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Author SHA1 Message Date
Levi Burner eab1f0da7d Fix off by one in segmentation with IDCOLOR documentation 2022-08-05 11:46:22 -04:00
Saran Tunyasuvunakool 3a3ca37615 Fix msan bugs in bindings_test.py. 
PiperOrigin-RevId: 465321721
Change-Id: Ie5bfbf5fb0cd3f2b3db3adc86bff3cb1c4df3da0
 2022-08-04 08:36:05 -07:00
Copybara-Service 5f79a1d95f Merge pull request #418 from aftersomemath:simulate-cond-fix 
PiperOrigin-RevId: 465238283
Change-Id: If93ed34ce9bb8a4942c1bc30802ee7f4cace8690
 2022-08-03 23:42:27 -07:00
Levi Burner 7fb1ffe712 Invert condition variable predicate 2022-08-03 15:59:14 -04:00
Saran Tunyasuvunakool 74539e307e Run apt-get update on Linux in GH Actions. 
PiperOrigin-RevId: 465054121
Change-Id: I01702bcc51e03ea27c0da80565296b9f80df46fb
 2022-08-03 07:52:12 -07:00
Saran Tunyasuvunakool e40b9da181 Merge pull request #201 from aftersomemath:refactor-simulate 
PiperOrigin-RevId: 465044152
Change-Id: I54e65a30764a444dbd175260314d685fd7ffa6a1
 2022-08-03 15:32:15 +01:00
Yuval Tassa 6e67391fe9 Add Info.framework.plist to .gitignore 
PiperOrigin-RevId: 464765972
Change-Id: Ieef2e92349261bb00b58e1bf3ceeda69fee123e5
 2022-08-02 05:26:52 -07:00
Kevin Zakka f71daed66f Fix various typos in doc. 
PiperOrigin-RevId: 464730883
Change-Id: Id90d7ca07dddbe2b7a991d0d018c9145fae3c698
 2022-08-02 01:46:54 -07:00
Alessio Quaglino f15bcd04b5 Restore legacy center-of-mass computation when exactmeshinertia is false. 
PiperOrigin-RevId: 464511268
Change-Id: Ic7c640d01e58dba5049e9fcb2c1b75d6bff4f956
 2022-08-01 05:12:30 -07:00
Yuval Tassa 3d77eb1ef4 Add adhesion actuators. 
- Adhesion actuators using contact normals as force transmission mechanism.
- Related video: https://youtu.be/HdBue4MUZys

Closes #229

PiperOrigin-RevId: 464389367
Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
 2022-07-31 08:54:06 -07:00
Alessio Quaglino 5c5449bf82 Compute moment of inertia for concave and boundary meshes. Resolve #338. 
- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes.
- To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future.
- Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported.

