b25728cc2e
Move tree construction to helper class.
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PiperOrigin-RevId: 525171924
Change-Id: I28b572fa09a2ccc029e56f9a84808ac53a4e6ac9
2023-04-18 09:42:43 -07:00
94c4f72907
Specify is volume is too small or negative in mesh error messages. Fixes #799 .
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PiperOrigin-RevId: 525151156
Change-Id: Ia0e9d8b900b8c372e9229da934a4eb7aeb1a3b7a
2023-04-18 08:16:44 -07:00
d7ec409eb6
Improve code block for mjFREESTACK documentation.
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PiperOrigin-RevId: 525150006
Change-Id: Ief5af7ea78658f89449795b58466dac14ab7e32a
2023-04-18 08:11:45 -07:00
c69e0b97fb
Improve documentation of the internal stack.
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PiperOrigin-RevId: 525119946
Change-Id: I49c757506f4af2b588dc07f978c8a72acad1b5bc
2023-04-18 05:40:44 -07:00
4b1375297b
Add a test that hfields are loaded and normalised to [0, 1].
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PiperOrigin-RevId: 525103908
Change-Id: I3a6cc3a339cf31aa40700cd44962038d5c6bcf74
2023-04-18 04:05:04 -07:00
3e85ef5f38
Remove spurious whole-arena copying in mj_copyData.
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Fix #568
PiperOrigin-RevId: 524929990
Change-Id: I164cb98cff752bf5d0a506bc0a290198775da0ef
2023-04-17 13:14:58 -07:00
c943797591
Make shellinertia ignore exactmeshinertia, which is only used for legacy volume computations. Fixes #759 .
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PiperOrigin-RevId: 524884880
Change-Id: Ia5b64ee33802866f792cdad4acfec6d9baf2a9e9
2023-04-17 10:30:20 -07:00
27742da9d7
Fix formatting in cable.cc
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PiperOrigin-RevId: 524846500
Change-Id: I4e07a68b443a78ea1c46812f64ecf99804b26020
2023-04-17 07:56:42 -07:00
9b7d42acb8
Improved numeric constants docs section.
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PiperOrigin-RevId: 524799733
Change-Id: Ibb941d5bbb57f884ec31e1f00ae0e99cedac2980
2023-04-17 03:26:30 -07:00
0e1f948c0a
Change some redirecting links to direct links.
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Files in github should be linked to using /blob/ rather than /tree/ URLs, while directories should be linked with /tree/.
PiperOrigin-RevId: 524796430
Change-Id: I72492a6acde0709b55d8d8620ad9b538619e7606
2023-04-17 03:06:06 -07:00
d7456f5d35
Add image and model explaining the geom-fromto attribute.
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PiperOrigin-RevId: 524796118
Change-Id: I9e694d84a4be308baafbdbaab89cfb2570b13586
2023-04-17 03:05:10 -07:00
a1de6ee693
Update MuJoCo docs dependencies.
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PiperOrigin-RevId: 524796002
Change-Id: I8fa2492e3fc5544bc8dadab710b4eae9822a5bb8
2023-04-17 03:04:08 -07:00
4204109a5a
Add some notes to the Python documentation.
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PiperOrigin-RevId: 524293742
Change-Id: I43fcfcddd374a73e3a8fe4929784a4ac070fa067
2023-04-14 08:10:04 -07:00
018503a0ec
Fix badly formed links in the changelog.
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PiperOrigin-RevId: 523988103
Change-Id: I069700af2328104b38831a544b61e136e8d8c6db
2023-04-13 06:51:56 -07:00
cefc290eac
Reorder arguments of Simulate::Load in Python to match C++.
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PiperOrigin-RevId: 523973129
Change-Id: I58760e3e392a208dd8257c340da146aa8f745fb7
2023-04-13 05:22:13 -07:00
5646c905cd
Rename a few functions and variables to be a bit more Googley.
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PiperOrigin-RevId: 523963645
Change-Id: Ife7ed3f44aa83c64dfbdc3ca78ee6de2092b0d63
2023-04-13 04:24:31 -07:00
2e23594fe8
Add an introspect module for structs.
