fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
ca023a6f28
Update EGL init code for Python 3.12.
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Fixes google-deepmind/mujoco#1299 .
PiperOrigin-RevId: 595982512
Change-Id: Ib0261483a7f6cb8addf04f5010f09d3554c8bf45
2024-01-05 06:50:55 -08:00
1c7809e542
Free MjrContext in Renderer destructor. Fixes #1186 .
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PiperOrigin-RevId: 595125644
Change-Id: I5dadc3508ec296ba8844fed2a8f5d2de7e53221d
2024-01-02 08:38:46 -08:00
4c066a26b5
Change mjVISSTRING of connect and weld equality constraints from "Constraint" to "Equality". This is more consistent with the 'E' shortcut key and with mjDISABLESTRING ("constraint" means all constraints, "equality" means bilateral constraints).
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Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.
PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
2023-12-24 12:06:59 -08:00
7fb448613f
Post release version update: Update to V3.1.2
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PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
2023-12-18 15:03:37 -08:00
38fa756a20
Add mjGEOM_LINEBOX, used in visualization of collision trees.
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PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
2023-12-15 05:36:35 -08:00
c2c76195dd
Updating Mujoco Release version number to v3.1.1
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PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
2023-12-13 14:26:08 -08:00
0d37670698
Fix eigen3 commit hash.
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PiperOrigin-RevId: 590335535
Change-Id: I90819d420e5ef54dfc5b202ce0407e1ea833a8a4
2023-12-12 14:22:45 -08:00
0df1c9c733
Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0
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PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
2023-12-12 13:17:35 -08:00
fcebdf4d09
Update MuJoCo to v3.1.0 for release.
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PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
2023-12-12 10:37:47 -08:00
53883ce86a
Add a close() method to mujoco.Renderer which explicitly frees the gl context.
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PiperOrigin-RevId: 590221484
Change-Id: I07392f9c53f662a37a57ab23acfef9aa5a98a49b
2023-12-12 08:59:46 -08:00
822b03446c
Improve pipeline documentation, expose mj_implicit function to public header.
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PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
2023-11-29 10:18:57 -08:00
20eeb75086
Merge pull request #1187 from tmplt:ref/cmake-system-pybind
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PiperOrigin-RevId: 584560576
Change-Id: I1c16fbf80e3ba7175cf4d1d89a459e817100e1f8
2023-11-22 02:20:02 -08:00
0ea316ed71
cmake: support system-wide pybind11
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Original behavior remains.
2023-11-20 14:43:46 +01:00
23cdfef7fe
Update C++ dependency versions.
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PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
2023-11-16 11:15:01 -08:00
1554048856
Bump dev version number to 3.0.2.
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PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
2023-11-15 12:51:04 -08:00
9ae40e718e
Define mj_multiRay bindings explicitly.
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Fixes #1184 .
PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
2023-11-13 07:31:22 -08:00
084facc9ab
Python bindings: Store a reference to MjModel in MjDataWrapper.
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Before this change, MjDataWrapper contained a custom data structure called MjDataMetadata, which contained the sizes of various arrays needed to create MjData. This was used for serialization and deserialization, as well as copying MjData instances.
This worked fine for native MuJoCo models, but as soon as plugins were used, there was information in the model that was needed and not available in MjDataMetadata. Since plugins are so general, keeping MjDataMetadata was untenable.
PiperOrigin-RevId: 578205355
Change-Id: I11b9ee797d1da5aaf1fecbbe170b3b0f1f1a3e6c
2023-10-31 09:16:40 -07:00
4c24be9ee3
Make mjpython.py work with Python from CommandLineTools.
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PiperOrigin-RevId: 577305478
Change-Id: Iec4b23c97f80462e5c16aca5ac4450faf3181a0c
2023-10-27 14:26:16 -07:00
1a47a97040
Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114 .
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Added `frustum` to `rgba` and `scale` in the `visual` section.
PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
2023-10-25 09:08:20 -07:00
269d88ad92
Bump dev version number to 3.0.1.
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PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
2023-10-18 15:01:21 +01:00
8f9c690c85
Add MJX and bump version number to 3.0.0.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
2023-10-18 10:33:29 +01:00
e90b347cbf
Add mesh conversion utilities.
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PiperOrigin-RevId: 573343028
Change-Id: I4b258f91a11d1994659b0129de5ddb2077689f01
2023-10-13 16:13:24 -07:00
efdc89e347
Update dependency versions.
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PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
2023-10-13 14:41:48 -07:00
59164702ab
Merge pull request #978 from aftersomemath:depth-precision-in-place
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PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
2023-10-12 11:18:36 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
7e549495d9
Fix macOS mjpython launcher to suppoer show_{left,right}_ui.
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PiperOrigin-RevId: 572377315
Change-Id: Iee734a6e49821b42e94dc19d9ed92a45ee605ea7
2023-10-10 15:04:02 -07:00
a84499e904
Fix non-graceful exiting behaviour in launch_passive.
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The viewer currently hard crashes when the user script loops on the passive viewer handle without paying attention to `is_running`. This is considered user error, however this change makes the user script hang on the loop rather than hard crashing.
