21d97902ee
Check keyframe size before appending it during attach.
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Fixes #2365 .
PiperOrigin-RevId: 718455748
Change-Id: I20c56b7c6fbd868962d19682e72e6294edb6893e
2025-01-22 11:09:49 -08:00
aa505a7872
Add support for NativeCCD multiple contacts for box-box collision.
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PiperOrigin-RevId: 718352304
Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
2025-01-22 06:02:58 -08:00
0090e1e908
Rename rollout variable nroll to nbatch.
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PiperOrigin-RevId: 718196100
Change-Id: Ic36b1a96ea1af2de351539115d4eee051d195aaf
2025-01-21 21:04:15 -08:00
ac76540eb8
Merge pull request #2377 from aftersomemath:rollout-fix-ndata-check
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PiperOrigin-RevId: 718181763
Change-Id: Ie88bf1d26c77478ce3a5ca8fdf29ae90e54b5834
2025-01-21 20:11:33 -08:00
67dd4827a6
Improve printing of inertia-like matrices, allow mj_printData to take const mjData*
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PiperOrigin-RevId: 718176884
Change-Id: I057dabe6973e19db86e9ff9ce4430c6d17dfce2b
2025-01-21 19:59:45 -08:00
6a7a7a5f80
Add the override_assets attribute to MjSpec.
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When specified, child asset with repeated names will override parent's, rather than throw an error. Default behavior is to override.
PiperOrigin-RevId: 717979621
Change-Id: I18022dc266619b4ba1a8636d1c60f85b0eb5f862
2025-01-21 10:39:02 -08:00
1412a29dac
Merge child asset dictionary into parent spec during attach().
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PiperOrigin-RevId: 717939728
Change-Id: I54f8ac87062cf19f55a16af37b777701545ed865
2025-01-21 08:57:09 -08:00
4bb6aeb19f
Change site and frame attach API.
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Old API:
```
site.attach(child_spec)
frame.attach(child_spec)
```
New API:
```
parent_spec.attach(child_spec, frame=frame_name_or_object)
parent_spec.attach(site_spec, site=site_name_or_object)
```
This enables accessing the parent object during attach, which will be used in a follow-up CL to automatically append the child assets to the parent.
PiperOrigin-RevId: 717908589
Change-Id: I0fb27e99694c954cb8ba8a8c98484ffd53a4d6db
2025-01-21 07:29:27 -08:00
bd1bbfe401
Fix bug where EPA horizon returns zero edges due to numerical inaccuracies in float32.
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PiperOrigin-RevId: 717825833
Change-Id: I9fa440816765d4c3eaa0c6c26ec0bd90c774fa01
2025-01-21 02:50:53 -08:00
cee122116e
rollout: fix bugs in checking list lengths, add tests
2025-01-21 00:36:52 -05:00
2624d524ba
Switch mj_solveM_island to use CSR representation
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PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
2025-01-20 18:36:04 -08:00
a5ab7a9515
Switch mj_solveM2 to use CSR representation.
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PiperOrigin-RevId: 717639495
Change-Id: I59eee0f23606481480ec5acb8a3bba2c14b2ea2f
2025-01-20 15:16:26 -08:00
baf1c43b3c
Fix more misleading line for creating list of models in rollout_test.py
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PiperOrigin-RevId: 717628943
Change-Id: I83a314565ce4ec683afeea18c8c8ce9e23d5452e
2025-01-20 14:27:31 -08:00
68cd263337
Change type of light_poscom0 and `actuator_acc0'.
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This is required for batching over `mjx.Model` in case recompilation is used to change inertial values.
PiperOrigin-RevId: 717596504
Change-Id: I4b6780903ebf12ebbf8b7bc7b8990a01609d4491
2025-01-20 12:11:31 -08:00
ff4783482c
Fix misleading line for creating list of models in rollout_test.py
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PiperOrigin-RevId: 717582208
Change-Id: I1b4e40fc5ccbfe68fb7dc240715c704f1f68d9fe
2025-01-20 11:13:21 -08:00
699a6765e3
Add find functions for joints, lights, and cameras to mjSpec bindings.
