8f768be2da
Remove solver_nisland field from mjData.
...
PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
2025-04-23 03:27:41 -07:00
440ce5eb7a
Update the version number to 3.3.2 following the 3.3.1 release.
...
PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
2025-04-10 13:17:20 -07:00
699ad13a72
Merge pull request #2503 from Andrew-Luo1:rscope
...
PiperOrigin-RevId: 745266549
Change-Id: I15d2eb992aae643ac096650693cc0750421f14c6
2025-04-08 13:21:47 -07:00
65500cfbdc
improve variable and function names
2025-03-30 22:19:55 -04:00
e272e46770
Rename simulate "copy pose" button to "copy state", also save "qvel', ctrl, mpos and mquat if present. SHIFT-click will save values at full precision.
...
Example formatting:
```
# default precision
<key
time="2.99"
qpos="9.4287e-07 3.02972e-07 1.19963 0.999999 -9.3978e-06 0.00102591 8.06948e-06 -0.000337469 -0.000182994 -0.00282448 -0.000358084 -0.00370829 0.0631084 0.0996347 -0.00161963 0.0260658 -2.09992 -0.00459387 0.0474729 -0.0171906 0.0018216 0.72549 0.00133026 0.724951 0.000816735 0.724389 0.000454671 0.724 -0.00146646 -1.12233e-05 -0.0995942 0.00159877 0.0261695 -2.09993 0.00458912 0.0473279 0.0171317 0.00177837 0.725447 0.00131597 0.724941 0.00081406 0.724393 0.000465918 0.72402 -0.00140271 -1.42355e-05 0.0949171 0.0790632 -0.461397 1.02664 -9.42133e-05 -0.55539 -0.0952333 -0.0790705 -0.460978 1.02899 8.38339e-05 -0.671707 0.401772 0.197427 1.00101 0.999979 0.00125793 -0.00100982 -0.00631542"
qvel="0.000132784 3.49155e-05 0.000536692 -0.000560519 -0.0242142 0.00693928 0.00119816 -0.000234844 0.00350923 -0.00036047 0.00137217 0.026605 0.000647559 -0.000813737 0.00151335 0.00158296 -0.000628786 0.0184574 -0.000751955 8.75972e-05 0.00017462 9.47749e-05 0.00018949 7.40435e-05 0.000170318 -2.65743e-05 5.67808e-05 0.000256585 -8.77605e-05 -0.00070146 5.90881e-05 0.00186213 0.00150788 0.000645196 0.0183261 -0.00189709 0.000234144 0.000180699 0.00020344 0.000161977 0.000154203 0.000127231 2.28526e-05 -2.85628e-06 0.000232213 2.32483e-05 -0.000415728 0.000285987 0.00873081 0.00361353 5.70155e-05 0.000316513 -0.00778618 0.00404914 -0.0239508 -0.0375704 -0.000528571 4.92965 3.51479e-15 -4.54231e-16 -9.39907e-15 -7.5733e-14 -1.54433e-14 8.71183e-14"
ctrl="0 0 0 0 0 0 0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 -0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 0.1 0.08 -0.477 1.033 0 -0.556 -0.1 -0.08 -0.477 1.033 0 -0.556"
mpos="0.5 0 0.5 0.5 0 0.5 0.5 0 0.5"
mquat="1 0 0 0 1 0 0 0 1 0 0 0"
/>
# full precision
<key
time="19.78000000000035 "
qpos="-5.456931939182209e-13 4.210058291674657e-14 1.199596868198444 0.9999997705632744 -1.123107929038176e-05 -0.000677308838908712 -4.574736052563342e-13 4.81467762006399e-06 -0.0001470530836508491 -0.01285126600561344 -0.0003314670141921113 -0.003753266058087929 0.06165064101255623 0.01573179146576803 -3.013291189105153e-05 0.00898818165332332 -0.0005543865919957537 0.001960768693378906 0.003171337599202657 0.05998529721754536 -0.006869809693640725 0.7108455550986151 -2.768022862919269e-05 0.7234287700347743 -2.65358465809282e-05 0.7234305602907817 -2.427451970418236e-05 0.7234340023869628 0.0001444026830625057 0.004779116304496144 -0.01556918200171751 2.367030531882565e-05 0.00887857821391661 -0.0005393749458389281 -0.002002170464405725 0.004065365245773832 -0.059404381452836 -0.006700853036263364 0.7112073591870905 -2.793780628594305e-05 0.7234283783336887 -2.67570932686378e-05 0.7234302250735107 -2.446320244250625e-05 0.7234337167312712 0.0001441442525519209 0.004776981844081063 0.001964241516442131 -0.001279289930183057 0.0009901921906584617 0.005102724602622095 -0.0001969944416873799 0.0006055390861509305 -0.001981889349334628 0.001289775046291938 0.0009924227912350586 0.005084179458414934 0.0001970337430004949 0.0006055492125132441 0.4000059982468001 0.2000006330421453 1.001005166968155 0.9999986986616857 0.001264259603338192 -0.00100188514175821 -2.342548568520312e-05"
