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Author SHA1 Message Date
Kevin Zakka d7e082ae96 Testing doc change. 2022-12-06 18:15:10 +00:00
Alessio Quaglino 2d304d65e5 Use memcmp for mju_compare if no AVX. 15% faster on Humanoid. 
PiperOrigin-RevId: 493324356
Change-Id: I5f71dc1a8ae40c18864ea80f00a5f86ff952f72c
 2022-12-06 09:14:33 -08:00
Alessio Quaglino 7f459ab8ca Print vertex IDs when inconsistent face is found. 
PiperOrigin-RevId: 493311839
Change-Id: I0283d86bc6092fbe4f47b845fa8ec212bffdfa1a
 2022-12-06 08:24:46 -08:00
Saran Tunyasuvunakool e4f1d584ad Add control plugin API. 
PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
 2022-12-06 08:23:49 -08:00
Kyle Bayes 60fbb77b2a Fix typos in MuJoCo 2.3.1 changelog. 
PiperOrigin-RevId: 493305455
Change-Id: I10c8dc198e60d9dd5ef107fc7210c80b66e123c9
 2022-12-06 07:56:21 -08:00
Saran Tunyasuvunakool 8f3a771209 Update tutorial notebooks to use the built-in Renderer class. 
PiperOrigin-RevId: 493303419
Change-Id: I5ddca087d522e7d43f8880641e8bc8d82d4f07a3
 2022-12-06 07:46:16 -08:00
Saran Tunyasuvunakool 0d608282dd Fix viewer.py for Python 3.7 and 3.8. 
PiperOrigin-RevId: 493301329
Change-Id: I44ffe5b33595d2dec7cd1aefbdd77d535901d894
 2022-12-06 07:36:25 -08:00
Saran Tunyasuvunakool 36641cdb2c Update release date for 2.3.1. 
PiperOrigin-RevId: 493165432
Change-Id: Ib88d2e487d7726076f50f8a44a44d1d2d72a15ab
 2022-12-05 18:16:08 -08:00
Yuval Tassa 687bd15e05 Make comment more precise 
PiperOrigin-RevId: 493165357
Change-Id: Ibdd86de67caf0e528e20ff6829e8ed4a8b967d4c
 2022-12-05 18:15:14 -08:00
Saran Tunyasuvunakool 1408a63a02 Bump version number in Windows resource files. 
PiperOrigin-RevId: 493091034
Change-Id: I65f2a68e6f182500dbd55cf93669f32e25d7ae66
 2022-12-05 13:08:18 -08:00
Kyle Bayes 73fb61e3e2 Bump version number to 2.3.1. 
PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
 2022-12-05 12:13:55 -08:00
Kyle Bayes ef695bb8a8 Add Renderer class to Python native bindings. 
PiperOrigin-RevId: 492994751
Change-Id: Iebbe5980668a15b1cd62c0076cc131255462b2eb
 2022-12-05 06:54:33 -08:00
Kyle Bayes 341578450f Update dependency versions for Benchmark and Pybind11. 
PiperOrigin-RevId: 492978119
Change-Id: Id48037950a6beac2f04f5e08448bd2fb3cb88678
 2022-12-05 05:20:08 -08:00
Kevin Zakka 1ef5f9266e Improve the documentation. 
* Add code block `copy` button via `sphinx_copybutton`
* Change permalink icon

PiperOrigin-RevId: 492955205
Change-Id: I2bcebcf7dd1fcace26ba03a4e348cb46eb838b57
 2022-12-05 02:48:22 -08:00
Copybara-Service dc212c276d Merge pull request #612 from qleonardolp:patch-1 
PiperOrigin-RevId: 492705106
Change-Id: I2265892aeca413e221a2cbb2244021c74afefd58
 2022-12-03 10:49:22 -08:00
Saran Tunyasuvunakool 0846f38c82 Rename Python mujoco.simulate to mujoco.viewer. 
PiperOrigin-RevId: 492701386
Change-Id: I059c572e2a63bd5529e863a9404720973df8ea46
 2022-12-03 10:09:42 -08:00
Yuval Tassa dee1d6020a Make "acc" the default computation stage for sensors of type user. 
PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
 2022-12-03 07:50:15 -08:00
Saran Tunyasuvunakool 66cb7d611b Remove mujoco-py from the list of bindings advertised in README. 
Also make the mention of Python bindings and Unity plugin in the intro section more prominent by breaking it into a separate paragraph.

PiperOrigin-RevId: 492686331
Change-Id: I7ff04219e29d0bd2051c4f218e59aca1639237b7
 2022-12-03 07:14:16 -08:00
Alessio Quaglino 0d52feaa94 Add updateScene callback for plugins. 
PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
 2022-12-02 10:11:32 -08:00
Saran Tunyasuvunakool 9fcf3b0c2e Modify Python simulate so that the Reload button works. 
Also allow a `Callable[[], [MjModel, MjData]]` to be provided as an argument to `launch` instead of a fixed MjModel/MjData instance. This allows users to customise the behaviour of the Reload button.

Context: https://github.com/deepmind/mujoco/discussions/576#discussioncomment-4161429
PiperOrigin-RevId: 492296268
Change-Id: Ic4b797d2ea8a6967f7e3e7316f2184ea94a86d8b
 2022-12-01 14:12:35 -08:00
Alessio Quaglino 89185b4af2 Using full path when adding a file to VFS. Fixes #616. 
PiperOrigin-RevId: 492204185
Change-Id: If2b2230c095fe0bb776fcc3ffda48f13d0be5cb2
 2022-12-01 08:34:20 -08:00
Francesco Romano b9b224bfbd Remove qhull patching as upstream has been updated. 
PiperOrigin-RevId: 492136751
Change-Id: Ifc149c761a6c6cf3f32011ecb8af3523f39e8f00
 2022-12-01 01:56:42 -08:00
Kevin Zakka 07371e5e08 Make Python bindings source installation instructions in docs match README. 
PiperOrigin-RevId: 491961258
Change-Id: I4d2749b3963db3034d5fc8fca5bd43ab416117f7
 2022-11-30 10:45:36 -08:00
Alessio Quaglino 26f71e2f6c Check that spacing is greater than geometry size for Composite particles and grid. 
PiperOrigin-RevId: 491858371
Change-Id: I03a669286c283a72947705463426badcfc9b0bfd
 2022-11-30 02:17:42 -08:00
Leonardo Felipe dos Santos ab56a394bc Update computation.rst 
spell check
 2022-11-29 17:49:25 -03:00
Saran Tunyasuvunakool df25d7d602 Raise an informative error when running on macOS under Rosetta 2. 
Current users only get a cryptic "Illegal instruction" crash.

Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
 2022-11-29 12:19:06 -08:00
Kyle Bayes 5f7d9f4f02 Autogenerate C code snippets using new Sphinx extension for the API reference docs. 
PiperOrigin-RevId: 491613858
Change-Id: I0a878038bee5e929237fa23686f97319b15bddfc
 2022-11-29 06:02:48 -08:00
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