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PiperOrigin-RevId: 717578768
Change-Id: I2087ccbb9cf8b3b8ec03e9eb2edb0707d4a4cac1
2025-01-20 11:02:34 -08:00
600f4acb52
Change GJK and EPA return values.
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PiperOrigin-RevId: 717549079
Change-Id: I42df5660bcc8336e2e9c8fce71385cbb06104848
2025-01-20 08:59:37 -08:00
5c4c79cd6a
Refactor LD back-substitution (CSR version).
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PiperOrigin-RevId: 717403904
Change-Id: Idcd5e71f03a960203c22cb737d399fac5a0ba59c
2025-01-19 22:47:25 -08:00
2a100547bd
Remove match in support.py (introduced in Python 3.10).
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https://github.com/google-deepmind/mujoco_playground/issues/16
PiperOrigin-RevId: 717395934
Change-Id: I0be1b8285a79702a1dfc086e15e07bab0f9f6d40
2025-01-19 22:08:51 -08:00
e2b1cfc3a8
Merge pull request #2249 from Balint-H:docs/unity-tutorial
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PiperOrigin-RevId: 717294302
Change-Id: Ief98bd6cd4eac448062e331b6737043f12926ad2
2025-01-19 13:01:07 -08:00
f13c107cd7
Workaround to doc build error caused by sphinx-toolbox bug.
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See issue for details: https://github.com/sphinx-toolbox/sphinx-toolbox/issues/176
PiperOrigin-RevId: 717282405
Change-Id: I9e02804a3571fcca74eb7f174f3c3e262b0d3b65
2025-01-19 11:58:52 -08:00
1d47a91c19
Add a test for mj_solveM2
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PiperOrigin-RevId: 717278730
Change-Id: I7507e569620c34f250482eec8402c08c793f4e48
2025-01-19 11:34:20 -08:00
203e9bc292
Remove trailing spaces
2025-01-19 13:24:36 +00:00
b2d353d062
Document default visible geom groups in XMLreference.
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PiperOrigin-RevId: 717050528
Change-Id: I0414495d2f5a17ac2d8ba35c9353ecf0b7e8a18d
2025-01-18 12:42:01 -08:00
463bc47633
Clarify that equality constraints defined using the body-based semantic are assumed to be satisfied at `mjData.qpos0`.
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PiperOrigin-RevId: 717050088
Change-Id: I02e82cab5a60f0af48f7f921ba9bca11837f8063
2025-01-18 12:39:40 -08:00
69c66aa1bb
Fix typo.
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PiperOrigin-RevId: 716820809
Change-Id: I51f8608f0c01f4fc8016b4be779d98c8972bc913
2025-01-17 15:39:56 -08:00
1b34246c6e
Update MJX notebook to point to playground.
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PiperOrigin-RevId: 716778081
Change-Id: Ic99734ba386c4db551766de6f209cb397e7aa967
2025-01-17 13:18:07 -08:00
240a7afdee
Add sensors for potential and kinetic energy.
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PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
688d367733
Modify model loading in MJX tutorial.
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PiperOrigin-RevId: 716745232
Change-Id: Ib89f8c00a58b493c89f72c82b47f1c8ff8326536
2025-01-17 11:49:45 -08:00
71e5e376bc
Remove units from zero valued size in CSS, fix a typo.
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PiperOrigin-RevId: 716345043
Change-Id: I22b28e8e1d6db8ae4e482541169f1ffc46d3db34
2025-01-16 12:55:21 -08:00
9fc1ac2c7d
Fix typo in sensordata binding.
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PiperOrigin-RevId: 716257343
Change-Id: I4da12d8cda4342eb9f5a4df664bb43841db8e332
2025-01-16 09:05:01 -08:00
c16f95f62c
Add sensordata MJX binding.
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PiperOrigin-RevId: 716241711
Change-Id: I11a82f58c41dca93e9a5337f0c573158026fa971
2025-01-16 08:14:58 -08:00
4903d5321c
add find_geom property to mjSpec
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PiperOrigin-RevId: 716225290
Change-Id: Ie6e229b0e802e7df06148f994d598334592e8ad1
2025-01-16 07:20:19 -08:00
f899e717d4
Raise error for invalid name in MJX bind.
