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Author SHA1 Message Date
Saran Tunyasuvunakool fa0f6399d5 Make Python bindings buildable with older versions of CMake. 
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
Saran Tunyasuvunakool 9ecade0707 Move plugin loading and scanning logic from Simulate to MuJoCo library. 
PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
 2022-11-16 13:15:51 -08:00
Saran Tunyasuvunakool 2ebc5f097b Change simulate plugin directory name to mujoco_plugin. 
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
Kevin Zakka 571b703f1c Switch documentation to custom furo theme with dark mode option. 
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
Alessio Quaglino 7b0fbc63f8 Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac. 
PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
 2022-11-14 07:31:32 -08:00
Alessio Quaglino ae29a22d55 Add flag benchmark. 
PiperOrigin-RevId: 487788256
Change-Id: Iefab760cafc0123368e5bcd4ec4a579b170f1aba
 2022-11-11 04:26:32 -08:00
Saran Tunyasuvunakool 8df9d3c0a3 Fix build.yml. 
PiperOrigin-RevId: 487641805
Change-Id: I071e855b7ccd6eafe8cf0d54d410f324822776a5
 2022-11-10 14:35:54 -08:00
Saran Tunyasuvunakool 6175b508c0 Also run pip install --require-hashes on GitHub Actions. 
PiperOrigin-RevId: 487625303
Change-Id: Ib65ff23faa33a95e077952e275cf466cec44fb93
 2022-11-10 13:31:18 -08:00
Saran Tunyasuvunakool 985b3f1c9e Remove custom code path when run under type checking. 
PiperOrigin-RevId: 487584485
Change-Id: I1b1c773240bb033e50205648f4611f4702c0e6e8
 2022-11-10 10:56:32 -08:00
Saran Tunyasuvunakool fd139276bc Run pip install with --require-hashes. 
PiperOrigin-RevId: 487569781
Change-Id: I0a810403f789415a3f884531617801ae111c957b
 2022-11-10 10:07:38 -08:00
Kyle Bayes 601963beb2 Automated rollback of 39d20f20ea. 
*** Reason for rollback ***

Breakage at https://github.com/deepmind/mujoco/actions/runs/3427459759

*** Original change description ***

Add test to catch missing Python function bindings.

***

PiperOrigin-RevId: 487505205
Change-Id: Iec3b588380b4b6fc7a3249ccdef08e48b42a7892
 2022-11-10 05:07:24 -08:00
Copybara-Service f7b256de91 Merge pull request #419 from aftersomemath:simulate-python 
PiperOrigin-RevId: 487496285
Change-Id: I17d15bd2a3886e5ce1631f4eb78afa94830d08cc
 2022-11-10 04:12:34 -08:00
Yuval Tassa 0b45129ca4 Clarification regarding saving integration state variables. 
Fix some documentation bugs.

PiperOrigin-RevId: 487492900
Change-Id: I16ab9ae82cf203ebeaca10baaba7319d214202d0
 2022-11-10 03:51:57 -08:00
Copybara-Service f2bae1ffe3 Merge pull request #556 from Balint-H:fix/uv 
PiperOrigin-RevId: 487203617
Change-Id: I6eade6f871b80f78f2ed13e1b5e4672ef857b9ef
 2022-11-09 04:14:27 -08:00
Kyle Bayes 39d20f20ea Add test to catch missing Python function bindings. 
PiperOrigin-RevId: 487187845
Change-Id: Iddf8afd16abb9a22bba6a53a0ecc0423208f41e6
 2022-11-09 02:45:11 -08:00
Alessio Quaglino 7b7fc09d1f Raise error if an invalid curve is specified for the cable composite. 
PiperOrigin-RevId: 486967001
Change-Id: I7220966e172400542417d8f715dbee0c0f154d9b
 2022-11-08 09:05:44 -08:00
Alessio Quaglino 9fc9823a8c Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores). 
PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
 2022-11-08 08:38:45 -08:00
Nimrod Gileadi 9ffde761e8 Add support for Python 3.11 to MuJoCo build. 
PiperOrigin-RevId: 486911779
Change-Id: I57a043ed9cbdf84cddf776f4654941370f050a8c
 2022-11-08 04:22:36 -08:00
Yuval Tassa 5004a4c8c5 Better memory setting and reporting, updated example models. 
- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.

PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
 2022-11-07 10:36:37 -08:00
Alessio Quaglino 9370039015 Use a non-symmetric tetrahedron for user_mesh_test. 
PiperOrigin-RevId: 486658331
Change-Id: I96edd3b2aba916f9215661a7ba94271696690807
 2022-11-07 07:43:08 -08:00
Alessio Quaglino 3b89b0fd30 Particles with arbitrary geoms and joints. 
Fixes #553

PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
 2022-11-07 03:22:25 -08:00
Alessio Quaglino fd4d47e4a5 Format memory warning in human-friendly way. 
PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491
 2022-11-07 02:56:07 -08:00
Alessio Quaglino fc24097b92 Compute nonzero default mass value only if geom is not in the default section. 
Fixes #561.

PiperOrigin-RevId: 486604407
Change-Id: Ie62578808f96f0de3a2353c6bc4cc8bd3ae3afbc
 2022-11-07 02:18:31 -08:00
Yuval Tassa 36b30e4500 Allow more than 1 activation state per actuator, but only for dyntype user. 
Fixes #305.

PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
 2022-11-07 01:43:02 -08:00
Nimrod Gileadi 0514010928 Disable deprecated-builtins warnings in clang. 
Since upgrading to Clang 15, abseil fails to build, because of abseil/abseil-cpp#1201.

PiperOrigin-RevId: 486190797
Change-Id: Ibaa1c03b8d21ae4a83c3825c8d56363aa2f89505
 2022-11-04 11:35:49 -07:00
Alessio Quaglino 9833f912c1 Renamed Elasticity to Cable and libcable to libelasticity for consistency. 
PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
 2022-11-02 11:08:44 -07:00
Yuval Tassa c83be2bc05 Add mju_clip, mju_fill, mju_eye and mju_symmetrize to python bindings. 
- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.

PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
 2022-11-02 09:22:28 -07:00
Bálint Hodossy f6fd7efeb3 Add UVs to newly created geom meshes 2022-11-01 22:21:30 +00:00
Alessio Quaglino 7458a6e90f Remove unused "flat" attribute from XML schema. 
PiperOrigin-RevId: 485358643
Change-Id: Ia9e46b346e86e3784ad12be32404ac22ce4c881a
 2022-11-01 10:41:47 -07:00
Kyle Bayes 23092a11d7 Add per-body gravity compensation (buoyancy) passive force. 
PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
 2022-11-01 09:48:06 -07:00
Saran Tunyasuvunakool c7960385be Declare DllMain as extern "C". 
Fixes #550.

PiperOrigin-RevId: 484540205
Change-Id: I3915f65f1ae6ab3a93118b9d747b5c09d9abe872
 2022-10-28 08:41:46 -07:00
Yuval Tassa 8db949ac19 Improve rendering of LaTex equation in composite documentation. 
PiperOrigin-RevId: 484509794
Change-Id: Ie98cd33414c119417279a6d87f37886fb74eeb8a
 2022-10-28 05:58:28 -07:00
Yuval Tassa 893942a729 Allow tendon springlength attribute to take two values between which the spring produces no force (a deadband). 
If given two non-decreasing values, `springlength` specifies a deadband for spring stiffness, inside of which the force is 0 and outside of which force behaves like a regular spring, with the setpoint corresponding to the nearest value. This can be used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See test/engine/testdata/tendon_springlength.xml example model.

Spring-limited spatial tendons whose lower range value is 0 are rendered as catenaries.

Fixes #520.

