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
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
ebb150fa3d
Change docs preferred monospace font to Inconsolata
...
PiperOrigin-RevId: 521425957
Change-Id: Ie3014b924fbf711ce643f1e555aa723b85383023
2023-04-03 04:53:38 -07:00
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
64229c089a
Cosmetic improvements to public headers.
...
PiperOrigin-RevId: 521415262
Change-Id: Iee5d6baec78242f5a033c8b5cdd285af4a0895fa
2023-04-03 03:49:24 -07:00
5f132af625
Add midphase and broadphase statistics to mjData.
...
PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
2023-04-03 00:59:59 -07:00
c29f32657c
Fix broken links in the documentation.
...
PiperOrigin-RevId: 520657874
Change-Id: Idd01c40f87e0f2afcbd2d2bfd98fab95edc2371e
2023-03-30 09:18:06 -07:00
3fd5164524
Fix heading level of function types.
...
PiperOrigin-RevId: 520653499
Change-Id: I8b5265b9a9b43eab40616a78570f558ff85e4ec8
2023-03-30 09:00:46 -07:00
7951b4597f
Improve favicons for iOS and Android.
...
PiperOrigin-RevId: 520336136
Change-Id: I002393b49a42ce257b3d36942203c0acadc01685
2023-03-29 08:01:55 -07:00
045609c704
Add high-res readthedocs favicons for iOS and Android.
...
PiperOrigin-RevId: 520324992
Change-Id: If22c228eee50570c63357f08b8cd1eab2fab55f8
2023-03-29 07:06:34 -07:00
24b9bf9bc7
Lint doc/conf.py
...
PiperOrigin-RevId: 520317031
Change-Id: I33fb5bdc8344a6a69e4c3d3038b52ece81c73000
2023-03-29 06:23:11 -07:00
2127d0bb3f
Improvements to API TOC
...
PiperOrigin-RevId: 520284861
Change-Id: Iac8c05d6d18f1e7f89728c5c5f5aa6395d0a1899
2023-03-29 03:21:43 -07:00
62aa38f5f1
Reduce size of ellipsoidinertia image in changelog.
...
PiperOrigin-RevId: 519203289
Change-Id: Ia23cd9429d8266a7e293ae9310609724276d1d12
2023-03-24 12:00:27 -07:00
3f14d97f6b
Add equivalent inertia ellipsoid visualization.
...
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
2023-03-24 08:47:43 -07:00
2a471d1e11
Standardize docstrings in mjmodel.h
...
PiperOrigin-RevId: 519139821
Change-Id: I5a28c7415870012de1e219d2d00ea4ea9a495ec7
2023-03-24 07:38:39 -07:00
5bc497cdf7
Fix a typo in mjvisualize.h.
...
PiperOrigin-RevId: 518940577
Change-Id: Iedb0c54cfde3ee01a99a4a706f9ff6833ad3333c
2023-03-23 13:00:26 -07:00
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
e58d53e747
Update changelog.rst for version 2.3.3
...
PiperOrigin-RevId: 517932202
Change-Id: I55063e9bc5da2d424b1ad303834d8f11cb0a0fa9
2023-03-20 04:40:15 -07:00
33a2ce73d4
Update MuJoCo version to 2.3.3.
...
PiperOrigin-RevId: 517931617
Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9
2023-03-20 04:36:09 -07:00
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
fae5e822c0
Add links to default attributes.
...
PiperOrigin-RevId: 517639045
Change-Id: I45f766bda8ce5bd182ba2669c4121c21896d40c1
2023-03-18 07:07:01 -07:00
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
7a0def9791
Add viewer.launch_passive and mjpython to the changelog.
...
PiperOrigin-RevId: 517458183
Change-Id: Idaa39fed2ab9d4a82b92b7a1a1cefb80b5b36fcf
2023-03-17 11:09:27 -07:00
7bff68dac8
Fix syntax of permalinks.
...
PiperOrigin-RevId: 517428359
Change-Id: I1409f91ca3b82116464b264c1b798807636506f0
2023-03-17 09:12:54 -07:00
62d200db33
Improve mid-phase images in changelog.
...
PiperOrigin-RevId: 517390561
Change-Id: Ib2775a5590bc5d03cf7cec1112659829d0dc8ce8
2023-03-17 05:38:39 -07:00
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
d59a919ef6
Minor style fixes.
...
PiperOrigin-RevId: 517193740
Change-Id: I093e57efa1480e5d1d6053493b665e145f9b3f87
2023-03-16 12:24:06 -07:00
e20ab6c96f
Add a number of missing struct fields to Python bindings.
...
It is quite possible that there are a few other fields still missing since we currently do not yet have automated testing of struct field existence.
Fixes #747 .
PiperOrigin-RevId: 517189048
Change-Id: I7c1d95e700eaea05aaa3cde1fd05e1a259553117
2023-03-16 12:05:50 -07:00
a04c4314fd
Merge pull request #770 from jonas-eschmann:patch-1
...
