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Author SHA1 Message Date
Yuval Tassa b0665fe2f9 Fix link inside the tutorial notebook. 
PiperOrigin-RevId: 491544042
Change-Id: Ic11ffcdc06583937520ec0e5eb998557ece6a3d5
 2022-11-28 23:56:53 -08:00
Kyle Bayes fdb81f3388 Fix location of MuJoCo tutorial Colab notebook. 
PiperOrigin-RevId: 491436998
Change-Id: I93c1ea3ae142d69dc8a8fe893f014e539cb33746
 2022-11-28 14:00:57 -08:00
Kyle Bayes 5a8e861152 Add MuJoCo tutorial Colab using the native Python bindings. 
PiperOrigin-RevId: 491424124
Change-Id: I5bdeb68fd1bd1b4bc92fb40e0b876d9dcfc568cb
 2022-11-28 13:09:51 -08:00
Saran Tunyasuvunakool ecac5758e2 Replace NULL with nullptr. 
PiperOrigin-RevId: 491385488
Change-Id: Iec34af99edb7ccd64834130a8cc6280a02b166c2
 2022-11-28 10:44:30 -08:00
Alessio Quaglino b14d9bf75b Fix duplicate symbols in plugin DLL. 
PiperOrigin-RevId: 491340247
Change-Id: If559d60371ad604b94b92efd01ed6de9ecf6f2b0
 2022-11-28 07:39:01 -08:00
Alessio Quaglino d0b1a97338 Deformable solid plugin for particles. 
Using coordinate-free formula equivalent to linear finite elements.

PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
 2022-11-28 05:32:30 -08:00
Yuval Tassa 062cb53a4a In simulate, move "pause" label to the top left rather than the top right. 
PiperOrigin-RevId: 491035420
Change-Id: I94ad7ca2764716f9821df6009e5c4b50675a04be
 2022-11-26 05:40:52 -08:00
Copybara-Service 170a060a50 Merge pull request #601 from Balint-H:fix/mesh-filter-disappear 
PiperOrigin-RevId: 490719489
Change-Id: I04bdd2f302197a06acaf922e9d10a0bbf00ee89a
 2022-11-24 05:46:49 -08:00
Copybara-Service a9c4831754 Merge pull request #602 from Balint-H:fix/slide-pos 
PiperOrigin-RevId: 490718454
Change-Id: Ic59aa99f59473f562814d498d7324f0e57a7776a
 2022-11-24 05:38:04 -08:00
Bálint Hodossy dc927b367d Remove unnecessary unit conversion 2022-11-23 16:26:42 +00:00
Bálint Hodossy 12d3e0ae09 Create separate mesh when MjMeshfilter is first instantiated, to support duplicating in Editor 2022-11-23 15:02:35 +00:00
Alessio Quaglino c17375fa32 Stop profiling mju_halton in testspeed and bechmarks. 
PiperOrigin-RevId: 490239351
Change-Id: Id73c101672e5b974f16b6b4da3aae757a657de15
 2022-11-22 07:41:02 -08:00
Yuval Tassa 165e72f798 Apply force perturbations at selection point rather than body center-of-mass. 
PiperOrigin-RevId: 489996756
Change-Id: I87870a0c1d173449f15a7249f2459a6b726ff417
 2022-11-21 09:13:16 -08:00
Alessio Quaglino 638c9a6994 Support capsules in URDF import. 
PiperOrigin-RevId: 489980760
Change-Id: I1c21e736a86f6637a00e2062727d2e6fd5694c42
 2022-11-21 07:58:42 -08:00
Yuval Tassa 45b3af78a0 Fix typos. 
PiperOrigin-RevId: 489681378
Change-Id: I867ef743e27aedfb4b732671246c8e8e880943f0
 2022-11-19 07:02:10 -08:00
Yuval Tassa 221c63d744 Sensors of type user no longer require objtype and objname. If unspecified, the objtype will be mjOBJ_UNKNOWN. Also, `user sensors datatype default is now "real"`. 
PiperOrigin-RevId: 489652972
Change-Id: I0a8f21ee1a2f5292e6bbcfe3785536cfd1498b85
 2022-11-19 02:05:42 -08:00
Copybara-Service 6f2092bef2 Merge pull request #593 from Balint-H:feature/unity-ccd 
PiperOrigin-RevId: 489551476
Change-Id: I751d2faa95d82f201614e8a3f08a9629492bfbe7
 2022-11-18 13:38:51 -08:00
Copybara-Service adc635f158 Merge pull request #592 from Balint-H:feature/unity-ctrl-event 
PiperOrigin-RevId: 489551249
Change-Id: I708bff1be39c015db19687b17775b73451b3eed0
 2022-11-18 13:37:54 -08:00
Bálint Hodossy 5c79a9a8fe Add multiccd option in Unity MJCF parser and writer 2022-11-18 13:10:06 +00:00
Copybara-Service 0c3492fed9 Merge pull request #589 from vaxenburg:patch-1 
PiperOrigin-RevId: 489434606
Change-Id: Idd7e2fa2fe5786ad87a2097e29a867290fa00034
 2022-11-18 03:27:51 -08:00
Bálint Hodossy 1fdbfa7061 Add MjScene property to check if scene has initialized 2022-11-18 11:25:08 +00:00
Bálint Hodossy 2328316d7d Add synchronisation events to MjScene 2022-11-18 11:23:41 +00:00
Kevin Zakka b13d6ae7bd Nit fix in LQR notebook. 
PiperOrigin-RevId: 489419396
Change-Id: I3770377f4961f4a991dae5e738597c05aec1b146
 2022-11-18 01:54:21 -08:00
Alessio Quaglino 043ed273a7 Automated g4 rollback of changelist 489207765. 
*** Reason for rollback ***

