2691887500
Add engine-internal convenience macro for allocating typed arrays, improve error message.
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PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
2024-12-11 09:04:44 -08:00
f4593d5d79
Highlight XML strings using pygments in mjSpec notebook.
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PiperOrigin-RevId: 704751058
Change-Id: Iaf7fae7f13ef12d59bac762170a6dfca01494164
2024-12-10 10:06:52 -08:00
f3b3024291
Add pyink and isort config. Reformat.
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PiperOrigin-RevId: 704533915
Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
2024-12-09 21:10:50 -08:00
41968f1527
Support body.find_all("joint") in bindings.
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PiperOrigin-RevId: 703071822
Change-Id: I6457ca0561c794447cc06aab29dcd0aac82c49a0
2024-12-05 04:54:42 -08:00
a729acb4fa
Add spec find_sensor, find_actuator functions.
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PiperOrigin-RevId: 703054696
Change-Id: Ie384f1a31de3ecd9b22b7f4be43234d452e7bb88
2024-12-05 03:42:26 -08:00
503e5e1815
Change site.attach to accept a spec instead of a body.
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Add site.attach_body for attaching a body to a site.
PiperOrigin-RevId: 703047770
Change-Id: Ibc1f916f8741872135220461cda7cebc4b418913
2024-12-05 03:10:17 -08:00
a3b9f986c0
Add spec.find_site().
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PiperOrigin-RevId: 702733068
Change-Id: I4cc7fd2b9b59185a4458fdac8537f8287af1f295
2024-12-04 08:20:57 -08:00
d1b02556ef
Allow keyword arguments in attach.
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PiperOrigin-RevId: 702718597
Change-Id: I1f1a5e9c88c8e102d5cbe5984511e7923ec7be3e
2024-12-04 07:32:31 -08:00
c90a63a926
Update the version number to 3.2.7 following the 3.2.6 release.
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PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
2024-12-02 15:30:52 -08:00
0f64959e27
Update the version of eigen3 ahead of the 3.2.6 release
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PiperOrigin-RevId: 702026493
Change-Id: Ibb0447b7106e9b873386c153283c81685583350f
2024-12-02 11:12:39 -08:00
e6eab04dd0
rollout fixups and correctly initialize unspecified controls
2024-11-27 07:04:23 -05:00
41b325785a
fix creation of std::vector
2024-11-26 16:42:08 -05:00
5ba4d58497
replace array on stack with std::vector
2024-11-26 13:16:05 -05:00
943eb6bc7e
rollout accepts a list of models of length nroll
2024-11-25 21:29:14 -05:00
96a8f002bc
Remove nroll argument from rollout
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nroll can always be implied from the other arguments of rollout.
Add tests for nroll inference.
2024-11-25 14:10:42 -05:00
7e46e21ef3
Add mju_mat2Rot.
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This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.
PiperOrigin-RevId: 700006006
Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
2024-11-25 09:19:10 -08:00
c6ba8f27fd
Add bind() method to MjModel and MjData.
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This method allows users to bind a spec to a model or data object, making it less verbose to access its arrays.
PiperOrigin-RevId: 699952211
Change-Id: I6b71a88d5a6968bc0f902bd49db7c568b46a4dfb
2024-11-25 05:53:58 -08:00
f909d63cdf
Enable to attach a spec to a frame.
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PiperOrigin-RevId: 699703988
Change-Id: Idbddcbce1e68286248458eb0bd24d5080451a58a
2024-11-24 07:35:14 -08:00
3a12db9ad2
Remove id attribute from mjSpec objects in Python bindings.
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Using ids is error prone in scenarios of repeated attachment and detachment. Python users are encouraged to use names for unique identification of model elements.
PiperOrigin-RevId: 699227286
Change-Id: Ifd83e6d85d36ff72ea43caf8b82eab9e4d552440
2024-11-22 11:05:14 -08:00
34c6f9b76b
Update build_requirements_usd.txt.
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PiperOrigin-RevId: 698138884
Change-Id: I8a3d093b460bd4acad1fa18806a59c29aaffd4c6
2024-11-19 14:07:21 -08:00
e18567545b
Update various requirements.txt files.
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PiperOrigin-RevId: 698009096
Change-Id: Iaa2cdadaf31c16c580ce5c2060c8bf2b8377956e
2024-11-19 07:32:00 -08:00
386662106b
Reshape arrays for LQR notebooks for Mujoco sparse2dense
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Without reshape the collabs results in an error due to incompatible function arguments
PiperOrigin-RevId: 696554177
Change-Id: Id4317ee6fccbe2ac912af7a8b07228ddebebbbcf
2024-11-14 09:42:37 -08:00
f7cc1c2e5b
Read solref from jnt_solref when the user calls model.joint.solref.
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Same for solimp. Fixes #2221 .