Startblock:
diffbase is submitted
PiperOrigin-RevId: 572336261
Change-Id: Id53126a158242b947584da1f946304ae8e792d4a
2023-10-10 12:39:37 -07:00
a1d0cbd654
Add show_{left,right}_ui kwarg to viewer.launch(_passive).
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Fixes #857
PiperOrigin-RevId: 572333909
Change-Id: I12247fe856afddf808eb8f386a594acac47c34b5
2023-10-10 12:31:11 -07:00
2e15574b58
Allow user-defined visualization geoms to be added to the passive viewer.
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Fixes #1023 , #1082
PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
2023-10-10 10:52:21 -07:00
df48624d0d
Place mjx tutorial correctly in copybara excludes.
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PiperOrigin-RevId: 571390140
Change-Id: I8d0b9ac7b30391e4abaa1ba03fd941e028fd2991
2023-10-06 11:29:54 -07:00
06670155c4
Add MJX training colab.
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PiperOrigin-RevId: 571066455
Change-Id: I8b0638181cdc751cf9fbacfb84c1ac551d7ce4bd
2023-10-05 10:45:36 -07:00
e9613f0cc9
Rename simulate.fully_managed_ to simulate.is_passive_ with flipped semantics.
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PiperOrigin-RevId: 570815258
Change-Id: Iaffdb0e52bcdb31cff7bd29cb820913e3838f0ee
2023-10-04 14:49:52 -07:00
3e12f0d50c
Add history scrubbing mechanism to simulate.
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[screen capture](https://www.youtube.com/watch?v=YSvWn_poqWs )
PiperOrigin-RevId: 570676968
Change-Id: Id9a1fccc9418b851e007ddcf3fa89acd4edff3e9
2023-10-04 06:36:34 -07:00
ee78b8f76b
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
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Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".
Fixes #876 .
PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
2023-10-03 09:32:24 -07:00
639e77876d
Improved unpause behavior in simulate.
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PiperOrigin-RevId: 570030315
Change-Id: I5822f8686ba2fd7c5c59a9fa73fc29000a8406ec
2023-10-02 05:00:40 -07:00
9e51f20ce2
More fixups to mjtDepthMap names
2023-09-29 19:53:58 -04:00
56403b4dce
Fixups to comments and flags for reversed Z rendering
2023-09-29 19:53:58 -04:00
2e52bf807b
Add flag to mjrContext to support legacy depth mapping by default
2023-09-29 19:53:57 -04:00
d32eb6bd12
In place change to reverse Z rendering and 32 bit float offscreen depth buffer
2023-09-29 19:53:47 -04:00
14f1386fc0
renderer.py improve accuracy and support depth precision and mapping flags
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By more carefully inverting the operations performed when OpenGL
transforms metric distance to window coordinates, more accurate
depth values can be estimated from the depth buffer
2023-09-29 19:53:07 -04:00
fc7b212369
Support reversed Z rendering and float32 offscreen depth buffer
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Combined, both options greatly improve camera depth accuracy compared to
OpenGL default Z mapping and int24 depth buffer.
Requires GL_ARB_clip_control and ARB_depth_buffer_float extensions
2023-09-29 19:52:09 -04:00
8e00f8029e
Disable -Wmaybe-uninitialized in GCC versions 12 and later.
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https://gcc.gnu.org/bugzilla/show_bug.cgi?id=109561
PiperOrigin-RevId: 569204628
Change-Id: I34ccb84a0afc60ccfcc47c820438d15dfa0a5f42
2023-09-28 09:25:27 -07:00
36d2ffe4f2
Specify camera parameters using standard robotics conventions.
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PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:19:19 -07:00
b8a91a00ce
Merge pull request #1070 from aftersomemath:simulate-load-message
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PiperOrigin-RevId: 568995214
Change-Id: Iac7644c4b35a916aa6a7d1bb158ba15a024b43ac
2023-09-27 16:36:40 -07:00
ac74c72657
Fix issue where unpausing the simulation (especially under slowdown) causes a jump in simulation time, in both native simulate and Python viewer.
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PiperOrigin-RevId: 568948943
Change-Id: I2f401508555e272f348e97627aeb85cb3e9cf017
2023-09-27 13:46:19 -07:00
e7d1f2f110
simulate: fix display of loading message
2023-09-27 16:04:36 -04:00
81c5e61b1e
Correct OpenGL library path on macOS.
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Although the path doesn't exist on disk, dlopen seems to be previously redirecting to the correct file, but this stopped working in macOS 14.
PiperOrigin-RevId: 567684115
Change-Id: I21894302e87803d06bfd27ba123eacbdfec0ec56
2023-09-22 12:09:31 -07:00
7f8018a3f3
Update XML parsing to store asset path so that assets can be recovered and sent to external renderers
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PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
2023-09-21 10:27:52 -07:00
4f34cacf35
Add maxuse_threadstack to mjData
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PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
2023-09-21 09:41:00 -07:00
Yuval Tassa