ef695bb8a8
Add Renderer class to Python native bindings.
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PiperOrigin-RevId: 492994751
Change-Id: Iebbe5980668a15b1cd62c0076cc131255462b2eb
2022-12-05 06:54:33 -08:00
341578450f
Update dependency versions for Benchmark and Pybind11.
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PiperOrigin-RevId: 492978119
Change-Id: Id48037950a6beac2f04f5e08448bd2fb3cb88678
2022-12-05 05:20:08 -08:00
1ef5f9266e
Improve the documentation.
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* 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
dc212c276d
Merge pull request #612 from qleonardolp:patch-1
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PiperOrigin-RevId: 492705106
Change-Id: I2265892aeca413e221a2cbb2244021c74afefd58
2022-12-03 10:49:22 -08:00
0846f38c82
Rename Python mujoco.simulate to mujoco.viewer.
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PiperOrigin-RevId: 492701386
Change-Id: I059c572e2a63bd5529e863a9404720973df8ea46
2022-12-03 10:09:42 -08:00
dee1d6020a
Make "acc" the default computation stage for sensors of type user.
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PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
2022-12-03 07:50:15 -08:00
66cb7d611b
Remove mujoco-py from the list of bindings advertised in README.
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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
0d52feaa94
Add updateScene callback for plugins.
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PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
2022-12-02 10:11:32 -08:00
9fcf3b0c2e
Modify Python simulate so that the Reload button works.
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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
89185b4af2
Using full path when adding a file to VFS. Fixes #616 .
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PiperOrigin-RevId: 492204185
Change-Id: If2b2230c095fe0bb776fcc3ffda48f13d0be5cb2
2022-12-01 08:34:20 -08:00
b9b224bfbd
Remove qhull patching as upstream has been updated.
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PiperOrigin-RevId: 492136751
Change-Id: Ifc149c761a6c6cf3f32011ecb8af3523f39e8f00
2022-12-01 01:56:42 -08:00
07371e5e08
Make Python bindings source installation instructions in docs match README.
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PiperOrigin-RevId: 491961258
Change-Id: I4d2749b3963db3034d5fc8fca5bd43ab416117f7
2022-11-30 10:45:36 -08:00
26f71e2f6c
Check that spacing is greater than geometry size for Composite particles and grid.
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PiperOrigin-RevId: 491858371
Change-Id: I03a669286c283a72947705463426badcfc9b0bfd
2022-11-30 02:17:42 -08:00
ab56a394bc
Update computation.rst
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spell check
2022-11-29 17:49:25 -03:00
df25d7d602
Raise an informative error when running on macOS under Rosetta 2.
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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
5f7d9f4f02
Autogenerate C code snippets using new Sphinx extension for the API reference docs.
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PiperOrigin-RevId: 491613858
Change-Id: I0a878038bee5e929237fa23686f97319b15bddfc
2022-11-29 06:02:48 -08:00
b0665fe2f9
Fix link inside the tutorial notebook.
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PiperOrigin-RevId: 491544042
Change-Id: Ic11ffcdc06583937520ec0e5eb998557ece6a3d5
2022-11-28 23:56:53 -08:00
fdb81f3388
Fix location of MuJoCo tutorial Colab notebook.
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PiperOrigin-RevId: 491436998
Change-Id: I93c1ea3ae142d69dc8a8fe893f014e539cb33746
2022-11-28 14:00:57 -08:00
5a8e861152
Add MuJoCo tutorial Colab using the native Python bindings.
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PiperOrigin-RevId: 491424124
Change-Id: I5bdeb68fd1bd1b4bc92fb40e0b876d9dcfc568cb
2022-11-28 13:09:51 -08:00
ecac5758e2
Replace NULL with nullptr.
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PiperOrigin-RevId: 491385488
Change-Id: Iec34af99edb7ccd64834130a8cc6280a02b166c2
2022-11-28 10:44:30 -08:00
b14d9bf75b
Fix duplicate symbols in plugin DLL.
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PiperOrigin-RevId: 491340247
Change-Id: If559d60371ad604b94b92efd01ed6de9ecf6f2b0
2022-11-28 07:39:01 -08:00
d0b1a97338
Deformable solid plugin for particles.
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Using coordinate-free formula equivalent to linear finite elements.
PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
2022-11-28 05:32:30 -08:00
062cb53a4a
In simulate, move "pause" label to the top left rather than the top right.
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PiperOrigin-RevId: 491035420
Change-Id: I94ad7ca2764716f9821df6009e5c4b50675a04be
2022-11-26 05:40:52 -08:00
170a060a50
Merge pull request #601 from Balint-H:fix/mesh-filter-disappear
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PiperOrigin-RevId: 490719489
Change-Id: I04bdd2f302197a06acaf922e9d10a0bbf00ee89a
2022-11-24 05:46:49 -08:00
a9c4831754
Merge pull request #602 from Balint-H:fix/slide-pos
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PiperOrigin-RevId: 490718454
Change-Id: Ic59aa99f59473f562814d498d7324f0e57a7776a
2022-11-24 05:38:04 -08:00
dc927b367d
Remove unnecessary unit conversion
2022-11-23 16:26:42 +00:00
12d3e0ae09
Create separate mesh when MjMeshfilter is first instantiated, to support duplicating in Editor
2022-11-23 15:02:35 +00:00
c17375fa32
Stop profiling mju_halton in testspeed and bechmarks.
