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c9acc0a6f677951db34f2b607bd60fc18a43f72b by Levi Burner <leviburner@gmail.com>:
Fix race condition in Python viewers set_X methods
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b89ab8f7a0f628ee7a02ebfbac2a97f113112076 by Levi Burner <leviburner@gmail.com>:
use std::swap to replace some copying
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02625bed0cffbfc9ea4537f74689f0bbcb8bf44c by Levi Burner <leviburner@gmail.com>:
fix whitespace
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2613 from aftersomemath:simulate-set-race 02625bed0cffbfc9ea4537f74689f0bbcb8bf44c
PiperOrigin-RevId: 766646168
Change-Id: I1e1dc16afbfb1e69fb958d54bd1075cc9aed3569
Prevents the render thread from calling `mjv_updateScene` before these have been initialized.
PiperOrigin-RevId: 761181568
Change-Id: I4f7f61fdcf7f87dcd6317883e5082d9ce2266e20
Before this change, a model which took more than 1/4 seconds to load caused the simulation to pause, which is a behavior that is only supposed to occur for models that loaded with a warning.
PiperOrigin-RevId: 665786861
Change-Id: Ie3a6c8d18a6abbb425a0bbcc5a8e55d5fd7a0c72
- Add RGBA color editing for visualization
- Make some separator sections closed by default
PiperOrigin-RevId: 646502122
Change-Id: Id863d983b7fb53e6bbe86a92833876e40b74a5d8
Copybara import of the project:
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a1297d997d0b3cc624bbd1e704ffb7fbb2c5db9d by Emo Todorov <etodorov@gmail.com>:
UI imrovements
When OpenGL buffer size is too small to hold entire UI with all sections open, older sections (as determined by latest mouse click) are automatically closed as needed.
To test this new functionality, uncomment the test near the top of mjui_resize().
UI items now have userid, which can be used for event handling. It is set through the (new) last field of mjuiDef, called otherint.
Sections titles can now have a checkmark - in which case they are rendered differently. Set via mjuiDef.otherint: 0- none (as before), 1- rendering changed but box not shown, 2- box shown. This can be used to label sections of special interest to the application.
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b0405bfb3005586ef1d2656ea9cc43c608225927 by Emo Todorov <etodorov@gmail.com>:
more ui improvements
Implemented mjPRESERVE state for adding sections and separators, so you don't have to keep track of old states.
simulate.cc is now modified to use this new functionality. I also made the separators in the Physics section collapsible. If you don't like it, change them back to state 1.
Also added functionality for handling section checkboxes.
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10f4c49be62a6605a38b7c0c7bfae1629024ba31 by Emo Todorov <etodorov@gmail.com>:
even more ui improvements
Selection boxes that extend below the current UI height are finally rendered in full.
Sections and collapsible separators now have rounded corners. The radius can be controlled from theme spacing.
More theme color settings were added. In particular, color gradients can now be disabled (the two end colors are set independently).
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96c2dc601a25d31c93b21f8e089d349e729e829e by Emo Todorov <etodorov@gmail.com>:
final ui improvements
Cleaned up the code a bit.
Added more control for color gradients.
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c9eddb679f36df3f0745d37e3fa90c4e66ee6b98 by Emo Todorov <etodorov@gmail.com>:
bug fix
Fixed some rendering bugs in the new functionality.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1749 from emotodorov:ui_improve ddfc21dbcf0482b8f0d5eacab21847c302f71440
PiperOrigin-RevId: 646060325
Change-Id: Idb27aae7cd0311d00f26387bcadf5891175e867d
This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.
PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
Noise injection was occurring at every iteration of the physics thread, rather than before every call to `mj_step`, leading to time-step-dependent noise rate.
- Moved the logic from main.cc to a `Simulate::` method, called before `mj_step`.
- Reduced the maximum time-scale slider value back to 4 seconds (recent increase was due to this bug).
PiperOrigin-RevId: 643350296
Change-Id: I96832905e6614f92ac725298b16fcabe64ea1df1
Fixes#1719.
Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.
PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
- Use `ctrl` as filter state rather than external preallocated buffer.
- Scale and clip to control ranges.
- Exponential decay to the middle of the range.
- Scale is now [0 1] (scaled to range).
- Rate is now [0 20].
PiperOrigin-RevId: 642586333
Change-Id: Id45a0420736a6edcf09be1db53d9320e7df2c668
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
Levi Burner