Corrected logic in CMake

*** Original change description ***

Automated g4 rollback of changelist 489183597.

*** Reason for rollback ***

GitHub path is different

*** Original change description ***

Activate plugin tests on Windows.

***

***

PiperOrigin-RevId: 489228199
Change-Id: Ic0ee9114e9680fc0aef9f668fc172c73fe74cd38
 2022-11-17 09:15:40 -08:00
Roman Vaxenburg 68d9fd3f2e Update APIreference.rst 2022-11-17 12:13:49 -05:00
Alessio Quaglino 17c82e2f02 Automated g4 rollback of changelist 489183597. 
*** Reason for rollback ***

GitHub path is different

*** Original change description ***

Activate plugin tests on Windows.

***

PiperOrigin-RevId: 489207765
Change-Id: If48dede94c8623b92526375a567edcd49c548e63
 2022-11-17 07:38:49 -08:00
Alessio Quaglino a9781d9bea Activate plugin tests on Windows. 
PiperOrigin-RevId: 489183597
Change-Id: I1e5212777514fbc5a246f02a4446a9dbb8a0dbd3
 2022-11-17 05:06:00 -08:00
Saran Tunyasuvunakool fa0f6399d5 Make Python bindings buildable with older versions of CMake. 
Context: https://discourse.cmake.org/t/alias-and-not-globally-visible-targets/6305
PiperOrigin-RevId: 489051335
Change-Id: I1bbe189413d6f8abe97d3d8ceccf6541de69e2ae
 2022-11-16 15:12:01 -08:00
Saran Tunyasuvunakool 9ecade0707 Move plugin loading and scanning logic from Simulate to MuJoCo library. 
PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
 2022-11-16 13:15:51 -08:00
Saran Tunyasuvunakool 2ebc5f097b Change simulate plugin directory name to mujoco_plugin. 
This helps distro packagers avoid having to create a directory with the generic `plugin` name in system locations.