PiperOrigin-RevId: 464368395
Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
 2022-07-31 04:32:28 -07:00
Yuval Tassa 52d78f8d24 Remove unused mjData argument in private function mj_solveLD. 
PiperOrigin-RevId: 464087933
Change-Id: Ibe9e9713680a02bfe098c39191f9b706e2c70c12
 2022-07-29 08:53:04 -07:00
Yuval Tassa fcf4131771 Add mj_jacSubtreeCom for computing subtree center-of-mass Jacobians. 
PiperOrigin-RevId: 464075727
Change-Id: If679c0fdd05b7dc84154cec00963aeea7bbdacc3
 2022-07-29 07:44:32 -07:00
Alessio Quaglino cd489fc72d Check if STL vertex coordinates are within maximum bounds. 
PiperOrigin-RevId: 464047975
Change-Id: I5c8c32aca468aaee26ff5cf9466a0f2f81721010
 2022-07-29 04:13:59 -07:00
Alessio Quaglino 8ead54d2dc Add missing gain type "affine" to general actuators. 
PiperOrigin-RevId: 463605415
Change-Id: I849e6f2f0ec5eaedaa774099e5e07f27919bb943
 2022-07-27 09:24:17 -07:00
Saran Tunyasuvunakool 807097148e Add internal-only API for creating mjrContext with custom offscreen FBO size. 
PiperOrigin-RevId: 463048634
Change-Id: I195cbbf0e13a6c032e86070e8e4c11ad53af8a71
 2022-07-25 03:47:02 -07:00
Saran Tunyasuvunakool 95b6327bb5 Fix rendering of reflection for transparent geoms. 
PiperOrigin-RevId: 462589429
Change-Id: Ibda2d2b83cb43804644fecfe3a1e2a8496f3de56
 2022-07-22 04:09:02 -07:00
Saran Tunyasuvunakool b849023069 Miscellaneous linting in src/engine. 
PiperOrigin-RevId: 462415459
Change-Id: I6c79c592613c6b0a665af06faf945586bb6ba32d
 2022-07-21 10:16:49 -07:00
Kevin Zakka eef473b1e1 Fix hyperlink to mjd_transitionFD. 
PiperOrigin-RevId: 462150695
Change-Id: If736fee2cb629d649c2931aa0c0cbf4ddb56d68b
 2022-07-20 08:44:36 -07:00
Yuval Tassa f6e1b02f48 Fix rendering of mjd_transitionFD docstring. 
PiperOrigin-RevId: 462117193
Change-Id: Ia7fbd0c1a3cb3a9241f75759fc416a84d55d75fe
 2022-07-20 05:23:29 -07:00
Kevin Zakka fa1536c2de Nit fixes to documentation. 
PiperOrigin-RevId: 461932200
Change-Id: I3f929e09239c526b1686aa65641e47e759d32827
 2022-07-19 11:27:33 -07:00
Alessio Quaglino 8dd9971409 Raise error if mesh has flipped faces. 
PiperOrigin-RevId: 461860424
Change-Id: Ib23c50cf7f64de1173404d2f65ad87177fab45b3
 2022-07-19 05:47:46 -07:00
Yuval Tassa e6480c76a9 Remove unused imports. 
PiperOrigin-RevId: 461829404
Change-Id: I9ae44085af211013ed2b677b7d3a545ccec34605
 2022-07-19 02:11:56 -07:00
Tom Erez 151449c47a binary retriever is only relevant for the Editor. 
PiperOrigin-RevId: 461629986
Change-Id: Ib2e27bdf30c1fb696773b8d05b3e42a6adc3e0fe
 2022-07-18 08:47:03 -07:00
Tom Erez e8a9db82b8 Retrieve the binary only when the MuJoCo package is installed. 
PiperOrigin-RevId: 461524833
Change-Id: Ie8ca9dda71b35262f99688d02f71be77c251ea3e
 2022-07-17 20:48:06 -07:00
Tom Erez 0180d839a9 Change assembly definition to target only the Editor. 
PiperOrigin-RevId: 461522513
Change-Id: I3eb146eff71f0293c6f63d835d776b66b07c52ff
 2022-07-17 20:21:42 -07:00
Tom Erez 26a0441e7c add a script that converts MJCF models to PhysX. 
PiperOrigin-RevId: 461520759
Change-Id: I177195af60645169294180da8b99740426d23d8f
 2022-07-17 20:08:31 -07:00
Saran Tunyasuvunakool 69e3fe1730 Add CI builds on Ubuntu 20 with GCC 9, GCC 10, Clang 10, and Clang 11. 
PiperOrigin-RevId: 461500095
Change-Id: I812d1ac2a864e404c3052b3aa65443c5eb975ccf
 2022-07-17 16:00:40 -07:00
Saran Tunyasuvunakool cb01022124 Uncomment pypi-versions-badge from README.md. 
This badge now works correctly since version 2.2.1 has been uploaded to PyPI.

PiperOrigin-RevId: 461476606
Change-Id: I22b40d2fbf900a7cbd86b04f7af69c313bcc721d
 2022-07-17 10:55:55 -07:00
Saran Tunyasuvunakool 373cc894a8 Bump version number to 2.2.1. 
PiperOrigin-RevId: 461471944
Change-Id: Ia752d992fabdc57b822bc30b01030c19162917ac
 2022-07-17 09:50:31 -07:00
Nimrod Gileadi 1392843aed Fix the use of __has_builtin for GCC < 10. 
The breakage was introduced in af12322e9d.

