Toggling visualization flags via keyboard shortcuts (e.g., C for contact points, F for contact forces) causes the SECT_RENDERING event handler to unconditionally re-evaluate the camera selection, which can reset a tracking camera to free mode. This particularly affects users of mujoco.viewer who set tracking cameras programmatically.
Guard the camera update logic so it only runs when the camera selector itself is changed, not when other items in the rendering section are modified.
PiperOrigin-RevId: 871600340
Change-Id: Ia6ef2a1617c6cdc18c7d10b4b099a8f2c620a824
C++ standard says the argument to alignof must be a type. Clang and GCC are permissive but MSVC isn't.
PiperOrigin-RevId: 869823902
Change-Id: I7e113ce62a60cc9be499e8580846a5258deea001
Viscous pause is like pause but the simulation continues with zero gravity, high viscosity and passive springs disabled. It is useful to move things like cabinets with shelves---just move the shelf and the drawers come along as well.
* Updated the simulation control widgets
* Added Ctrl-space shortcut to toggle play/viscous pause
PiperOrigin-RevId: 869810053
Change-Id: Icf649e1f2631c2a64a5d2f25af9537b6a12bdf2c
* Replace various MJOPTION_ macros with a single MJOPTION_FIELDS.
* Use XVEC macro to denote vector members where there is a mixture of
vector and scalar members in a given struct type.
* Split up MJVISUAL_FIELDS into separate macros for each substruct.
* Modify engine_print.c and Python bindings struct.h/cc to use the
new X macros.
PiperOrigin-RevId: 869760513
Change-Id: Idac4fe9aa99f0258e7c79802ca9023a0d4486e2d
Most "classic" objects looked washed out. To "revert" to the old look, you can add the following to your XML files:
```
<custom>
<numeric name="filament.phong.specular_multiplier" data="0.1"/>
<numeric name="filament.fallback.scene_light_intensity" data="100000.0"/>
<numeric name="filament.fallback.environment_light_intensity" data="10000.0"/>
</custom>
```
PiperOrigin-RevId: 869725829
Change-Id: Icab0cedaa27915400497745db886c393709c14b1
--
b1734da56e293b50e7bd0cc8b9a8ee5677aa70ec by MatiasManevi <manevimatias@gmail.com>:
Improve wording for WASM Windows support status
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3095 from MatiasManevi:wasm-readme b1734da56e293b50e7bd0cc8b9a8ee5677aa70ec
PiperOrigin-RevId: 869699309
Change-Id: I2780d2406139e33eeb5521f509245d29b69a61ab
This is to properly handle the case where the interpreter wants to exit immediately, e.g. when `mjpython --version` is run.
Currently, we call `PyGILState_Ensure` regardless of the result of `Py_InitializeFromConfig` resulting in a segfault, as in issue #2870.
PiperOrigin-RevId: 869652555
Change-Id: I3a898279eb8aa25afbaece904cfdcc4fdcc92972
--
4cabc9c52dc07ea2d64a3de6dbd58e47a2ad023c by Kevin Zakka <kevinarmandzakka@gmail.com>:
Add system identification tutorial and fix template packaging
- Add sysid tutorial notebook (sysid.ipynb)
- Include HTML templates in package-data to fix TemplateNotFound errors
when pip installing mujoco[sysid]
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3092 from kevinzakka:sysid-notebook 4cabc9c52dc07ea2d64a3de6dbd58e47a2ad023c
PiperOrigin-RevId: 868900119
Change-Id: I53c4cc94b5fb6f864c5cee589af9dfad9bfc8744
The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.
PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
Adds a test which verifies that we can index into the texture buffer at offsets larger than can be represented by a 32-bit signed int.
PiperOrigin-RevId: 868756646
Change-Id: Ibc1a2b269fce41aec370611b0aab77803837e7a8
Replace dynamically-sized edge list with a dense ntree×ntree adjacency matrix for deduplication and a flat CSR representation.
PiperOrigin-RevId: 868728432
Change-Id: Iebe97a0870740e5465549b967bbde0c81e658269
On Windows, _aligned_malloc(0) returns NULL, which MuJoCo interprets as a fatal out-of-memory error. This causes crashes on models with empty arrays.
Ensure a minimum allocation of 64 bytes for any 0-sized request.
Fixes#2992
Taylor Howell