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Also missing struct fields to the Python bindings that were discovered as a result of the new `introspect` metadata.
PiperOrigin-RevId: 523947396
Change-Id: I367fd2dc8d5fd7e5712a45b70a5c50da51d152e4
2023-04-13 02:50:23 -07:00
bcb19fd85c
Merge pull request #802 from hartikainen:fix-typos
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PiperOrigin-RevId: 523698082
Change-Id: Ib12bbf8b6a1e02f87a278a230dcb6e5d722d2a94
2023-04-12 07:49:14 -07:00
814581dc59
Merge pull request #815 from limymy:main
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PiperOrigin-RevId: 523697282
Change-Id: I5e82268f3be861f9d187fe50dcb9d5b961b45dfd
2023-04-12 07:45:48 -07:00
dd32843e89
Disable the propagation of MUJOCO_SIMULATE_COMPILE_OPTIONS
2023-04-12 21:50:50 +08:00
34226bf52d
Fix a race condition in launch_passive and launch_repl.
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Before this change, these functions can return before an internal call to `mj_forward`, which results in a race condition if the user script then tries to modify the physics state.
Fixes #783
Fixes #790
PiperOrigin-RevId: 523214378
Change-Id: I8a4c6cef0f5d3ec781fd2c5cae3c20dd4b8be67f
2023-04-10 14:35:53 -07:00
6d63e046fd
Add low-level CGL context management for macOS.
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This allows rendering from non-main threads as the context is not tied to a Cocoa window.
Fixes #742
Fixes #798
PiperOrigin-RevId: 523144359
Change-Id: I98432debdd034814c313eda94e38c248c3c1f76c
2023-04-10 10:09:49 -07:00
b536e46cc0
Add implicitfast to XML reference.
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PiperOrigin-RevId: 522916631
Change-Id: Ica9261b7b84a3c269503a4ae21af251803c76b63
2023-04-09 02:06:00 -07:00
9027b243b7
Merge pull request #801 from hartikainen:fix-mj_sizeModel
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PiperOrigin-RevId: 522013801
Change-Id: Iff5e930fb7c86ae4296beb40f266ed02aabb6a7f
2023-04-05 04:20:11 -07:00
f91b760799
Clean model in VerifySizeModel test
2023-04-05 11:56:07 +01:00
f287fb020c
Fix mj_sizeModel
2023-04-05 11:09:23 +01:00
98c9718aaf
Add (currently-failing) mj_sizeModel test
2023-04-05 11:09:23 +01:00
55cc9d1e95
Fix what appears to be a typo in humanoid texture size.
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Note that for builtin cube textures, MuJoCo ignores the height setting anyway.
PiperOrigin-RevId: 522000719
Change-Id: Ida34b1b2d25a59ac3f4f111aa44218aa9cd9da30
2023-04-05 03:07:22 -07:00
a611b7bf6d
Fix typos
2023-04-04 19:58:43 +01:00
9924cce4b7
Add nnz per row precount method for mju_sqrMatTDSparse.
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PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
2023-04-04 06:21:22 -07:00
7cc42ecf2a
Remove "global" option from [compiler/coordinate]( https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate ) attribute.
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Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older.
PiperOrigin-RevId: 521739137
Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
2023-04-04 05:59:38 -07:00
b327058641
Avoid computing constraint Jacobian matrix supernodes when not using AVX.
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PiperOrigin-RevId: 521728016
Change-Id: I308e6283a6a1968a3d9946f04ba4367c50b1c63d
2023-04-04 04:52:49 -07:00
01b84089dd
Document engine plugins.
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Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.
PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
2023-04-03 07:55:21 -07:00
ebb150fa3d
Change docs preferred monospace font to Inconsolata
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PiperOrigin-RevId: 521425957
Change-Id: Ie3014b924fbf711ce643f1e555aa723b85383023
2023-04-03 04:53:38 -07:00
4ce00f7e2d
Add notes section to APItypes documentation, add note about representation of convex hulls.