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PiperOrigin-RevId: 716214444
Change-Id: Ie9e3156b32b0c218cdbd0beb93a4a78800e07c43
2025-01-16 06:40:48 -08:00
394cc61192
Use RST links throughout the Unity doc.
2025-01-16 14:33:08 +00:00
893a993bf6
Fix typos.
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PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
2025-01-16 06:28:54 -08:00
4da2ddce29
Only correct box-box collisions with the mjc_BoxBox function.
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PiperOrigin-RevId: 716209565
Change-Id: I3419ce82f9934606bed80acd8372284fc7ac7ac8
2025-01-16 06:22:20 -08:00
26bac8c8af
Fix changelog.
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PiperOrigin-RevId: 716194356
Change-Id: I23e1717867847c342d7bac82d2fae7d26df48473
2025-01-16 05:21:35 -08:00
c2138c3fb0
Do not copy the spec during attach.
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Use a reference count for managing the memory.
PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
2025-01-16 03:53:17 -08:00
6436055c6c
Update the version number to 3.2.8 following the 3.2.7 release.
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PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
2025-01-15 11:13:27 -08:00
f1d557c125
Support for MJX bind set() for scalars.
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PiperOrigin-RevId: 715832281
Change-Id: I217021e81fae95e44e9297a1c447891ff76572bd
2025-01-15 09:38:02 -08:00
ff1ff44e34
Fix typo MjsHfield->MjsHField.
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PiperOrigin-RevId: 715808003
Change-Id: Ic510f7a3dc4d2c93789ce27162d004b20762bd12
2025-01-15 08:21:38 -08:00
05d4c3d670
Add mjs_getParent to retrieve the parent body of an object.
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PiperOrigin-RevId: 715794859
Change-Id: Ib9792787cdb966f579938dde3f94ebabca8ef1fc
2025-01-15 07:42:43 -08:00
10c7207cea
Process asset path before adding VFS buffer.
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Also, handle VFS errors.
PiperOrigin-RevId: 715755127
Change-Id: Iaf455d448f16e37ab89ceaa5797319135acd73c9
2025-01-15 05:10:00 -08:00
66f2758ea5
Minor updates.
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Fix a typo and a comment.
PiperOrigin-RevId: 715672977
Change-Id: I281002aad2b40b59544c30f41aa113e13ae9d09e
2025-01-14 23:56:39 -08:00
61973a33c9
Update eigen3 and the changelog ahead of the 3.2.7 release.
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PiperOrigin-RevId: 715467319
Change-Id: I4a6a168bc981c976890c46b784e94805afc86323
2025-01-14 11:51:12 -08:00
ba183adb67
Add assets to MjSpec wrapper.
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This enables associating assets with a spec object.
Also, remove `spec.compile(assets)` and replace it with the `spec.assets` attribute, which must be be set before compile if assets are present.
PiperOrigin-RevId: 714981385
Change-Id: Ic3a33c3b75d3a7e14868622aadb57b2a8461a649
2025-01-13 08:41:51 -08:00
64d0f57c50
Fixes for MJX tendons and muscle actuators. Fixes #2317 .
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PiperOrigin-RevId: 714951834
Change-Id: I823b3a01b2b76cb4707cb313afd1a187f9bdb333
2025-01-13 06:58:12 -08:00
1c32b5d2dd
Fix attach logic.
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Replace .attach() with .attach_body() where a body is passed as a first argument instead of a spec that is expected by .attach().
+Fix typo.
PiperOrigin-RevId: 714933134
Change-Id: Idb242fbef0fe164075826c01d4e1995c7d4ae565
2025-01-13 05:41:49 -08:00
d4ca66a47b
Allocate dual-solver memory inside mj_projectConstraint, no more than required.
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PiperOrigin-RevId: 714093658
Change-Id: Id7e710c5dffd24871019a72a7bf2aa6eb3f7a36e
2025-01-10 10:19:13 -08:00
Alessio Quaglino