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Author SHA1 Message Date
Saran Tunyasuvunakool ace5b74f83 Rename inteval attribute in mjLROpt to interval. 
PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
 2023-02-13 10:54:25 -08:00
Saran Tunyasuvunakool db28c31f05 Rename <required> tag to <plugin>. 
PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
 2023-02-13 08:41:52 -08:00
Saran Tunyasuvunakool 239e00e3b1 Fix typo in the error message for distance equality constraints. 
PiperOrigin-RevId: 509227257
Change-Id: Ibf501f267e513c504e527f3fe7a26d4f29e78273
 2023-02-13 07:58:03 -08:00
Saran Tunyasuvunakool 5e989d18c3 Enable compiler errors for implicit switch case fallthroughs. 
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
 2023-02-10 03:49:00 -08:00
Saran Tunyasuvunakool 8a53a33fd1 Convert tabs to spaces in doc/images/banner.svg. 
PiperOrigin-RevId: 508345625
Change-Id: Ie97d46327670929aa4254efb5ae257069b309c1b
 2023-02-09 05:22:09 -08:00
Saran Tunyasuvunakool 49c939eaf0 Document 48e95817e4 in the changelog. 
PiperOrigin-RevId: 508342626
Change-Id: I8505d3c3168d0ebffaff87dc687a831d278a8fcb
 2023-02-09 05:03:31 -08:00
Saran Tunyasuvunakool 71c5f1794d Remove efc_ fields from joint indexers. 
Since the introduction of arena memory, these fields now have dynamic sizes that change between time steps depending on the number of active constraints. This breaks strict correspondence between joints and `efc_` rows.

Note that these fields can still be accessed directly as attributes on the `MjData` object.

PiperOrigin-RevId: 508342388
Change-Id: I610ae6ca462f6bb5cf8bc199a3436bed3d1a5371
 2023-02-09 05:02:11 -08:00
Saran Tunyasuvunakool df87a85b84 De-duplicate vertices in mug.obj. 
PiperOrigin-RevId: 508334141
Change-Id: If63e0923392b1ad11d4c9c295a511f929fc4be6d
 2023-02-09 04:12:06 -08:00
Alessio Quaglino 2f10a7cb3b Update legacy memory specification in some example models. 
PiperOrigin-RevId: 508330060
Change-Id: I16a5e70c5950178826a2a52a7a2005ef7f39ccfb
 2023-02-09 03:47:43 -08:00
Saran Tunyasuvunakool 7d8e810ab1 Fix IPython history corruption when using launch_repl. 
PiperOrigin-RevId: 508064761
Change-Id: I58fa2e4f35b57a1ab68c3172ba5c0d4495e40ced
 2023-02-08 06:37:42 -08:00
Nimrod Gileadi 48e95817e4 Don't compute sensors in mjd_transitionFD, if not requested. 
PiperOrigin-RevId: 507878658
Change-Id: I97ece521fd177d97fa5758dda1eb012ba26bcabe
 2023-02-07 14:02:45 -08:00
Saran Tunyasuvunakool 15b6e6f060 Remove remarks in the documentation that suggest mj_name2id is inefficient. 
`mj_name2id` has been replaced by a hash map lookup in 2.3.2.

PiperOrigin-RevId: 507816210
Change-Id: I3ee038fa6ec3258d51218588a43398f98a0f6de2
 2023-02-07 10:13:45 -08:00
Saran Tunyasuvunakool e4b094732b Update dependency versions in Python requirements files. 
PiperOrigin-RevId: 507791787
Change-Id: I2f87842c118ab6ee25857c52b7c02ca3012e964c
 2023-02-07 08:40:52 -08:00
Saran Tunyasuvunakool 95a07e85cc Fix Windows stack overflow problem in the simulate app. 
PiperOrigin-RevId: 507763611
Change-Id: I199910142d9165710c48b41a842ab9aef01ff5c2
 2023-02-07 06:34:10 -08:00
Alessio Quaglino dd632b7ccc Bump MuJoCo version to 2.3.2. 
PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
 2023-02-07 02:35:17 -08:00
Copybara-Service 36836d8e42 Merge pull request #636 from traversaro:fixextglfw 
PiperOrigin-RevId: 507618773
Change-Id: I74362535e9840c97b7c4c3fbff29e06bcdcaf41a
 2023-02-06 16:50:54 -08:00
Copybara-Service 6b80b010af Merge pull request #705 from hartikainen:bug/mj_deleteFileVFS-infinite-loop 
PiperOrigin-RevId: 507544780
Change-Id: Ie5819d4cc567dce44ceb59624a889a06ecdd7c1b
 2023-02-06 12:01:11 -08:00
Saran Tunyasuvunakool 10c5d6a1e5 Add missing entries to 2.3.2 changelog. 
PiperOrigin-RevId: 507522863
Change-Id: Id6c094a8054440de4aa918575f6e45d49519861c
 2023-02-06 10:44:18 -08:00
Saran Tunyasuvunakool 9a7f4a768a Remove control plugin API. 
This is a rollback of f937ffd93326b2964e33689b0dc6024124776a9e.

