 Copybara-Service
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a7a8a68be5
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Merge pull request #2496 from jjyyxx:patch-1
PiperOrigin-RevId: 736457846
Change-Id: I3b4b1554dd15e9ca73abee5c31d4758f694f5b44
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2025-03-13 04:33:45 -07:00 |
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Alessio Quaglino
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8e300eb628
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Update list ids immediately during body detach.
Fixes #2499.
PiperOrigin-RevId: 736449320
Change-Id: Ieeae52bdbbbb896d886221ab088229c8287a32a3
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2025-03-13 03:55:58 -07:00 |
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Tom Power
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8f4c5c4b16
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add support for non-rgb textures in xml_native_writer
PiperOrigin-RevId: 736221430
Change-Id: I83c19e06f0f7be054a88c3e894807e7b90ee012a
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2025-03-12 12:17:32 -07:00 |
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Google DeepMind
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5c3bab4d09
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Change default metallic value to 0, as per the XMLreference doc.
See https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-material-metallic
PiperOrigin-RevId: 736190166
Change-Id: Ic841df9510aff5df8f5ea3394732ab65b550aa65
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2025-03-12 10:54:29 -07:00 |
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Alessio Quaglino
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775c45c60e
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Do not lookup compiler options by name when attaching.
Also, fix a pre-existing bug that caused incorrect compiler option propagation with nested attachments.
Fixes #2480.
PiperOrigin-RevId: 736156202
Change-Id: Ib430493e8c60556c2312603198587b39de9b8a4a
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2025-03-12 09:18:47 -07:00 |
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Kyle Bayes
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995bbf0f0f
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Refactor and fold in code into Process in mjCMesh for caching.
PiperOrigin-RevId: 736052216
Change-Id: Ia0e055fd99ce429b9dee97f3f9effbf2fa1aa4f9
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2025-03-12 02:12:53 -07:00 |
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Copybara-Service
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b9a23e8d0c
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Merge pull request #2475 from lyd405121:main
PiperOrigin-RevId: 735789711
Change-Id: Iad5a52a0ba29baad31ba60f0243e3b88553e6e96
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2025-03-11 09:48:23 -07:00 |
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Yuxuan Jiang
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3884c86a14
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Fix broken model.vis repr
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2025-03-12 00:28:38 +08:00 |
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Yuval Tassa
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c5473d9923
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Print compilation time in sample/compile, allow compilation with no output.
PiperOrigin-RevId: 735692355
Change-Id: I4371f800ec150f8d665cf164b50a0e5a0b5ac082
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2025-03-11 03:25:51 -07:00 |
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Yuval Tassa
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de48f4178f
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Add missing term in mj_jacDot
PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
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2025-03-11 03:01:29 -07:00 |
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Yuval Tassa
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3b27f30827
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Added comment regarding numpy slices.
PiperOrigin-RevId: 735681812
Change-Id: I832219bb63c83ecd5115ac1d5755cd35b4362478
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2025-03-11 02:36:51 -07:00 |
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Yuval Tassa
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bd9d30adc7
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Improve documentation of mj_saveLastXML fixes #2075
PiperOrigin-RevId: 735672207
Change-Id: I951b8be9cf12a2a4965a40bb8db4de4ddda18570
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2025-03-11 01:57:46 -07:00 |
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Alessio Quaglino
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019e0a806c
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Throw an error if a child attached by reference to a parent is compiled.
Fixes #2482.
PiperOrigin-RevId: 735665098
Change-Id: Ia3436fdd2ff572f8f0c1ded434742a4a9186f2f7
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2025-03-11 01:24:17 -07:00 |
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Alessio Quaglino
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14dc6fd33b
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Do not use inertia during mesh compilation.
Fixes #2479.
PiperOrigin-RevId: 735387473
Change-Id: Ib241f2a0efc100bbe2cec24e0399bfcc87268094
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2025-03-10 08:35:33 -07:00 |
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Tom Power
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e7a715497e
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Write mesh inertia to defaults when exporting to xml. Fixes #2478
PiperOrigin-RevId: 735338748
Change-Id: Id0b71d06c77baef417f7968ae8a14154243a1f83
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2025-03-10 05:31:55 -07:00 |
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Alessio Quaglino
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adc3cc06fa
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Change private->public spec for error checking in mjCSkin recompilation.
Fixes #2485.
