 
PiperOrigin-RevId: 517458183
Change-Id: Idaa39fed2ab9d4a82b92b7a1a1cefb80b5b36fcf
 2023-03-17 11:09:27 -07:00
Yuval Tassa 7bff68dac8 Fix syntax of permalinks. 
PiperOrigin-RevId: 517428359
Change-Id: I1409f91ca3b82116464b264c1b798807636506f0
 2023-03-17 09:12:54 -07:00
Saran Tunyasuvunakool 7b91567585 Exit mjpython if any pthread function call fails. 
PiperOrigin-RevId: 517401871
Change-Id: I2050769085690d50d331f2955ed1e09ca4c8414c
 2023-03-17 06:58:26 -07:00
Yuval Tassa 62d200db33 Improve mid-phase images in changelog. 
PiperOrigin-RevId: 517390561
Change-Id: Ib2775a5590bc5d03cf7cec1112659829d0dc8ce8
 2023-03-17 05:38:39 -07:00
Saran Tunyasuvunakool 0c4e191dd6 Compatibility fixes for mjpython. 
- Find Python functions in the interpreter binary itself rather than trying to find libpython.dylib, because this doesn't exist when using Conda. (https://github.com/conda-forge/python-feedstock/issues/595#issuecomment-1311275470)

- Increase the stack size of both the Python main thread and the OS main thread to 16MiB, to match what Python normally uses on macOS. (https://github.com/python/cpython/blob/3.11/configure#L11038)

- Check whether dlfcn and pthread function calls actually succeeds. Emit error messages and exit on failure rather than continuing the program (which generally leads to segfaults).

- Fix pixelated shadow in the icon.

PiperOrigin-RevId: 517390522
Change-Id: Ib91679b4baa63bac5f6b5893e634712d72161ea5
 2023-03-17 05:37:35 -07:00
Nimrod Gileadi 08027b4e43 Only use -Wgnu-empty-initializer on Clang and not GCC. 
Broken by ee566eb880.

PiperOrigin-RevId: 517390165
Change-Id: Ibd8ec46647873050899cffe435e3f5c293279aae
 2023-03-17 05:35:16 -07:00
Alessio Quaglino ee566eb880 Remove empty initializers to ensure MSVC compatibility. 
Add -Wgnu-empty-initializer to Clang builds to catch this issue in the future. Initialising arrays with empty braces is not part of the C standard and fails on MSVC. This commit should catch the issue earlier by detecting it in Clang.

PiperOrigin-RevId: 517373961
Change-Id: I518006e84151e8d5b45a7fe00ba7675dfb031ca0
 2023-03-17 04:02:24 -07:00
Alessio Quaglino 70959c1a2c Added a collision midphase on geom pairs using rotated AABBs static trees. 
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
 2023-03-17 02:37:29 -07:00