qvel="8.028421913635349e-14 -7.933623204015651e-15 -1.766955416585763e-09 -1.242788325114248e-10 1.380680257623891e-08 4.072776622758517e-13 -2.152263214542579e-08 -3.878177040643757e-09 -7.698904695669224e-07 1.032750347898222e-09 -1.203279562630678e-09 -7.551458300921444e-08 2.469496246057255e-06 8.917880101195273e-08 -6.756803792056489e-06 -2.872076666906819e-06 1.785650772865195e-06 -5.01959632083366e-06 -5.599940213931672e-06 8.890181416091634e-07 1.64456042549838e-06 -1.371426840474208e-09 -2.120678515220117e-09 -2.024654983099582e-09 -3.146661587304676e-09 -2.584650818327909e-09 -4.007447393764789e-09 3.46515937628953e-09 1.271775029987075e-08 -2.488928508740539e-06 -8.746797042033161e-08 -6.8499144406484e-06 -2.901446048768352e-06 -1.790798673741401e-06 -5.013863339758384e-06 5.931327072492727e-06 9.379458926032098e-07 1.728266244061688e-06 -1.546731198107214e-09 -2.391411625987869e-09 -2.205072839286403e-09 -3.425520861505272e-09 -2.768770278332858e-09 -4.29204657928239e-09 3.77970711367913e-09 1.210836106515995e-08 2.48779855243758e-07 1.794262457563144e-08 2.425338558609319e-07 -4.490996387632652e-09 1.5470867213074e-10 -1.056275279772894e-10 -2.528203830071622e-07 -1.984360361016969e-08 2.432485190492325e-07 -4.490126811319184e-09 -1.553085076375719e-10 -1.050844929338509e-10 -5.03087850573677e-15 -3.069973955284326e-15 1.263049899085103e-14 -2.132657422360499e-13 1.240631051776082e-14 7.346260313161907e-14 "
ctrl="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 "
mpos="0.5 0 0.5 0.5 0 0.5 0.5 0 0.5 "
mquat="1 0 0 0 1 0 0 0 1 0 0 0 "
/>
```
PiperOrigin-RevId: 741427042
Change-Id: Ib33f3e6215b7933d9267fc4c222d7a0abc75dbb4
2025-03-28 00:38:19 -07:00
97092facd6
resolve PR comments
2025-03-27 19:35:36 -04:00
f02fdfe2d1
add handles for text and image overlays
2025-03-14 21:41:28 -04:00
06e217df7e
[MJ3.3.1] Bumping internal version number.
...
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
2025-02-27 14:53:28 -08:00
9996500de9
update the version number to 3.3.0 instead of 3.2.8
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PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
2025-02-26 11:42:55 -08:00
37d7591ce0
Add support for user-defined figures in the MuJoCo viewer.
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PiperOrigin-RevId: 726983516
Change-Id: Ifb821f3cafb163d4f3077d76b0668037b4bc5a9c
2025-02-14 10:45:47 -08:00
6436055c6c
Update the version number to 3.2.8 following the 3.2.7 release.
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PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
2025-01-15 11:13:27 -08:00
c90a63a926
Update the version number to 3.2.7 following the 3.2.6 release.
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PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
2024-12-02 15:30:52 -08:00
276f5b04cd
Bump MuJoCo version to 3.2.6.
...
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
2024-11-05 14:13:08 -08:00
ffdb800e45
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
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PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
2024-10-16 14:24:06 -07:00
c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
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PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
c5a677a9de
Fix load error message. Fixes #2135
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PiperOrigin-RevId: 685668168
Change-Id: Ieac7ccca5bee695cf55fc74bd33fadf77a025cb9
2024-10-14 05:10:58 -07:00
395129bbd3
Improvements to lighting and replication logic in humanoid.xml and 22_humanoids.xml.