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PiperOrigin-RevId: 521416156
Change-Id: Ia752b2fc5e4826a8d27af4167c40d9d7424bb069
2023-04-03 03:55:10 -07:00
64229c089a
Cosmetic improvements to public headers.
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PiperOrigin-RevId: 521415262
Change-Id: Iee5d6baec78242f5a033c8b5cdd285af4a0895fa
2023-04-03 03:49:24 -07:00
5f132af625
Add midphase and broadphase statistics to mjData.
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PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
2023-04-03 00:59:59 -07:00
c29f32657c
Fix broken links in the documentation.
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PiperOrigin-RevId: 520657874
Change-Id: Idd01c40f87e0f2afcbd2d2bfd98fab95edc2371e
2023-03-30 09:18:06 -07:00
3fd5164524
Fix heading level of function types.
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PiperOrigin-RevId: 520653499
Change-Id: I8b5265b9a9b43eab40616a78570f558ff85e4ec8
2023-03-30 09:00:46 -07:00
c65e046043
Don't save actdim="{0,1}" for state{less,ful} actuators, respectively.
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actdim has a default value of -1 (==unset), which means it currently gets saved for all actuators. After this change, it will only be saved if the value is > 1, errors are thrown for stateful actuators with actdim=0 and stateless actuators with actdim>0.
PiperOrigin-RevId: 520627313
Change-Id: Ia498dae5c7314cfaa0995f8077d297c2339a5c35
2023-03-30 07:00:17 -07:00
0becf8fd98
Remove unused headers in test files.
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PiperOrigin-RevId: 520610859
Change-Id: I5ac906b422a7c02737af85f6a2aea46206f0cb28
2023-03-30 05:26:33 -07:00
1d6a9e09bb
Don't save body pos if "0 0 0".
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PiperOrigin-RevId: 520598416
Change-Id: I5bb6ffaec386f228ac7a5fa221822000635900ae
2023-03-30 04:09:22 -07:00
3f9defa8d0
Don't save an empty <default/> section.
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PiperOrigin-RevId: 520594748
Change-Id: Ib5e1eb3a93e9d579adeda1052a2c29d724d6b497
2023-03-30 03:51:14 -07:00
ddfcd3b325
Don't save body gravcomp if 0.
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PiperOrigin-RevId: 520592156
Change-Id: Ifb85c1e78498877bc576cfca224c41b3cf47c9ab
2023-03-30 03:34:04 -07:00
e4d27d4b90
Remove unnecessary null check.
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This checked that individual char arrays in the MJCF schema were not null, which would never really happen, and triggered some compiler warnings
PiperOrigin-RevId: 520348916
Change-Id: Ic8b82737460ed3bcf44d9629cd0c7de5782bee8c
2023-03-29 08:54:15 -07:00
7951b4597f
Improve favicons for iOS and Android.
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PiperOrigin-RevId: 520336136
Change-Id: I002393b49a42ce257b3d36942203c0acadc01685
2023-03-29 08:01:55 -07:00
045609c704
Add high-res readthedocs favicons for iOS and Android.
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PiperOrigin-RevId: 520324992
Change-Id: If22c228eee50570c63357f08b8cd1eab2fab55f8
2023-03-29 07:06:34 -07:00
24b9bf9bc7
Lint doc/conf.py
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PiperOrigin-RevId: 520317031
Change-Id: I33fb5bdc8344a6a69e4c3d3038b52ece81c73000
2023-03-29 06:23:11 -07:00
2127d0bb3f
Improvements to API TOC
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PiperOrigin-RevId: 520284861
Change-Id: Iac8c05d6d18f1e7f89728c5c5f5aa6395d0a1899
2023-03-29 03:21:43 -07:00
62aa38f5f1
Reduce size of ellipsoidinertia image in changelog.
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PiperOrigin-RevId: 519203289
Change-Id: Ia23cd9429d8266a7e293ae9310609724276d1d12
2023-03-24 12:00:27 -07:00
Alessio Quaglino