PiperOrigin-RevId: 695416121
Change-Id: I962dc12b13fa4d02dc349ecad1a1ddc7085565db
2024-11-11 11:15:00 -08:00
276f5b04cd
Bump MuJoCo version to 3.2.6.
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PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
2024-11-05 14:13:08 -08:00
ebe60b9ad5
Add const to mjsDefault when used as function argument.
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Fixes #2197 .
PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
2024-11-01 18:18:42 -07:00
a51f346059
Use sparse (uncompressed) actuator_moment in mj_transmission.
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PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
2024-11-01 08:06:28 -07:00
c9f78ad8a8
Rename nnzJ to nJ in mjData.
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This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
2024-10-31 10:43:10 -07:00
f47840e57c
Add mju_dense2sparse to public API.
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PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
2024-10-29 12:47:48 -07:00
e835f139c8
Add sibling traversal for tree elements.
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PiperOrigin-RevId: 691057957
Change-Id: I3f30cf175b5ad0842f3fbbf7fdb42ba7a2212682
2024-10-29 09:55:08 -07:00
1336e99d88
Remove test annotation from mjspec notebook
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PiperOrigin-RevId: 690987516
Change-Id: Ia99b65278609166ecec9002e5290c44a54255d80
2024-10-29 06:02:06 -07:00
71cfcc5432
Use assertIn instead of assertContainsSubsequence for substring checks.
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A contained subsequence must not necessarily be continuous, so the check only
checked if the individual letters were appearing in order within the message,
possibly interspersed with other characters.
PiperOrigin-RevId: 690977874
Change-Id: I36bd5a0105b979a9b0d6d04ca5239245d4f8d041
2024-10-29 05:20:52 -07:00
f1d4b23e48
mjSpec tutorial backwards compatibility with the latest MuJoCo release.
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PiperOrigin-RevId: 690747714
Change-Id: Ib8894a1dc2a68e30a110e773c77fbd2baee87efd
2024-10-28 14:19:17 -07:00
13f11d4c45
Fit typo in mjSpec tutorial link.
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PiperOrigin-RevId: 690676376
Change-Id: I5f082f5703488403aa65be76d208def68ccc3eb9
2024-10-28 11:00:09 -07:00
0be0896bec
Add mjSpec tutorial.
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PiperOrigin-RevId: 690670950
Change-Id: I68de7ad57a75d6c1a443fa2cd427e59799ddd830
2024-10-28 10:45:30 -07:00
2c86136dd6
Merge pull request #2160 from traversaro:patch-40
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PiperOrigin-RevId: 690660035
Change-Id: Id4dc7eb53b7c6cda050d1e6b385eec16d66d077e
2024-10-28 10:17:13 -07:00
ca45041049
MjSpecs.copy should return an MjSpec rather than a raw::MjSpec*
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raw::MjSpec* is not a good python object.
PiperOrigin-RevId: 690564198
Change-Id: I3a5dd525a3a9acc67bb0e598dd508572dc4c687f
2024-10-28 04:55:38 -07:00
d8494fef3b
Remove deprecated mjv_makeConnector function.
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PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
2024-10-28 04:51:47 -07:00
455116466b
Fix running tests out of a installed mujoco python package
2024-10-25 13:24:21 +02:00
bebec52869
Add find_all with string input.
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PiperOrigin-RevId: 689487165
Change-Id: I48511aec1610b2112f9456e8f410d077c57c7a95
2024-10-24 13:01:49 -07:00
a3ea01e57e
Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
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PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
2024-10-24 09:15:23 -07:00
159f23e6b4
Remember compiler options during attach.
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Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
2024-10-24 08:31:15 -07:00
e14aebfd16
Expose mju_sparse2dense to public API.
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PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
2024-10-23 09:01:25 -07:00
bfa78614c8
Require prefix for the attach tag.
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For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162 ), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
2024-10-22 07:08:33 -07:00
1802d9b1a7
Merge pull request #2069 from squarefk:main
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PiperOrigin-RevId: 688255285
Change-Id: Id33ad1fb826a590e95f48bf366f1d19d1f2ac2a4
2024-10-21 13:37:29 -07:00
dcf2816543
Remove copy_back from Python bindings and mj_copyBack from the C API.
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PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
2024-10-18 11:55:04 -07:00
ffdb800e45
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
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PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
2024-10-16 14:24:06 -07:00
c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
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PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
d1e004aa97
Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release.
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PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
2024-10-15 13:03:13 -07:00
6881ce2437
Remove support for Python 3.8.
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Python 3.8 has been deprecated upstream, and any tests depending on Homebrew already stopped working. Following our support policy, we are removing support for 3.8 from our packages, too.
PiperOrigin-RevId: 686012836
Change-Id: Ibd220eb9c10e9a74bbd4443c1d7286a1fde9e5e5
2024-10-15 01:54:18 -07:00
ee7b994021
Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.
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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
2024-10-14 09:07:22 -07:00
Yuval Tassa