PiperOrigin-RevId: 517174871
Change-Id: I9a52f6bc79777fb7d987eaf057185d9c0e87e477
2023-03-16 11:15:11 -07:00
1731baa925
Add links to all attributes in XMLreference.rst
...
PiperOrigin-RevId: 517158584
Change-Id: Ia50a2840049e1c5c24eb2f571483d65537276296
2023-03-16 10:22:53 -07:00
448ab1a299
More consistent formatting of mjdata.h
...
PiperOrigin-RevId: 517142236
Change-Id: I3ee93e10b843cb3f3a73a6a19e6b96f23be05cc3
2023-03-16 09:23:53 -07:00
8c7f6ce5a0
New implicitfast integrator and sparse RNE derivatives for implicit.
...
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:17:41 -07:00
1fa538a43b
Fixing typo in the documentation
2023-03-15 16:10:50 -04:00
056e849273
Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices.
...
PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
2023-03-15 06:56:16 -07:00
fe18e58ad2
Rendering of mjGEOM_LINE respects size[0] (width argument of mjv_makeconnector), denominated in pixels.
...
- Before this change, line width was hardcoded to 3 pixels and the width argument of mjv_makeConnector was ignored.
- After this change, the width argument is respected and interpreted in units of pixel. The non-standard width unit is ok since lines can only be drawn programmatically.
PiperOrigin-RevId: 516529265
Change-Id: I27bffabba69cde415d2ada67263a887c9240efbf
2023-03-14 08:17:36 -07:00
972770ba55
Improve order of sections in APIfunctions.rst
...
PiperOrigin-RevId: 516518339
Change-Id: I84e973e6f9034a5d24f20791c13b3880fedde46c
2023-03-14 07:26:29 -07:00
2f0fb1e4ef
Workaround for broken VSync in Simulate on macOS.
...
OpenGL VSync became broken again in macOS 13 (https://github.com/glfw/glfw/issues/2249 ). This workaround is similar to https://github.com/glfw/glfw/pull/2277 but is implemented entirely outside of GLFW.
PiperOrigin-RevId: 516320722
Change-Id: Ib8a651a942f592c74e00ad3c7b22f2dfd156be5f
2023-03-13 14:19:17 -07:00
c16d4d0d25
Move mjtByte definition from mjmodel.h to mjtnum.h.
...
PiperOrigin-RevId: 516193927
Change-Id: Idbba21119ef2f7da3ab6f6f21611a757658aad23
2023-03-13 06:38:46 -07:00
b4d29abfc1
Add table of contents to API Functions documentation page.
...
PiperOrigin-RevId: 516191825
Change-Id: I792aa72e748443a3f422d0b6cf65a2803f3ec012
2023-03-13 06:26:52 -07:00
2f03da740a
Fix typos.
...
PiperOrigin-RevId: 516135725
Change-Id: I094f6af5d3ef8dd6a93430c09c61f29c23f55e02
2023-03-13 01:01:45 -07:00
c57a588ab5
Re-organise API data structure documentation.
...
PiperOrigin-RevId: 515515875
Change-Id: I743a0409eb9b867249a90d5c1cb4d77bacade4dc
2023-03-09 20:24:32 -08:00
d3d789cf7d
Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated.
...
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
2e6a37e8c5
Changelog: Move the image under the "Simulate" heading.
...
PiperOrigin-RevId: 514666433
Change-Id: Ief3f10260fb071412fdd0d4b481fb10ee99b71ff
2023-03-07 02:09:16 -08:00
93b4d4981d
Merge pull request #758 from PeterMitrano:main
...
PiperOrigin-RevId: 514385239
Change-Id: Ie85f355f1bdcd0b81ff228b71685e37552f679ea
2023-03-06 06:38:00 -08:00
ed52b4084e
Add missing affine gaintype to XMLreference.
...
PiperOrigin-RevId: 514359011
Change-Id: I96668ed20dbb20b4d2b60a08eb71286bdfe5fe37
2023-03-06 06:37:26 -08:00
367c254f54
Remove .cc suffix from sample code titles.
...
PiperOrigin-RevId: 514342526
Change-Id: I4484b70e1c4da7dc98e362cfef16195224d0c65e
2023-03-06 06:37:10 -08:00
49dd6b4193
Clean up mj_id2name and mj_name2id.
...
PiperOrigin-RevId: 514340647
Change-Id: Idf895b2d7a4a8833725afbe5c71c777081b42d9e
2023-03-06 06:36:48 -08:00
fa4c55a21a
found another potential typo
2023-03-06 02:09:35 +00:00
277be19c5c
fix potential typo
2023-03-06 02:06:56 +00:00
fd1070cf03
Delete remaining code related to now-removed distance equality constraint.
...
PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
2023-03-01 17:57:54 -08:00
Yuval Tassa