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Author SHA1 Message Date
Baruch Tabanpour dc8bac2f4d Fix supported equality constraint in doc. 
https://github.com/google-deepmind/mujoco/issues/1105

PiperOrigin-RevId: 574950690
Change-Id: I1c029e9b31235fdcaa8e8f35b5117fec373fa25f
 2023-10-19 11:43:02 -07:00
Saran Tunyasuvunakool 1178bad339 Run MJX tests on GitHub Actions. 
PiperOrigin-RevId: 574939328
Change-Id: Ic6e5650ef6a7df8c94a189206fddf06bd9c4eb97
 2023-10-19 11:12:54 -07:00
Baruch Tabanpour 79e9589515 Change test_box_box slightly. 
PiperOrigin-RevId: 574937448
Change-Id: If84c8e192b230fea0e858fdd12beceedaa280f30
 2023-10-19 11:07:42 -07:00
Baruch Tabanpour 7a802a1820 PUBLIX: Fix typo in mjx doc. 
https://github.com/google-deepmind/mujoco/issues/1106

PiperOrigin-RevId: 574928021
Change-Id: I8f3f096ba71c41da1fdfdae8bd0f88f160d2678e
 2023-10-19 10:44:41 -07:00
Baruch Tabanpour 9decb7389f Make humanoid default in colab. 
PiperOrigin-RevId: 574925299
Change-Id: I619438b4c61b882db27c3984fb8c061ec0c39e4d
 2023-10-19 10:38:09 -07:00
Saran Tunyasuvunakool 2970a2575d Change assertTrue to np.testing.assert_array_less. 
This gives a more informative error message on failure, e.g. in https://github.com/conda-forge/mujoco-feedstock/pull/31#issuecomment-1770195171

PiperOrigin-RevId: 574879703
Change-Id: I1936c16264b00d6f80c4817d982b0ab4ab6d4b5d
 2023-10-19 08:27:08 -07:00
Nimrod Gileadi 9393c690d4 Correctly handle full screen and vsync buttons. 
Fixes #1110.

The code was using outdated indices since 48eb75ae92. It now uses the more stable pdata pointer.

PiperOrigin-RevId: 574805349
Change-Id: If6112fb2af7d60f17b35599233b24f33b6a8cac6
 2023-10-19 03:38:11 -07:00
Baruch Tabanpour 44ba099fd6 Fix bug with single actuator in transmission. 
PiperOrigin-RevId: 574637727
Change-Id: Ibfc01ff3bc80afe5da253fd9d6d76609b8e9198d
 2023-10-18 16:18:21 -07:00
Baruch Tabanpour b989a85364 Remove block in colab. 
PiperOrigin-RevId: 574595549
Change-Id: I3814a8ecb909a581d96b614edd99002c05de014b
 2023-10-18 14:19:05 -07:00
Copybara-Service 48ec2d465b Merge pull request #1102 from johannespitz:main 
PiperOrigin-RevId: 574531155
Change-Id: I92c5cbd735ac29680b8532a0f0901bbc5d5072ce
 2023-10-18 11:05:56 -07:00
Kevin Zakka 2fefa7dd8a Improve MJX Colab description in README. 
PiperOrigin-RevId: 574521404
Change-Id: If236aa97a7d5ef6fa3884728652011f1311031cb
 2023-10-18 10:37:37 -07:00
Yuval Tassa 553f2bd953 Update overview.rst 
PiperOrigin-RevId: 574510917
Change-Id: I7aef5bdf0c2d9d135322502fd2470d47595e1eb1
 2023-10-18 10:06:30 -07:00
Alessio Quaglino 83515446b6 Add missing models to all_models and all_test_models. 
PiperOrigin-RevId: 574491634
Change-Id: I943043b21056d7f22dd1c50454deee3f49e7eac0
 2023-10-18 08:59:54 -07:00
Johannes Pitz 56006355b2 Fix link 2023-10-18 16:12:35 +02:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Yuval Tassa 3c6b573f78 Add flex model to test/testdata 
PiperOrigin-RevId: 574431067
Change-Id: Ide06b145afeca5df80acfc05e290e7bc54786a8e
 2023-10-18 04:11:46 -07:00
Alessio Quaglino d0294b7cc0 Initialize contact frame in planeVertex contact. 
PiperOrigin-RevId: 574416404
Change-Id: I305f7113364ad9198947c5aa7346bb832fc43146
 2023-10-18 02:56:14 -07:00
Google DeepMind 98cc3a6fb2 Typo and minor changes. 
PiperOrigin-RevId: 574403633
Change-Id: I1798f91e27911e351ee99c749c6dd62d851b61cf
 2023-10-18 02:55:49 -07:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00
Alessio Quaglino 3f3d5a3b49 Fix contactcompare swapping condition. 
PiperOrigin-RevId: 574276137
Change-Id: Iafbb6a99c1fb57907d3cb1d0796b6ad718e549d2
 2023-10-17 15:05:20 -07:00
Yuval Tassa d0bdb78207 Disable island discovery for models with flexes. 
PiperOrigin-RevId: 574244981
Change-Id: I7c08b23cf5f29338a04ec684ad7a0d4d8a0397df
 2023-10-17 13:17:24 -07:00
Yuval Tassa 18e4e10142 Mention fluid force documentation in the changelog. 
PiperOrigin-RevId: 574206986
Change-Id: Ia5246f369070c463c10a2d63cf2ae29b40317724
 2023-10-17 11:08:49 -07:00
Alessio Quaglino 50b4f0277d Add elasticity plugin README. 
PiperOrigin-RevId: 574195554
Change-Id: Ib57614aaef66cdb26e3667c66df2426e63dacac4
 2023-10-17 10:36:34 -07:00
Google DeepMind 65e66d0fc9 Fluid force documentation: Rename d to r, update description of passive viscous forces. 
PiperOrigin-RevId: 574195315
Change-Id: Ic045a2d1606c85a7d87b0000f505c792b6477917
 2023-10-17 10:35:12 -07:00
Alessio Quaglino 317d6d9ebe Move edge creation after element reordering in mjCFlex. 
PiperOrigin-RevId: 574193046
Change-Id: If2fb01b3494d637d4b220d03e7d7d84e4a9f7a2d
 2023-10-17 10:28:43 -07:00
Alessio Quaglino 139a8ae298 Add flex and elasticity documentation. Fixes #873. 
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
 2023-10-17 09:46:07 -07:00
Alessio Quaglino db067a3b94 Update SdfLib to latest version. 
PiperOrigin-RevId: 574140359
Change-Id: Icbbf1c863204bef45252cfd184e0d80046261dc4
 2023-10-17 07:20:26 -07:00
Nimrod Gileadi 393cfec1e8 Don't use PluginTest as the fixture name in xml_native_writer_test 
PiperOrigin-RevId: 574129298
Change-Id: I8c3e10bf271d54cb414b8d2af3724d8c81b6fc80
 2023-10-17 06:32:37 -07:00
Alessio Quaglino d67b8c6251 Add membrane plugin (2D Flex elastic stiffness). 
PiperOrigin-RevId: 574109411
Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
 2023-10-17 04:55:33 -07:00
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp. 
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
 2023-10-16 03:03:06 -07:00
Yuval Tassa 93d1c3c92e Add GitHub link to the docs sidebar 
PiperOrigin-RevId: 573621667
Change-Id: Iac0fe218267dd8691bc503f5c8ea31c62ba216a9
 2023-10-15 07:58:24 -07:00
Yuval Tassa a9ee497e33 Add spaces around comparison operators. 
PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
 2023-10-15 07:40:10 -07:00
Yuval Tassa a1b6026b8c Delete derivative code sample. 
PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
 2023-10-14 08:38:37 -07:00
Yuval Tassa c0357ef3d0 Improve documentation related to engine-internal threading. 
PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
 2023-10-13 16:32:38 -07:00
Kevin Zakka e90b347cbf Add mesh conversion utilities. 
PiperOrigin-RevId: 573343028
Change-Id: I4b258f91a11d1994659b0129de5ddb2077689f01
 2023-10-13 16:13:24 -07:00
Saran Tunyasuvunakool efdc89e347 Update dependency versions. 
PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
 2023-10-13 14:41:48 -07:00
Nimrod Gileadi eb41c720d4 Restore full state in mjd_stepFD. 
Make sure that plugin state is also restored after finite-difference calculations.