PiperOrigin-RevId: 484509706
Change-Id: I6698e94ee36168f52d501e83057559805e05172d
 2022-10-28 05:57:37 -07:00
Yuval Tassa 3a445d0fdd Remove legacy function declaration in user_objects.h 
PiperOrigin-RevId: 484464868
Change-Id: I386960c9f2057f4b1a1b6d818ed950ea8439202d
 2022-10-28 01:22:28 -07:00
Yuval Tassa 0eb7f871b9 Remove requirement that stateless actuators come before stateful actuators. 
PiperOrigin-RevId: 484332415
Change-Id: I1dae92c0f8e027e4ca71c20ea3f68b2926526f53
 2022-10-27 13:18:57 -07:00
Yuval Tassa f905c7fb7f Add mju_fill, mju_symmetrize and mju_eye utility functions. 
PiperOrigin-RevId: 484226916
Change-Id: I79593d54e903ddacab0f859bfc6d17eccad7d3a1
 2022-10-27 05:28:26 -07:00
Alessio Quaglino 507b573763 Throw error if sizes of referenced arrays are near INT_MAX. 
PiperOrigin-RevId: 484218386
Change-Id: I07dff633b4911bf296ad8993550509ed7b3dfe53
 2022-10-27 04:35:23 -07:00
Alessio Quaglino f695f55253 Do not infer inertia if geom is not in inertiagrouprange. 
PiperOrigin-RevId: 483994271
Change-Id: Ia663cd30e93d9c3a2e32408a658f091af4d1ca1a
 2022-10-26 09:45:18 -07:00
Yuval Tassa da33c5922f Stop issuing "degenerate triangle" warnings in the compiler. 
PiperOrigin-RevId: 483665416
Change-Id: Ia52b8ce9575aa887303fdcfa8f7b4a8973cf5998
 2022-10-25 07:20:24 -07:00
Yuval Tassa 79dc5056eb mjcb_control respects the mjDSBL_ACTUATION flag 
PiperOrigin-RevId: 483339817
Change-Id: I0b74e4c03a129f26b3cf2bb991a46f0a263b254b
 2022-10-24 04:16:00 -07:00
Copybara-Service a845223c9e Merge pull request #540 from zxwang96:patch-1 
PiperOrigin-RevId: 482707830
Change-Id: I2a7c3cf75a9d2596c8a5019fb233cee1815b2b85
 2022-10-21 00:24:26 -07:00
Zixing Wang 28ff96fbd8 Update changelog.rst 
I tested the version 2.3.0 and found the two ends of a cable object are exposed as B_first & B_last instead of B_left & B_right.
 2022-10-19 12:39:27 -04:00
Yuval Tassa 0ff4f964fd Update LQR colab to use .name and .id attributes of indexers. 
PiperOrigin-RevId: 481915877
Change-Id: Iba79523422a442f3ca4793587936e05797d43e40
 2022-10-18 07:32:41 -07:00
Yuval Tassa 84d168442a Fix link text in changelog. 
PiperOrigin-RevId: 481879587
Change-Id: Ifa5a6062d7e6a9f53e1e6d3e2ecf343cabec9fd9
 2022-10-18 04:00:19 -07:00
Saran Tunyasuvunakool 573d331b69 Bump pybind11 and Eigen versions. 
PiperOrigin-RevId: 481831731
Change-Id: I29082287c7b716bfb29b25545599f6eca8106c49
 2022-10-17 23:37:59 -07:00
Saran Tunyasuvunakool 57b0b36699 Bump version number to 2.3.0. 
PiperOrigin-RevId: 481823754
Change-Id: Ie8c2c65b11178952355830ef019fe2efdf774189
 2022-10-17 22:36:59 -07:00
Yuval Tassa c7c6a870b4 Fix rendering of example attribute in XMLreference.rst 
PiperOrigin-RevId: 481614595
Change-Id: Ie582b2ba0b3fc89e3296337b0d43c492ac0d65fa
 2022-10-17 05:29:28 -07:00
Saran Tunyasuvunakool 3aaf94f42c Fix Python GIL-not-held issues in python/callbacks.cc. 
The GIL bug was introduced in ec6ea6a69e and is resolved by decrementing the refcount before returning from MjWrapperLookup.

PiperOrigin-RevId: 481558798
Change-Id: I2744287d48635a55ae6d2ec46c9e43fe881019d8
 2022-10-17 00:05:56 -07:00
Saran Tunyasuvunakool ec6ea6a69e Fix a memory leak when using Python callbacks. 
Fixes #527.

PiperOrigin-RevId: 481173711
Change-Id: Ie176a8bda09727b6be8b6641d3be9a75c675d566
 2022-10-14 10:12:11 -07:00
Alessio Quaglino af74044e43 Add YouTube cable videos to changelog. 
PiperOrigin-RevId: 481138236
Change-Id: Ibabbc312ea265f9193daf01abd8e81876f1dadfb
 2022-10-14 15:18:20 +01:00