The previous commit missed out some recent changes in the internal repo. This commit brings the public GitHub repo in sync.
PiperOrigin-RevId: 450377010
Change-Id: I59a68ae4a39c5cd5ed5f7df77ba870273243d623
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
- Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
- Damping and fluid-drag passive forces.
- Actuation forces.
A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost.
PiperOrigin-RevId: 450377010
Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
NumPy arrays with an empty shape cannot be assigned via the usual syntax.
Fixes: #238.
Related: #237.
PiperOrigin-RevId: 441265437
Change-Id: Ib0de22c83f9babe9a97682dc5a32660c198ad68c
GCC's linker drops dependency on libGL because neither MuJoCo, GLFW, nor the sample applications themselves explicitly depend on OpenGL symbols.
PiperOrigin-RevId: 439372170
Change-Id: I122d1d9658484e901f422d35395ad5929c7a9021
This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.
Fixes#217.
Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
- Rename "set key", "reset to key" to "save key" and "load key", respectively.
- Change bindings of F6 and F7 from the not very useful "vertical sync" and "busy wait" to the more useful cycling of frames and labels (as in Domain Explorer).
PiperOrigin-RevId: 438017260
Change-Id: I6d67e99f785f2777e131c591188f554722af7f49
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
- Add '[' and ']' to cycle through fixed cameras.
- Remove options to step backwards or step 100 steps forwards or back.
- Add missing elements from built-in help.
- Reorder help strings.
PiperOrigin-RevId: 436497103
Change-Id: I9f910ea328c859239b46c9d7a47e4ee16a43f1ad
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
Also make minor modifications to Python bindings code for GCC compatibility.
Fixes#191.
PiperOrigin-RevId: 435127640
Change-Id: I8bd3a35bbb2724a24341072ba8df3da4372f83d3
- Fix typos and broken links.
- Add documentation for functions introduced in 2.1.1.
- Add copyright header to `FLV.m` and remove `hello.c`.
- Update documentation for `mj_ray` and `mj_contactForce`.
- Delete out-of-date comments in `XMLreference.rst`.
- Add geom:size table to `XMLreference.rst`.
PiperOrigin-RevId: 425318966
This commit explicitly moves files around without modifying any content
so that Git can track them correctly.
Change-Id: I087d6d61d4e2d82ce06ad9ac0adf7327db94dd9c
Saran Tunyasuvunakool