0bffd744f9
Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.
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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:08:35 -07:00
e0e134ca63
Add plugin tests for mjSpec.
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Fixes #1903 .
PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
2024-08-15 10:19:53 -07:00
98cd49d529
Merge pull request #1827 from abhihjoshi:open3d-removal
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PiperOrigin-RevId: 662510404
Change-Id: I79b356eecddb3402c444cb16a305516bd724aef6
2024-08-13 07:33:23 -07:00
851bb6eef4
Add option to mjspec for creating a texture directly from a buffer.
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PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
2024-08-12 12:29:08 -07:00
2c56946547
Increase mjVERSIONSTRING to 3.2.3 after release.
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PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
2024-08-08 10:31:57 -07:00
ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
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PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -07:00
828b900358
Update dependency versions.
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PiperOrigin-RevId: 659624959
Change-Id: I21bb1f352107ed399a1029aa1d7f5b6ed29ab3cf
2024-08-05 11:37:14 -07:00
e0483c2f86
Updating for PR comments
2024-08-02 15:13:25 -05:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
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PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -07:00
30b98fbe6a
Merge branch 'main' into open3d-removal
2024-07-30 16:32:01 -05:00
a470f26a4b
Reverting to Union for python 3.9
2024-07-30 15:30:16 -05:00
b341bd391d
Fix a bug with mjs_delete functions.
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PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
2024-07-30 09:13:57 -07:00
5ac5cfb618
Support directories in VFS via mj_addBufferVFS.
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PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
2024-07-23 13:39:18 -07:00
d7447c4a84
Partial cube mapping implementation in USD
2024-07-21 17:00:16 -05:00
d1ff008a4f
Adding UV maps only when texture present
2024-07-21 11:14:00 -05:00
5abdeb8a71
Correcting utils_module import name
2024-07-20 22:17:49 -05:00
e79aeb6306
Using correct imports
2024-07-20 22:16:01 -05:00
5c79313b21
Implementing texture scaling for 2D textures
2024-07-20 21:44:57 -05:00
34060fcc49
Removing Open3D dependency
2024-07-20 19:33:11 -05:00
db1d51a1f5
Add more fields to mjx.Option and mjx.Statistic for MuJoCo compatibility.
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Also add metadata fields to the Python bindings of mjModel and mjOption,
and fix dtype of a number of fields.
PiperOrigin-RevId: 654138876
Change-Id: If2bbe41bf3dfdb350d60b5289afc65fffb397ce9
2024-07-19 15:13:01 -07:00
796173170c
Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.
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PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
2024-07-19 09:29:22 -07:00
e92af73cbf
Add mjmodel support for textures with different number of channels.
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PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:22:19 -07:00
70ac76bb4b
Add assets to MjSpec.compile()
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PiperOrigin-RevId: 653965318
Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
2024-07-19 04:34:38 -07:00
384ed8097a
Various fixes in mujoco/usd
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PiperOrigin-RevId: 653610253
Change-Id: Ibe57c19c6a7326266f51c5cda39cd564bd456c54
2024-07-18 07:20:28 -07:00
7f46e936f6
Update setuptools to version 70.3.0.
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Addresses CVE-2024-6345.
PiperOrigin-RevId: 652857861
Change-Id: Iea5f6cb58b825b226ba61d259775ddbee05acd6d
2024-07-16 08:38:56 -07:00
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
cb4cb7d09b
Update version hashes in MuJoCo CMake files ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652555501
Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
2024-07-15 12:00:25 -07:00
5d51b4cd5f
Check that element is a nullptr before casting.
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The bug was caused by the fact that the `mjs_as*` functions would return a pointer to a `mjC*` object, even if the input `mjsElement` pointer was null. This would cause a segfault.
PiperOrigin-RevId: 651802736
Change-Id: Ibec00d269a4befadff8a68e0513fd381c7e38a2a
2024-07-12 09:46:16 -07:00
a0df72f43f
Raise memory limit so test passes with dynamic linking
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The memory leak test fails with `RAW: mmap error: 12` when dynamic
linking is enabled. This is probabably because
of the additional memory overhead dynamic linking incurs. Raising it slightly
appears to satisfy the test.