PiperOrigin-RevId: 573272654
Change-Id: Ie276ecc391c463ae5c47cafa5b8de873b9345a7d
 2023-10-13 11:23:52 -07:00
Yuval Tassa fb4cf472ed Delete testxml code sample. 
PiperOrigin-RevId: 573202693
Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
 2023-10-13 06:33:24 -07:00
Yuval Tassa d88675a034 Change the default of <compiler autolimits> from "false" to "true". 
PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
 2023-10-13 05:05:24 -07:00
Alessio Quaglino 389e13938e Fix typos in docs. 
PiperOrigin-RevId: 573172715
Change-Id: I0073d0872597b01d84151b9eea578cc0ae0a5013
 2023-10-13 04:05:30 -07:00
Saran Tunyasuvunakool 36de0cc084 Tweak CSS selector 
PiperOrigin-RevId: 572980162
Change-Id: Ic4d4e58f20c4324d24824fd2b62f4138e5384a5d
 2023-10-12 12:25:58 -07:00
Copybara-Service 59164702ab Merge pull request #978 from aftersomemath:depth-precision-in-place 
PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
 2023-10-12 11:18:36 -07:00
Yuval Tassa 493ae95d69 Add stack leak test to WriteReadCompare 
PiperOrigin-RevId: 572953669
Change-Id: Id6cad3fc86777d68f218119f67c9dc473bdcfcc8
 2023-10-12 10:53:24 -07:00
Saran Tunyasuvunakool 86859ad382 Restore shadows when flex is present. 
PiperOrigin-RevId: 572936749
Change-Id: I57f8d486810767422bc2874433497eb5073bf63b
 2023-10-12 09:58:59 -07:00
Nimrod Gileadi 60fd6a3298 Check if there's enough data in the buffer before reading fields while loading MJB. 
Before this change, loading a truncated MJB file would crash with mjERROR. After this change it will just return NULL.

PiperOrigin-RevId: 572928724
Change-Id: I9611eaffcc2e5ef1b957f48162ce2ef29619e087
 2023-10-12 09:30:00 -07:00
Alessio Quaglino 6f8128dc6a Fix benchmark label for plugin flag test. 
PiperOrigin-RevId: 572891541
Change-Id: I442e31f7e4164789759be0d2c71275fdb1398955
 2023-10-12 06:53:38 -07:00
Alessio Quaglino 386b65086b Reduce contact label length. 
PiperOrigin-RevId: 572868387
Change-Id: Icedec0792516b05d083068b9a3dad7e47e4ccc41
 2023-10-12 05:10:03 -07:00
Alessio Quaglino 3addd490a4 Increase contact label length. 
PiperOrigin-RevId: 572856066
Change-Id: I9d68481644b5a67720c055461607c95de8ec16ac
 2023-10-12 04:10:25 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Saran Tunyasuvunakool 649a474788 Migrate to pyproject.toml. 
PiperOrigin-RevId: 572726851
Change-Id: Iad254df70d15c962a5e58c8caf82b32530d26b06
 2023-10-11 16:55:34 -07:00