PiperOrigin-RevId: 507456400
Change-Id: I2026510e6065eb440c0c899fcc5a2cc8ff5afd49
 2023-02-06 05:52:17 -08:00
Nimrod Gileadi dc3a900809 Apply body pair filtering at broadphase. 
mj_contactFilter removed geom pairs where their bodies share the same weldid, but this check can be applied at broadphase instead of at geom-geom level.

PiperOrigin-RevId: 507435848
Change-Id: Ia37c741071dc5e1c26686dd319f42c9bd334d305
 2023-02-06 03:46:20 -08:00
Yuval Tassa 79fffdc0ae Draw body label at the body frame rather than inertial frame, unless inertia is being visualised. 
PiperOrigin-RevId: 507424290
Change-Id: I72ca68e2e47f76c0f70959a1a2c8b5f4b6b6b290
 2023-02-06 02:38:51 -08:00
Saran Tunyasuvunakool 7251e7b900 Remove superfluous TINYXML2_LIB declaration. 
PiperOrigin-RevId: 506867694
Change-Id: I701def961046c46f3cffe4fad2b1b9436bc1deef
 2023-02-03 04:24:36 -08:00
Kyle Bayes ffe27d9680 Extract AVX code from sparse utils. 
PiperOrigin-RevId: 506851218
Change-Id: I23cc3ffb26face97fc2380bc9cb702cc41b8b29d
 2023-02-03 02:42:39 -08:00
Yuval Tassa bc0184d67e Increase precision of simulate sensor plot y-axis by 1 digit. 
- Before this change, the y-axis scale had only one digit, leading to user confusion. Small changes in senor values could appear as if the values remained at the nearest integer value, while in fact the y-axis itself was changing, but this was not evident in the GUI due to the reduced precision.
- Fixes #719.

PiperOrigin-RevId: 506841881
Change-Id: I583036bba389cef8d9ecf1c1bbcfb573ef2285e6
 2023-02-03 01:48:18 -08:00
Yuval Tassa e2691f58a5 Update mjd_transitionFD documentation. 
Fixes #713

PiperOrigin-RevId: 506248062
Change-Id: I1fbf8b378f500a6463a07eb5da5349c4f01ccb88
 2023-02-01 01:53:05 -08:00
Yuval Tassa a7888d473c mju_transposeSparse: extract local integer, remove extra blank line. 
PiperOrigin-RevId: 506243573
Change-Id: Ia573c9289ef1deb1cc7b5477d441752370caa470
 2023-02-01 01:27:46 -08:00
Yuval Tassa 7feecf6e94 Improve behaviour of set-pose mouse interactions with free and mocap bodies. 
PiperOrigin-RevId: 506051745
Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
 2023-01-31 10:57:19 -08:00
Saran Tunyasuvunakool f1af86cf82 Fix msan failure in __repr__ when upgraded to NumPy 1.24. 
PiperOrigin-RevId: 505661236
Change-Id: I37ea339679870d23886e3c95f51451349fa1de2c
 2023-01-30 05:11:25 -08:00
DeepMind 929e09f84a Improve URDF geom name loading API. 
PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
 2023-01-27 07:29:45 -08:00
Kyle Bayes c741dfce7d Implement a more performant mju_transposeSparse that doesn't require dense memory allocation. 
PiperOrigin-RevId: 505044194
Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
 2023-01-27 00:20:01 -08:00
Saran Tunyasuvunakool 4b4ee27f64 Turn off reflection and shadow in simulate when a GPU is not present. 
Note that The GLFW adapter currently assumes that a GPU is always present, so this new code path is never reached at the moment.

PiperOrigin-RevId: 504617048
Change-Id: I04a323c33d9cff73686d39e4a6676ca6a4484c98
 2023-01-25 11:33:20 -08:00
Kristian Hartikainen d35670932f Fix for-loop syntax to match style convention 2023-01-25 19:11:13 +00:00
Peter Hawkins cd99fbd59d Fix test failures under NumPy 1.24. 
The use of `np.empty` triggers an msan use-of-uninitialized-value error when upgraded.