PiperOrigin-RevId: 735323174
Change-Id: Ifcc2055f6a74afaa18ad5228633f36f760adcffd
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2025-03-10 04:19:40 -07:00 |
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Kyle Bayes
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4d024f9421
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Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.
PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
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2025-03-07 05:17:49 -08:00 |
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Yuval Tassa
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e4ee00e695
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Link to Onshape to robot converter in top level README.
PiperOrigin-RevId: 734426561
Change-Id: I1e5005c97d111204b2277c4b4d1fca9b162d0628
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2025-03-06 23:16:22 -08:00 |
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Yuval Tassa
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a816ca6dd5
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Use qLDiagInv instead of qLD in engine_vis_interact.c
PiperOrigin-RevId: 734399015
Change-Id: I97c80a8b25dbd40e86560c328cc786a0bed6a2d1
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2025-03-06 21:15:36 -08:00 |
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Yuval Tassa
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109a223cf6
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Narrow some includes in src/user/
PiperOrigin-RevId: 734389490
Change-Id: I2834aadbbb38b396536e467c0dfea11dcc21972f
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2025-03-06 20:45:18 -08:00 |
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Alessio Quaglino
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e04e0e5c3d
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Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency.
PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b
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2025-03-06 08:28:36 -08:00 |
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Kyle Bayes
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37d6d7792a
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Fix bug with handling of invalid maxhullvert values (smaller than 4).
PiperOrigin-RevId: 734136442
Change-Id: I531e5a5b9244e026a9368e0d6a83d2b559c1b58d
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2025-03-06 07:33:41 -08:00 |
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Jake Harmon
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a0fc6b18b5
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Update references to JAX's GitHub repo
JAX has moved from https://github.com/google/jax to https://github.com/jax-ml/jax
PiperOrigin-RevId: 733951719
Change-Id: Iee4a7bf4bcc9fc3108ca9d30b6b98f5df20c79c7
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2025-03-05 19:25:00 -08:00 |
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Yuval Tassa
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0f563ecf31
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Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
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2025-03-04 17:34:35 -08:00 |
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Alessio Quaglino
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51f6aa8b43
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Store assets by address instead of value in MjSpec.
PiperOrigin-RevId: 733343350
Change-Id: I42ee2a184ebff37a080dace0422bb61e1ba53527
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2025-03-04 08:43:27 -08:00 |
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Yuval Tassa
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7d9df8c9a9
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Fill-in qM CSR matrix structure on mjData (currently unused).
PiperOrigin-RevId: 733258529
Change-Id: I903548ae60139e4858550194e1aedf0efa2f3033
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2025-03-04 03:20:11 -08:00 |
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Yuval Tassa
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c72c83aa3b
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Allocate qM CSR matrix structure on mjData (currently empty).
PiperOrigin-RevId: 733247419
Change-Id: I814e574e3161875e89433a6e03f2c9e200d8b1d6
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2025-03-04 02:37:47 -08:00 |
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Yuval Tassa
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8f37ae1bf2
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Add missing fields in mj_printData, don't print integration-related fields if identically zero.
PiperOrigin-RevId: 732917127
Change-Id: Ia5fe8e4b6c2485fcf4336847535c1cc72b9d6d62
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2025-03-03 07:34:14 -08:00 |
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蕉太狼
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56dda2b4de
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[Add Model] Make a flex with textured bunny
- Make a flex with textured bunny from disscution(https://github.com/google-deepmind/mujoco/discussions/2442)
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2025-03-03 16:45:43 +08:00 |
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蕉太狼
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e16354a527
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[New Model] Add a bunny with uv coordinate
- Using [UVAtlas](https://github.com/Microsoft/UVAtlas) to unwrap and generate from the [origin bunny](https://github.com/google-deepmind/mujoco/blob/main/model/flex/asset/bunny.obj)
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2025-03-03 16:44:03 +08:00 |
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Yuval Tassa
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010f9bacbb
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Fix typo in Python API docs.
PiperOrigin-RevId: 732600862
Change-Id: Ie9a8db9555ac3e233d29a10d289b71745d644cb2
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2025-03-02 01:20:25 -08:00 |
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Yuval Tassa
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6c8cf82f27
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Docs: fix mixed-up forward dynamics stages.
PiperOrigin-RevId: 732465925
Change-Id: I8d350e398d749076cc5f24cd33fa1ee87876e426
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2025-03-01 09:34:23 -08:00 |
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Alessio Quaglino
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7651cb1b33
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Copy texture coordinates from OBJ into flex. Fixes #2464.
PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
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2025-02-28 06:04:19 -08:00 |
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Kevin Sayed
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06e217df7e
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[MJ3.3.1] Bumping internal version number.
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
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2025-02-27 14:53:28 -08:00 |
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Copybara-Service
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8de9b4e4e3
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Merge pull request #2462 from jjyyxx:main
PiperOrigin-RevId: 731710330
Change-Id: If87dd2c06123bd9ddfc62b63370c8fedf320e721
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2025-02-27 06:58:24 -08:00 |
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Alessio Quaglino
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2abb2e2d5d
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Add further MJX bind tests to clarify dimensions.
Fixes #2463.
PiperOrigin-RevId: 731674489
Change-Id: I9e21a2dd0b0636c94b2b917615889b9d721d542d
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2025-02-27 04:34:08 -08:00 |
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Yuval Tassa
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9c31494fa1
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Add MjSpec example for procedural meshes.
PiperOrigin-RevId: 731635686
Change-Id: I310b802966755f627c4ec2cbdcd2ce7b14921c57
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2025-02-27 01:57:56 -08:00 |
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Yuval Tassa
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7fdee13874
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Fix typo.
PiperOrigin-RevId: 731484375
Change-Id: I63859249dc60ca065a94996b52530b57fd975d0b
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2025-02-26 15:50:47 -08:00 |
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Yuval Tassa
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929e94cf59
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Fix bullet indentation in changelog.
PiperOrigin-RevId: 731477093
Change-Id: Idece8a4f8db05546b878006fc22290896dc01182
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2025-02-26 15:27:17 -08:00 |
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Kevin Sayed
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e1f18a747e
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Update dependencies and the changelog ahead of the 3.3.0 release.
PiperOrigin-RevId: 731406295
Change-Id: I05027722a9681f71549b7e022dfe13fc381b8564
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2025-02-26 12:07:55 -08:00 |
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Kevin Sayed
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9996500de9
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update the version number to 3.3.0 instead of 3.2.8
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
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2025-02-26 11:42:55 -08:00 |
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Alessio Quaglino
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1c240d8bad
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Raise error if trying to bind with a spec with an empty name.
PiperOrigin-RevId: 731360983
Change-Id: I00365d158c1cae1cd912962ef453f43e93701080
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2025-02-26 10:07:46 -08:00 |
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Kyle Bayes
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ed16f2daf2
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Set nativeccd as default.
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
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2025-02-26 09:15:15 -08:00 |
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Kyle Bayes
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4f691eeae4
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Fix minor issues in EPA in nativeccd.
PiperOrigin-RevId: 731327356
Change-Id: Iba8215b7991ef74bf890c8da7e9332474e19e9c3
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2025-02-26 08:28:35 -08:00 |
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Yuxuan Jiang
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2039629457
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Expose MjSpec raw pointer via _address
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2025-02-26 10:25:55 +08:00 |
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Alessio Quaglino
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d1d61925da
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Do not delete the world child when doing spec.attach.
PiperOrigin-RevId: 730976077
Change-Id: I9aa8133241b45883e605ec80d64ae28af2962680
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2025-02-25 12:02:13 -08:00 |
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Kyle Bayes
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bd66fbd046
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Fix return value in mesh edge contact in nativeccd.
PiperOrigin-RevId: 730924994
Change-Id: Iab4f26da126713bae6629eef502bb2aad690c595
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2025-02-25 09:54:05 -08:00 |
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Alessio Quaglino
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441b5c6082
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Change MjSpec.default from method to attribute.
PiperOrigin-RevId: 730912407
Change-Id: I0147acbd257ecc8b72752a2992a7d4ea6e1b4c07
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2025-02-25 09:17:45 -08:00 |
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Alessio Quaglino
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ed7adf3d17
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Do not namespace the body that contains the frame during mjs_attachFrame.
PiperOrigin-RevId: 730912252
Change-Id: I026993af648766c09d569709d268430207d83169
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2025-02-25 09:16:44 -08:00 |
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Kyle Bayes
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fbe0990b17
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Fix bugs in nativeccd with collisions with margin.
PiperOrigin-RevId: 730903745
Change-Id: I45ddb674f32cb1f28ff37c587ea953ec595241b3
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2025-02-25 08:51:21 -08:00 |
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