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Author SHA1 Message Date
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
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
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
Kyle Bayes 048bd43724 Fix various typos. 
PiperOrigin-RevId: 499888205
Change-Id: I38ccf9edb2a745fe8087f14b67ecccca872f7743
 2023-01-05 08:29:49 -08:00
Saran Tunyasuvunakool 6824cd50e2 Update MJBindings.cs to correctly reflect pointer-to-pointer types. 
PiperOrigin-RevId: 499881915
Change-Id: Ibd25d8e38258c7d1372a066dadbffcf4c1dd2d6b
 2023-01-05 08:10:54 -08:00
Nimrod Gileadi f85f3fba2f Avoid duplicate contact points in compound bodies. 
Sometimes broadphase returns the same body pair multiple times. In those cases, avoid creating every contact twice.

PiperOrigin-RevId: 499869235
Change-Id: I58606168b0723d40b4fdd43b1fafad79bf35d76d
 2023-01-05 07:28:05 -08:00
Kyle Bayes 0c463366a0 Reduce internal names hash map from factor of 1 to 0.5. 
PiperOrigin-RevId: 499762072
Change-Id: Id4ea606b5c534c55665485c9f71412523164d2ed
 2023-01-05 01:29:14 -08:00
Yuval Tassa 928eb7a067 Add link from "build from source" sections to GitHub CI. 
PiperOrigin-RevId: 499737486
Change-Id: If9c5fa730166bfc73b828c87cf4ba4ddb9ace28c
 2023-01-04 23:59:10 -08:00
Tom Erez ba9229cad5 Remove test for MjVfs read. 
The c# library never reads from MjVfs files, so this test is superfluous (and flaky).

PiperOrigin-RevId: 499490518
Change-Id: I417959b5374c5ede29544ee3f463928513e28d07
 2023-01-04 08:22:54 -08:00
Kyle Bayes f1007df013 Implement hash map for mj_name2id using djb2 and linear probing. 
PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
 2023-01-04 07:57:55 -08:00
Kyle Bayes 5261cceb30 Fix typo in engine_io.c. 
PiperOrigin-RevId: 499422793
Change-Id: Ic3a0d6dcc9119041267555efd6a8addb944d6639
 2023-01-04 01:35:28 -08:00
Yuval Tassa 4bc76c93ae Remove "name" attribute from plugin specifiers. 
PiperOrigin-RevId: 499187319
Change-Id: I0755a071eb4eee917fdf32db49a47fd16afa58f9
 2023-01-03 05:03:20 -08:00
Tom Erez 45184bfa55 Fix Typo. 
PiperOrigin-RevId: 499185052
Change-Id: I159271a229c90f38836d607511459edbe1d501bb
 2023-01-03 04:49:48 -08:00
Saran Tunyasuvunakool 5fe97403c9 Remove source building instructions from python/README.md. 
Most users should be fine with just `pip install mujoco`, so it seems better to keep the installation section in the README succinct to prevent confusion.

Advanced users who need to build from source are referred to our documentation, which currently just duplicates the same information.

PiperOrigin-RevId: 499182819
Change-Id: I181fee93c3d2e05b0ca8462bb364f94cf1065517
 2023-01-03 04:35:31 -08:00
Tom Erez 69739426f1 Use scalar Angle to compare quaternions. 
The Vector4 comparator couldn't know that q==-q.

PiperOrigin-RevId: 498947861
Change-Id: Ife9efeb369c794eedbef80829e40057794a334ee
 2023-01-01 20:01:48 -08:00
Kevin Zakka a173e01f42 Prevent division by zero in Ornstein–Uhlenbeck control noise. 
PiperOrigin-RevId: 498753494
Change-Id: Ib43e165a4da524c12fab4ea05848b084b2e7713c
 2022-12-31 10:29:03 -08:00
Tom Erez eb8389fead Find MjScene at OnEnable: ensure MuJoCo compilation happens only once at startup. 
PiperOrigin-RevId: 498655077
Change-Id: Ibed8f36a880426063b7729fc66b15c67adcc9a65
 2022-12-30 18:37:59 -08:00
Tom Erez f78ebeab96 Add post-compile and pre-destroy events to MjScene. 
PiperOrigin-RevId: 498516529
Change-Id: I52dbf135e3260ca2999069bcb9f9b9ad648595d2
 2022-12-29 22:43:11 -08:00
Yuval Tassa 95b9a0f215 Fix typo, improve error message. 
PiperOrigin-RevId: 498473694
Change-Id: I9b04df14f4afbe7148c3083da26451020bd2ebc9
 2022-12-29 17:15:10 -08:00
Yuval Tassa 68ffbffc53 Fix typo. 
PiperOrigin-RevId: 497330766
Change-Id: Ie8ce4968407498ca4398995734e7868b7af72c6f
 2022-12-23 02:00:33 -08:00
Tom Erez 6a58fd1522 Clean-up test files. 
Also, don't add a Global Settings component at import if the xml doesn't have any global settings (option/size/custom).

PiperOrigin-RevId: 495950899
Change-Id: I6599e8ea3f3a82729fc5c974fd7ced8eb93b277e
 2022-12-16 13:39:28 -08:00
Yuval Tassa 69c74f850e Hierarchical restructuring of docs Programming chapter 
PiperOrigin-RevId: 495941670
Change-Id: I7f92d90fd58b9e22b59c54861277be60cb43323d
 2022-12-16 12:56:47 -08:00
Copybara-Service 4d91866e98 Merge pull request #652 from Balint-H:fix/unity-scene-tranisition 
PiperOrigin-RevId: 495876985
Change-Id: I9880aa6bd2fc696509e518449a35a69457d92ba4
 2022-12-16 08:13:03 -08:00
Saran Tunyasuvunakool 725b45b577 Internal Python bindings cleanup. 
PiperOrigin-RevId: 495868304
Change-Id: Ib9cfe5f7a1d49126659176207bd6b4a314f8516a
 2022-12-16 07:22:48 -08:00