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PiperOrigin-RevId: 490239351
Change-Id: Id73c101672e5b974f16b6b4da3aae757a657de15
2022-11-22 07:41:02 -08:00
165e72f798
Apply force perturbations at selection point rather than body center-of-mass.
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PiperOrigin-RevId: 489996756
Change-Id: I87870a0c1d173449f15a7249f2459a6b726ff417
2022-11-21 09:13:16 -08:00
638c9a6994
Support capsules in URDF import.
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PiperOrigin-RevId: 489980760
Change-Id: I1c21e736a86f6637a00e2062727d2e6fd5694c42
2022-11-21 07:58:42 -08:00
45b3af78a0
Fix typos.
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PiperOrigin-RevId: 489681378
Change-Id: I867ef743e27aedfb4b732671246c8e8e880943f0
2022-11-19 07:02:10 -08:00
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"`.
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PiperOrigin-RevId: 489652972
Change-Id: I0a8f21ee1a2f5292e6bbcfe3785536cfd1498b85
2022-11-19 02:05:42 -08:00
6f2092bef2
Merge pull request #593 from Balint-H:feature/unity-ccd
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PiperOrigin-RevId: 489551476
Change-Id: I751d2faa95d82f201614e8a3f08a9629492bfbe7
2022-11-18 13:38:51 -08:00
adc635f158
Merge pull request #592 from Balint-H:feature/unity-ctrl-event
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PiperOrigin-RevId: 489551249
Change-Id: I708bff1be39c015db19687b17775b73451b3eed0
2022-11-18 13:37:54 -08:00
5c79a9a8fe
Add multiccd option in Unity MJCF parser and writer
2022-11-18 13:10:06 +00:00
0c3492fed9
Merge pull request #589 from vaxenburg:patch-1
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PiperOrigin-RevId: 489434606
Change-Id: Idd7e2fa2fe5786ad87a2097e29a867290fa00034
2022-11-18 03:27:51 -08:00
1fdbfa7061
Add MjScene property to check if scene has initialized
2022-11-18 11:25:08 +00:00
2328316d7d
Add synchronisation events to MjScene
2022-11-18 11:23:41 +00:00
b13d6ae7bd
Nit fix in LQR notebook.
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PiperOrigin-RevId: 489419396
Change-Id: I3770377f4961f4a991dae5e738597c05aec1b146
2022-11-18 01:54:21 -08:00
043ed273a7
Automated g4 rollback of changelist 489207765.
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*** Reason for rollback ***
Corrected logic in CMake
*** Original change description ***
Automated g4 rollback of changelist 489183597.
*** Reason for rollback ***
GitHub path is different
*** Original change description ***
Activate plugin tests on Windows.
***
***
PiperOrigin-RevId: 489228199
Change-Id: Ic0ee9114e9680fc0aef9f668fc172c73fe74cd38
2022-11-17 09:15:40 -08:00
68d9fd3f2e
Update APIreference.rst
2022-11-17 12:13:49 -05:00
17c82e2f02
Automated g4 rollback of changelist 489183597.
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*** Reason for rollback ***
GitHub path is different
*** Original change description ***
Activate plugin tests on Windows.
***
PiperOrigin-RevId: 489207765
Change-Id: If48dede94c8623b92526375a567edcd49c548e63
2022-11-17 07:38:49 -08:00
a9781d9bea
Activate plugin tests on Windows.
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PiperOrigin-RevId: 489183597
Change-Id: I1e5212777514fbc5a246f02a4446a9dbb8a0dbd3
2022-11-17 05:06:00 -08:00
fa0f6399d5
Make Python bindings buildable with older versions of CMake.
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Context: https://discourse.cmake.org/t/alias-and-not-globally-visible-targets/6305
PiperOrigin-RevId: 489051335
Change-Id: I1bbe189413d6f8abe97d3d8ceccf6541de69e2ae
2022-11-16 15:12:01 -08:00
9ecade0707
Move plugin loading and scanning logic from Simulate to MuJoCo library.
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PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
2022-11-16 13:15:51 -08:00
2ebc5f097b
Change simulate plugin directory name to mujoco_plugin.
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This helps distro packagers avoid having to create a directory with the generic `plugin` name in system locations.
Context: https://github.com/deepmind/mujoco/issues/552
PiperOrigin-RevId: 489011386
Change-Id: Ie9f1748cbb4f2b9dc8c328064caaeb50c88fdec3
2022-11-16 12:40:31 -08:00
571b703f1c
Switch documentation to custom furo theme with dark mode option.
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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
Co-authored-by: Yuval Tassa <tassa@google.com >
PiperOrigin-RevId: 488975449
Change-Id: Ia2db8ac7ecd27a00ca2c4c9ca5e85b9167813473
2022-11-16 10:24:06 -08:00
7b0fbc63f8
Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac.
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PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
2022-11-14 07:31:32 -08:00
ae29a22d55
Add flag benchmark.
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PiperOrigin-RevId: 487788256
Change-Id: Iefab760cafc0123368e5bcd4ec4a579b170f1aba
2022-11-11 04:26:32 -08:00
8df9d3c0a3
Fix build.yml.
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PiperOrigin-RevId: 487641805
Change-Id: I071e855b7ccd6eafe8cf0d54d410f324822776a5
2022-11-10 14:35:54 -08:00
Kyle Bayes