...
Minor fix to memory usage printing in simulate.
PiperOrigin-RevId: 683787943
Change-Id: I0a42dacc8af0e659c3817df57bceb76d9e4d5ae3
2024-10-08 15:36:22 -07:00
d3a1ca72d8
Report memory usage in simulate using percentage rather than decimal fraction.
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PiperOrigin-RevId: 683098469
Change-Id: I7310848fb87e040996fcfc24991d45bf55872993
2024-10-07 02:37:58 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
cf3e60f9a4
Fix load time reporting in simulate.
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Before this change, a model which took more than 1/4 seconds to load caused the simulation to pause, which is a behavior that is only supposed to occur for models that loaded with a warning.
PiperOrigin-RevId: 665786861
Change-Id: Ie3a6c8d18a6abbb425a0bbcc5a8e55d5fd7a0c72
2024-08-21 02:54:10 -07:00
2c56946547
Increase mjVERSIONSTRING to 3.2.3 after release.
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PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
2024-08-08 10:31:57 -07:00
ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
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PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -07:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
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PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -07:00
24a555062d
Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.
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- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.
PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
2024-07-30 08:41:59 -07:00
f62792594f
Add a new disable flag mjDSBL_AUTORESETNAN.
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PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
2024-07-22 03:22:41 -07:00
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
3d1d1d0718
Multithreaded mesh compilation.
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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
2024-07-11 04:21:49 -07:00
17f6b12930
Report model load time in simulate if it takes more than 0.5 seconds.
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PiperOrigin-RevId: 650933302
Change-Id: Id33aa9935a6b4f493dfa9a913f8a424b3f387fa1
2024-07-10 02:56:47 -07:00
1601ab6078
Remove Makefiles. Fixes #402
...
These are no longer needed, as the open-source build uses CMake.
PiperOrigin-RevId: 648340374
Change-Id: Ibc704ca3aaab1c48d245e24b071bed6cd846c110
2024-07-01 05:51:47 -07:00
44be878e7e
Enable inter-procedural optimization by default in cmake
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PiperOrigin-RevId: 647336693
Change-Id: I44acf48ed9825dd3e71b06f2aca581cdb17dce34
2024-06-27 09:05:49 -07:00
5a513a0afb
simulate improvements
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- Add RGBA color editing for visualization
- Make some separator sections closed by default
PiperOrigin-RevId: 646502122
Change-Id: Id863d983b7fb53e6bbe86a92833876e40b74a5d8
2024-06-25 09:16:25 -07:00
ee6a1dba28
UI improvements. Fixes #1274 .
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Copybara import of the project:
--
a1297d997d0b3cc624bbd1e704ffb7fbb2c5db9d by Emo Todorov <etodorov@gmail.com >:
UI imrovements
When OpenGL buffer size is too small to hold entire UI with all sections open, older sections (as determined by latest mouse click) are automatically closed as needed.
To test this new functionality, uncomment the test near the top of mjui_resize().
UI items now have userid, which can be used for event handling. It is set through the (new) last field of mjuiDef, called otherint.
Sections titles can now have a checkmark - in which case they are rendered differently. Set via mjuiDef.otherint: 0- none (as before), 1- rendering changed but box not shown, 2- box shown. This can be used to label sections of special interest to the application.
--
b0405bfb3005586ef1d2656ea9cc43c608225927 by Emo Todorov <etodorov@gmail.com >:
more ui improvements
Implemented mjPRESERVE state for adding sections and separators, so you don't have to keep track of old states.
simulate.cc is now modified to use this new functionality. I also made the separators in the Physics section collapsible. If you don't like it, change them back to state 1.
Also added functionality for handling section checkboxes.
--
10f4c49be62a6605a38b7c0c7bfae1629024ba31 by Emo Todorov <etodorov@gmail.com >:
even more ui improvements
Selection boxes that extend below the current UI height are finally rendered in full.
Sections and collapsible separators now have rounded corners. The radius can be controlled from theme spacing.
More theme color settings were added. In particular, color gradients can now be disabled (the two end colors are set independently).
--
96c2dc601a25d31c93b21f8e089d349e729e829e by Emo Todorov <etodorov@gmail.com >:
final ui improvements
Cleaned up the code a bit.
Added more control for color gradients.