__has_builtin was introduced to GCC in version 10, and the arithmetic overflow builtins were available since version 5.

Fixes deepmind/mujoco#386.

Tested with GCC 9.

PiperOrigin-RevId: 461463027
Change-Id: I76627539a5c0e7f5617b56a2c9ada9251bceb0f6
 2022-07-17 07:51:40 -07:00
Copybara-Service 5ef1e59f06 Merge pull request #385 from wpumacay:fix-build-without-tests 
PiperOrigin-RevId: 461352099
Change-Id: I27ad117a5a0055af32abc70f0cc3aea8dff8fdca
 2022-07-16 08:02:47 -07:00
gregor 0223773a54 Fix typo on CMake script 2022-07-16 06:51:59 -05:00
gregor 06305c0ae1 Merge remote-tracking branch 'upstream/main' into fix-build-without-tests 2022-07-16 06:45:52 -05:00
gregor 7ee01ddcac Fixes #382 (compile with unittests disabled) 2022-07-16 05:56:32 -05:00
Saran Tunyasuvunakool c9ec2654a2 Fix binary rpath for Linux releases. 
PiperOrigin-RevId: 461262210
Change-Id: If2d97176abef15bc250841ad518fd1f5915f698a
 2022-07-15 16:24:11 -07:00
Kevin Zakka 461f8ccbda Add PyPI classifiers and README badge. 
PiperOrigin-RevId: 461197208
Change-Id: I2c82a83d5f8719d5bc7f3373fd39d45ed965f218
 2022-07-15 08:17:06 -07:00
Nimrod Gileadi af12322e9d Avoid integer overflows when computing buffer sizes. 
If any field size would cause an overflow, fail to create the model.

PiperOrigin-RevId: 460466485
Change-Id: Ic8b84f3b56f2617c04ba04604729f0f76c6d62ee
 2022-07-12 08:20:40 -07:00
Yuval Tassa d5059f484d Add license badge to README. 
PiperOrigin-RevId: 460437521
Change-Id: I25514343a6b0f507c661261a20d1ad07465491fc
 2022-07-12 05:40:28 -07:00
Yuval Tassa 138a01625e Fix typo. 
PiperOrigin-RevId: 460312313
Change-Id: I4ff1f82afb28d1286e33aaee8b008f76f81935ac
 2022-07-11 15:20:38 -07:00
Yuval Tassa 50a72d7227 Don't use var[restrict n] syntax. 
This notation is unsupported by MSVC.

PiperOrigin-RevId: 460030944
Change-Id: Ib86b76c8767d83ab49e4db9d3d0fd1437721df20
 2022-07-10 02:31:21 -07:00
Levi Burner e036e9a229 Simulate: Make sure all class members are initialized 2022-07-08 16:04:12 -04:00
Levi Burner 4269202e20 Install mjsimulate shared library 2022-07-08 16:04:12 -04:00
Levi Burner 655eec1d63 Link GLFW as a shared library by default 
Use one option name to control building GLFW as static/shared since it
is not straightforward to set it seperately for the samples and simulate
 2022-07-08 16:04:12 -04:00
Levi Burner 1788d23da6 Simulate: disable mjsimulate shared library, multiple linkages of glfw cause crash on MacOS 2022-07-08 16:04:12 -04:00
Levi Burner 70ec29a722 Simulate: fix header includes 2022-07-08 16:04:12 -04:00
Levi Burner a526a6bd78 Simulate: move all glfw calls to main thread to fix MacOS 2022-07-08 16:04:12 -04:00
Levi Burner 62008a0e19 Simulate: turn on PIC when hardening 2022-07-08 16:04:12 -04:00
Levi Burner 95510a07d4 Simulate: fix MacOS build (still crashes due to GLFW misusage) 2022-07-08 16:04:12 -04:00
Levi Burner ed82f055e8 Simulate: fixes for windows version 2022-07-08 16:04:12 -04:00