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Author SHA1 Message Date
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
Tom Erez 189349f421 Don't add an empty "user" attribute to user sensors. 
This fixes the broken TAP tests.

PiperOrigin-RevId: 495867491
Change-Id: I740651ed0dd8d1c84053a48f3fca577b6024bf95
 2022-12-16 07:17:42 -08:00
Tom Erez f70403d00a Add support for global custom numeric fields. 
PiperOrigin-RevId: 495865065
Change-Id: I59ed65e84a0bcaa90220b938ed34fdc26165aa09
 2022-12-16 07:03:31 -08:00
Copybara-Service 516d13d678 Merge pull request #657 from Balint-H:fix/spring-import-units 
PiperOrigin-RevId: 495845558
Change-Id: I391a89403b8e5be170ddefe36d29dbd916970995
 2022-12-16 05:00:07 -08:00
Saran Tunyasuvunakool 58b623ae5c Update README badge URL. 
https://github.com/badges/shields/issues/8671

PiperOrigin-RevId: 495835738
Change-Id: I92199979b30b3f5ba90c5da82faf3bcb0967f461
 2022-12-16 03:57:48 -08:00
Bálint Hodossy a0ab1940bf Fix ignored units of springref 2022-12-15 15:36:14 +00:00
Tom Erez e95b0c0eaf Add anchor support for connect constraint components. 
Fixes #647

PiperOrigin-RevId: 495587232
Change-Id: I528a69dabbc1ac9a12f9ab7c16716e3d69c635e2
 2022-12-15 07:25:59 -08:00
Kevin Zakka bc02c2455e Sensor plugin parsing: Ensure sensor reftype is only assigned if a value in the XML exists. 
PiperOrigin-RevId: 495314131
Change-Id: I5f955c435474de1dd1d75f7a7492e3a21ea9d289
 2022-12-14 07:57:29 -08:00
Bálint Hodossy aec125fb4e Check whether MjScene exists in components' OnDisable() 2022-12-14 13:38:36 +00:00
Saran Tunyasuvunakool 05216f183c Fix broken test on MSVC. 
Test was broken by 2e6af64b31.

PiperOrigin-RevId: 495196716
Change-Id: I0402b05da2778c54c2761efe5d9977fd091cddd6
 2022-12-13 20:22:50 -08:00
Yuval Tassa 30b4309af9 Rename mjpPlugin.capabilities -> mjpPlugin.capabilityflags 
PiperOrigin-RevId: 495080532
Change-Id: I81743472b816a331890a7cb05bfb7a89ebf07ff9
 2022-12-13 11:33:27 -08:00
Saran Tunyasuvunakool 5c021d042b Modify signature of plugin reset callback. 
The `reset` function is called inside `mj_resetData`, before any physics forwarding call has been made. It is therefore an error to read anything from mjData at this stage.

The only valid operation on mjData during `reset` is for a plugin to write into its own state variable slots and data struct. We modify the function signature to only provide access to these.

PiperOrigin-RevId: 495032492
Change-Id: Ic6d2967d2571a9083cbca1ba239ca70a8a51f474
 2022-12-13 08:41:35 -08:00
Saran Tunyasuvunakool 2e6af64b31 Change mj_versionString test to not rely on a golden value. 
PiperOrigin-RevId: 495026376
Change-Id: I378d2cff1edfe4d49c1bd7c131d92502d0a6b5b2
 2022-12-13 08:16:55 -08:00
Saran Tunyasuvunakool 093125c2bd Fix incorrect plugin error message during model compilation. 
PiperOrigin-RevId: 495023028
Change-Id: Iec0fa213235793c1b96409d86b9e2af1055404b2
 2022-12-13 08:03:36 -08:00
Alessio Quaglino 3de2873883 Add deprecation warning for the Rope Composite type. 
PiperOrigin-RevId: 494985209
Change-Id: I6ce7ca2aeae6f1e798bd4bda9b755852add26a36
 2022-12-13 04:35:48 -08:00
Nimrod Gileadi 7076da6909 Correctly validate the size of user sensors in mj_validateReference. 
PiperOrigin-RevId: 494877162
Change-Id: I0a070d7813efea6216d15270f62b6009c55e1a54
 2022-12-12 17:49:06 -08:00
Tom Erez 21f10ce1b6 Add user sensor bindings. 
Stop force-setting nusersensor, instead allow MuJoCo to infer the size.