--
c9eddb679f36df3f0745d37e3fa90c4e66ee6b98 by Emo Todorov <etodorov@gmail.com >:
bug fix
Fixed some rendering bugs in the new functionality.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1749 from emotodorov:ui_improve ddfc21dbcf0482b8f0d5eacab21847c302f71440
PiperOrigin-RevId: 646060325
Change-Id: Idb27aae7cd0311d00f26387bcadf5891175e867d
2024-06-24 05:33:51 -07:00
3f3b39bbb1
Fix type-related issues in dependent code. Remove hardcoded mjUSEDOUBLE. Add mjUSESINGLE compiler flag.
...
This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.
PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
2024-06-19 10:52:18 -07:00
6a532fc53e
Fix bug in simulate noise injection logic.
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Noise injection was occurring at every iteration of the physics thread, rather than before every call to `mj_step`, leading to time-step-dependent noise rate.
- Moved the logic from main.cc to a `Simulate::` method, called before `mj_step`.
- Reduced the maximum time-scale slider value back to 4 seconds (recent increase was due to this bug).
PiperOrigin-RevId: 643350296
Change-Id: I96832905e6614f92ac725298b16fcabe64ea1df1
2024-06-14 08:13:24 -07:00
c9bcf8371e
Add mj_setKeyframe function to save current state in k-th model keyframe.
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Fixes #1719 .
Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.
PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
2024-06-12 09:22:52 -07:00
f37f840880
Improvements to control noise in simulate:
...
- Use `ctrl` as filter state rather than external preallocated buffer.
- Scale and clip to control ranges.
- Exponential decay to the middle of the range.
- Scale is now [0 1] (scaled to range).
- Rate is now [0 20].
PiperOrigin-RevId: 642586333
Change-Id: Id45a0420736a6edcf09be1db53d9320e7df2c668
2024-06-12 05:35:41 -07:00
07fc95ca9a
Add orthographic cameras.
...
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
2024-06-11 09:23:18 -07:00
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
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PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
225619c964
Update MuJoCo internal version to be the external version +1
...
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
2024-04-10 14:32:54 -07:00
d90d57609e
Copybara import of the project:
...
--
4883e8aacd531d8dbc3551ba7cb4e3b4694dda1e by Silvio Traversaro <silvio@traversaro.it >:
Fix plugin related comment in simulate
The comment was outdated after https://github.com/google-deepmind/mujoco/commit/2ebc5f097b1a5fbbe276250ad1d13966510d1291 .
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1499 from traversaro:patch-37 4883e8aacd531d8dbc3551ba7cb4e3b4694dda1e
PiperOrigin-RevId: 615005350
Change-Id: I93d746f996de25b871cc1bc5651308d44382feef
2024-03-12 05:33:33 -07:00
106453fa2b
Updated version number to be (v3.1.4) ahead of current release (v3.1.3)
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PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
2024-03-06 09:07:25 -08:00
55e2c76c01
Use mj_resetDataKeyframe when loading key frames in simulate.
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PiperOrigin-RevId: 608209431
Change-Id: I1ee78c837cbc098144143b90e8c0b4618568c9cf
2024-02-18 20:49:09 -08:00
f763254a00
Updating Mujoco Release version number to v3.1.3
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PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
2024-02-05 15:59:20 -08:00
eb844a4b77
When computing suitable initial font scale for a display, let 250% be the maximum size. Workaround for #1274 .
...
PiperOrigin-RevId: 603791510
Change-Id: I37aa3431dcaf42dae8daa77ed87e108ca4d78ea0
2024-02-02 14:41:12 -08:00
914a001753
Update UI when rendering flags are changed via user_scn.
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PiperOrigin-RevId: 603679619
Change-Id: If094836f97c8086a7f70bd235b8c8cc8ab69c639
2024-02-02 07:16:37 -08:00
7bb0ce4211
[Python Viewer] Allow users to override rendering flags via user_scn.
...
Fixes #1190
PiperOrigin-RevId: 603672602
Change-Id: I3ff1bb0dca7e913b36f1b241aaea8b8bb95cadff
2024-02-02 06:39:08 -08:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
...
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
4c066a26b5
Change mjVISSTRING of connect and weld equality constraints from "Constraint" to "Equality". This is more consistent with the 'E' shortcut key and with mjDISABLESTRING ("constraint" means all constraints, "equality" means bilateral constraints).
...
Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.
PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
2023-12-24 12:06:59 -08:00
7fb448613f
Post release version update: Update to V3.1.2
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PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
2023-12-18 15:03:37 -08:00
Yuval Tassa