Tested:
TAP --sample ran all affected tests and none failed
http://test/OCL:650692833:BASE:650634362:1720548680801:c55c6a68
PiperOrigin-RevId: 651750900
Change-Id: Ia63d153b326ff7451391789e2d7cae50a62be723
2024-07-12 06:10:37 -07:00
e7301edd20
Copy arena contents in mj_copyData.
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Fixes #1710 .
PiperOrigin-RevId: 651351384
Change-Id: I56e3204b30bb18f48278117e85e90464177da973
2024-07-11 03:54:44 -07:00
60afda949c
Merge pull request #1714 from abhihjoshi:tendons
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PiperOrigin-RevId: 651048034
Change-Id: If5b7cb55ff0007c3c6f932e62f068d1168778a33
2024-07-10 09:26:54 -07:00
9d0812911c
Add a test for type attribute.
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PiperOrigin-RevId: 649635359
Change-Id: Ibe5d9fcb5f14371e5f154d645b838a9d012331d5
2024-07-05 06:16:46 -07:00
e734527e7b
Fixing formatting for USD scripts
2024-07-04 16:25:44 -05:00
fcb247e35b
Merge remote-tracking branch 'upstream/main' into tendons
2024-07-04 15:10:29 -05:00
c79ae6f242
fixing frame rate bug in demo file
2024-07-04 15:06:25 -05:00
d029e4ff99
Get rid of unnecessary return value policy specification.
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PiperOrigin-RevId: 649437250
Change-Id: I61f8db0af526ebf667244124fcd4984881c6ef13
2024-07-04 09:45:22 -07:00
47d25bc4ac
Add missing id attributes in Python bindings of mjsElements.
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PiperOrigin-RevId: 649435098
Change-Id: I16383958c25cb8fdc16a107d5abef8626a675632
2024-07-04 09:32:33 -07:00
57e6760ec9
Re-implement VFS internals in C++, removing the constraints of the previous implementation.
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PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
2024-07-04 09:22:23 -07:00
118b6810b3
Make "id" a property rather than a method of mjsElements in Python bindings.
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PiperOrigin-RevId: 649424035
Change-Id: I8226b3040aa2001ae9748399257e36ac263b7c8b
2024-07-04 08:35:37 -07:00
a0945e4b5a
Add non-tree element lists to python bindings.
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Fixes #1752 .
PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
2024-07-04 07:24:02 -07:00
59303bb161
Fixing formatting for usd files and adding pylint configuration
2024-07-03 18:32:59 -05:00
9107d3b507
Add mjs_findKeyframe.
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PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
2024-07-03 05:17:41 -07:00
8f16b72f44
Rename mjSpec.euler to eulerseq to match MJCF.
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PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
2024-07-03 03:10:02 -07:00
df7ea3ed33
Add support for multiple textures in one material (mjModel).
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PiperOrigin-RevId: 648732764
Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b
2024-07-02 08:50:23 -07:00
3b73dfe33b
Add textured materials to render context, and refactor mjvGeom to refer to those textures.
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PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
2024-07-02 08:01:40 -07:00
0676ad499f
Merge pull request #1769 from fanminshi:renderer_context
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PiperOrigin-RevId: 648508835
Change-Id: Ice87cd1221723ed44ba0ddca97b6aac245dd8975
2024-07-01 15:48:41 -07:00
9106f40e2b
Add mjSpec bindings.
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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
2024-07-01 12:05:50 -07:00
521922f133
Use Renderer context manager format in tutorial.py
2024-06-30 22:44:17 +00:00
62e2842116
Skip deprecated mju_rotVecMat and mju_rotVecMatT in Python bindings.
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PiperOrigin-RevId: 647275284
Change-Id: I371236182b22eb399041959901085bb82af3f670
2024-06-27 05:06:01 -07:00
2188cba4cd
Fix a memory leak when copy.deepcopy(data) is called.
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In MjDataWrapper.__deepcopy__ use the Python implementation of MjModelWrapper.__deepcopy__ to make an object that Python knows about and can release later.
Fixes google-deepmind/mujoco#1572 .
PiperOrigin-RevId: 644967999
Change-Id: I95d093c672e136122e1939f69463a4d29dad82e8
2024-06-20 03:46:16 -07:00
Kyle Bayes