PiperOrigin-RevId: 494783883
Change-Id: Ia2a1b1803b2904f2dded7b790d01eb6f1920dbaf
 2022-12-12 11:43:00 -08:00
Tom Erez 7a248a8bde Rename bindings file for consistency. 
PiperOrigin-RevId: 494779230
Change-Id: I693a0e389febc51276bde565bbbfc87c241f15e0
 2022-12-12 11:24:12 -08:00
Saran Tunyasuvunakool 946c12faae Add missing semicolons after mjFREESTACK. 
The code is already well-formed since the macro itself contains a semicolon, however this is stylistically inconsistent with the rest of the codebase. The missing semicolon is also problematic for automated code transformations.

PiperOrigin-RevId: 494734527
Change-Id: I9aef5844c8c3cce6eefea8f8bf13a4ab3dd79878
 2022-12-12 08:22:37 -08:00
Copybara-Service 63d1c0ccea Merge pull request #634 from Balint-H:fix/unity-bindings-meta 
PiperOrigin-RevId: 494391719
Change-Id: I22e16ab38d6d81565d96814a67f93cd334678d7b
 2022-12-10 07:18:36 -08:00
Saran Tunyasuvunakool e9869d3bf3 Add a missing TM_END call when mj_fwdConstraint returns early. 
PiperOrigin-RevId: 494375187
Change-Id: I013b6cdac06350a6c563fb686df9104dfb7258dd
 2022-12-10 04:13:58 -08:00
Copybara-Service b9f7e400f7 Merge pull request #638 from cool-RR:patch-1 
PiperOrigin-RevId: 494142429
Change-Id: Ic279ab235b5c8dd0fb467495ee8136b7fcab56c4
 2022-12-09 05:01:11 -08:00
Copybara-Service 320a342162 Merge pull request #632 from LocutusOfBorg:patch-1 
PiperOrigin-RevId: 494141201
Change-Id: I20777ddd0102eab4f90157ac764c1fa15d27acac
 2022-12-09 04:53:06 -08:00
Copybara-Service 3a00e025ce Merge pull request #619 from traversaro:fixpypytests 
PiperOrigin-RevId: 494129535
Change-Id: I301cb505a224eaa26df4896924d36c623b1a4a26
 2022-12-09 03:39:22 -08:00
Copybara-Service 064d9f9707 Merge pull request #629 from kevinzakka:github-action-change 
PiperOrigin-RevId: 494105265
Change-Id: Idaad9a69ba54b280e34fbebe4e47497ba822137c
 2022-12-09 01:04:18 -08:00
Nimrod Gileadi 91455b3e1e Add a naive test of mujoco.viewer. 
It just tries to import mujoco.viewer and sees that nothing crashes.

PiperOrigin-RevId: 493998120
Change-Id: I56ee696283a3c28f6c8b72de45c8fdbedb41b05f
 2022-12-08 14:35:20 -08:00
Gianfranco Costamagna 0b33fd9eaa sed s/atomic_bool/atomic_int/g -i simulate/simulate.h 
Change atomic_bool to atomic_int to make sure that the compiler will try the best to
generate machine code, instead of relying on an external atomic library
 2022-12-08 21:24:00 +01:00
Ram Rachum 0b0002c8c6 Fix exception causes in introspect/type_parsing.py 2022-12-08 19:50:39 +02:00
Kevin Zakka 29a8c69825 Undo doc permalink change. 
PiperOrigin-RevId: 493858259
Change-Id: I7467fd4b405fa71cd47f0beab6b654e0c74b51da
 2022-12-08 04:33:12 -08:00
Silvio Traversaro bfe1017fc8 Skip tests that cannot run on PyPy 2022-12-07 19:19:21 +01:00
Alessio Quaglino b712e0757e Define kNumEdges and kNumVerts constants in Solid plugin. 
PiperOrigin-RevId: 493587525
Change-Id: Ifa82211a4dfc3b288825b0961c48fc679aae204c
 2022-12-07 06:30:40 -08:00
Kyle Bayes 7baee096a5 Update references.h for docs. 
PiperOrigin-RevId: 493571258
Change-Id: Ie2c5f2a16116e8a056e69aed3adbed9b891c4eea
 2022-12-07 04:52:06 -08:00
Bálint Hodossy ae2a8a4247 Add .meta file to Bindings folder 2022-12-07 11:44:44 +00:00
Copybara-Service bebfcad685 Merge pull request #628 from Balint-H:feature/unity-mesh-import 
PiperOrigin-RevId: 493556582
Change-Id: I26bac07a8fc996043ec478d0ec0c5b56fe447e50
 2022-12-07 03:18:38 -08:00
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
Bálint Hodossy 8312f37e7e Reuse existing mesh assets in MjMeshFilter 2022-12-06 16:11:03 +00:00
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