PiperOrigin-RevId: 503975799
Change-Id: I337c8227c8c1e3bd415d7a798fc5e764c88c0875
 2023-01-23 07:04:33 -08:00
Kristian Hartikainen 436fc6e77c Fix infinite loop in mj_deleteFileVFS 2023-01-21 17:26:01 +00:00
Nimrod Gileadi d7844aa5be Fix links to documentation. 
1. Links to the programming chapter were broken after 69c74f850e. They're now fixed with a redirect in readthedocs.io, but this commit updates them to the latest URL.

2. Most docs links should point to "stable" instead of "latest", since most users will want the docs for the released version, not the upcoming version. The exceptions are the programming chapter, and instructions for building the Python bindings from source.

PiperOrigin-RevId: 502821526
Change-Id: If0a55ab2be4751ba0165bf644030464234083133
 2023-01-18 02:55:41 -08:00
Alessio Quaglino 6ba4d6f0de Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates. 
PiperOrigin-RevId: 502624466
Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
 2023-01-17 10:31:50 -08:00
Yuval Tassa 06557c1489 Set time correctly in mjd_transitionFD, to support time-dependent user code. 
PiperOrigin-RevId: 502380864
Change-Id: Ief36135a900c091d95e4450992c7c73e86de267c
 2023-01-16 07:52:17 -08:00
Yuval Tassa b5813c60ca Add some geom names to testdata/model.xml. 
PiperOrigin-RevId: 502374873
Change-Id: I44a4c82327ed345cd84709d6b2966f54f4dec7bd
 2023-01-16 07:08:56 -08:00
Yuval Tassa 6e02c19ebb Print contacting geom names, if non-empty, in mj_printData output. 
PiperOrigin-RevId: 502340142
Change-Id: I6359a1ea8fb515e13cb434e31d9592b9d6ce9181
 2023-01-16 03:08:33 -08:00
Tom Erez f3c966796f Allow models without numerical suffixes. 
This is important for MJPC, where some element special names (e.g., a site called "trace0", or different custom numeric fields) are used.

PiperOrigin-RevId: 502338391
Change-Id: I632b5d633c92b82b60160daeeb169693225640a3
 2023-01-16 02:59:11 -08:00
Saran Tunyasuvunakool d022cd1a31 Fix broken launch_repl in the Python viewer. 
The REPL functionality was broken in 9fcf3b0c2e.

PiperOrigin-RevId: 501818153
Change-Id: I3fe2f14d78839e63deb43c1017527e7a1cf79e3c
 2023-01-13 04:59:22 -08:00
Kyle Bayes deb14dc081 Autogenerate functions.rst for API reference docs. 
PiperOrigin-RevId: 501496950
Change-Id: I92ab013e6acb4d6772eb5dcf56740105908afc97
 2023-01-12 01:34:28 -08:00
Kyle Bayes 15c2e0362a Split functions API from APIreference.rst. 
PiperOrigin-RevId: 501209457
Change-Id: Ia77fe988fb34e323a2c66503903c4618f5fb3087
 2023-01-11 01:13:37 -08:00
Yuval Tassa 5b942329d2 Fix various typos. 
PiperOrigin-RevId: 500951615
Change-Id: I3c61ef4328d77457d12091bbf75514872b53c2d0
 2023-01-10 03:59:27 -08:00
Yuval Tassa adf71cc6b4 Improve mesh-fitting image in changelog. 
PiperOrigin-RevId: 500782543
Change-Id: Iecec45abd3cb1e5a06df58ae32ebe1998584024a
 2023-01-09 12:40:10 -08:00
DeepMind 703b33c064 Add geom names to URDF parsing in MuJoCo. 
Fixes #566

PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
 2023-01-09 10:34:22 -08:00
Alessio Quaglino 19b6c70e13 Use global coordinates for computing the frame position of a primitive geom fitted to a mesh. 
PiperOrigin-RevId: 500720200
Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
 2023-01-09 08:29:27 -08:00
Yuval Tassa f19d5d2f28 Fix typo in mujoco.h 
PiperOrigin-RevId: 500675056
Change-Id: Ie4958609563b2826cc4965b42ad4d22248c733ef
 2023-01-09 04:04:25 -08:00
Saran Tunyasuvunakool 1215067f5c Add an option in mjrContext for mjr_readPixels output format. 
PiperOrigin-RevId: 500342924
Change-Id: I43e8c6208db341e2bdbef10382b7293c35bdca65
 2023-01-07 00:11:01 -08:00
Saran Tunyasuvunakool e40775fab3 Abstract out GLFW calls from Simulate. 
PiperOrigin-RevId: 500129478
Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
 2023-01-06 02:45:56 -08:00