Context: https://github.com/deepmind/mujoco/issues/552
PiperOrigin-RevId: 489011386
Change-Id: Ie9f1748cbb4f2b9dc8c328064caaeb50c88fdec3
 2022-11-16 12:40:31 -08:00
Kevin Zakka 571b703f1c Switch documentation to custom furo theme with dark mode option. 
Co-authored-by: Saran Tunyasuvunakool <stunya@google.com>
Co-authored-by: Yuval Tassa <tassa@google.com>
PiperOrigin-RevId: 488975449
Change-Id: Ia2db8ac7ecd27a00ca2c4c9ca5e85b9167813473
 2022-11-16 10:24:06 -08:00
Alessio Quaglino 7b0fbc63f8 Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac. 
PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
 2022-11-14 07:31:32 -08:00
Alessio Quaglino ae29a22d55 Add flag benchmark. 
PiperOrigin-RevId: 487788256
Change-Id: Iefab760cafc0123368e5bcd4ec4a579b170f1aba
 2022-11-11 04:26:32 -08:00
Saran Tunyasuvunakool 8df9d3c0a3 Fix build.yml. 
PiperOrigin-RevId: 487641805
Change-Id: I071e855b7ccd6eafe8cf0d54d410f324822776a5
 2022-11-10 14:35:54 -08:00
Saran Tunyasuvunakool 6175b508c0 Also run pip install --require-hashes on GitHub Actions. 
PiperOrigin-RevId: 487625303
Change-Id: Ib65ff23faa33a95e077952e275cf466cec44fb93
 2022-11-10 13:31:18 -08:00
Saran Tunyasuvunakool 985b3f1c9e Remove custom code path when run under type checking. 
PiperOrigin-RevId: 487584485
Change-Id: I1b1c773240bb033e50205648f4611f4702c0e6e8
 2022-11-10 10:56:32 -08:00
Saran Tunyasuvunakool fd139276bc Run pip install with --require-hashes. 
PiperOrigin-RevId: 487569781
Change-Id: I0a810403f789415a3f884531617801ae111c957b
 2022-11-10 10:07:38 -08:00
Kyle Bayes 601963beb2 Automated rollback of 39d20f20ea. 
*** Reason for rollback ***

Breakage at https://github.com/deepmind/mujoco/actions/runs/3427459759

*** Original change description ***

Add test to catch missing Python function bindings.

***

PiperOrigin-RevId: 487505205
Change-Id: Iec3b588380b4b6fc7a3249ccdef08e48b42a7892
 2022-11-10 05:07:24 -08:00
Copybara-Service f7b256de91 Merge pull request #419 from aftersomemath:simulate-python 
PiperOrigin-RevId: 487496285
Change-Id: I17d15bd2a3886e5ce1631f4eb78afa94830d08cc
 2022-11-10 04:12:34 -08:00
Yuval Tassa 0b45129ca4 Clarification regarding saving integration state variables. 
Fix some documentation bugs.

PiperOrigin-RevId: 487492900
Change-Id: I16ab9ae82cf203ebeaca10baaba7319d214202d0
 2022-11-10 03:51:57 -08:00
Copybara-Service f2bae1ffe3 Merge pull request #556 from Balint-H:fix/uv 
PiperOrigin-RevId: 487203617
Change-Id: I6eade6f871b80f78f2ed13e1b5e4672ef857b9ef
 2022-11-09 04:14:27 -08:00
Kyle Bayes 39d20f20ea Add test to catch missing Python function bindings. 
PiperOrigin-RevId: 487187845
Change-Id: Iddf8afd16abb9a22bba6a53a0ecc0423208f41e6
 2022-11-09 02:45:11 -08:00
Alessio Quaglino 7b7fc09d1f Raise error if an invalid curve is specified for the cable composite. 
PiperOrigin-RevId: 486967001
Change-Id: I7220966e172400542417d8f715dbee0c0f154d9b
 2022-11-08 09:05:44 -08:00
Alessio Quaglino 9fc9823a8c Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores). 
PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
 2022-11-08 08:38:45 -08:00
Nimrod Gileadi 9ffde761e8 Add support for Python 3.11 to MuJoCo build. 
PiperOrigin-RevId: 486911779
Change-Id: I57a043ed9cbdf84cddf776f4654941370f050a8c
 2022-11-08 04:22:36 -08:00
Yuval Tassa 5004a4c8c5 Better memory setting and reporting, updated example models. 
- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.

PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
 2022-11-07 10:36:37 -08:00
Alessio Quaglino 9370039015 Use a non-symmetric tetrahedron for user_mesh_test. 
PiperOrigin-RevId: 486658331
Change-Id: I96edd3b2aba916f9215661a7ba94271696690807
 2022-11-07 07:43:08 -08:00
Alessio Quaglino 3b89b0fd30 Particles with arbitrary geoms and joints. 
Fixes #553

PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
 2022-11-07 03:22:25 -08:00
Alessio Quaglino fd4d47e4a5 Format memory warning in human-friendly way. 
PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491
 2022-11-07 02:56:07 -08:00
Alessio Quaglino fc24097b92 Compute nonzero default mass value only if geom is not in the default section. 
Fixes #561.

PiperOrigin-RevId: 486604407
Change-Id: Ie62578808f96f0de3a2353c6bc4cc8bd3ae3afbc
 2022-11-07 02:18:31 -08:00