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276f5b04cd32ae585c3c08fcabe9e2a1b716d7ff
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405 Commits

Author SHA1 Message Date
Kevin Sayed 276f5b04cd Bump MuJoCo version to 3.2.6. 
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
 2024-11-05 14:13:08 -08:00
Alessio Quaglino ebe60b9ad5 Add const to mjsDefault when used as function argument. 
Fixes #2197.

PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
 2024-11-01 18:18:42 -07:00
Yuval Tassa c9f78ad8a8 Rename nnzJ to nJ in mjData. 
This naming is more consistent.

PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
 2024-10-31 10:43:10 -07:00
Taylor Howell f47840e57c Add mju_dense2sparse to public API. 
PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
 2024-10-29 12:47:48 -07:00
Alessio Quaglino e835f139c8 Add sibling traversal for tree elements. 
PiperOrigin-RevId: 691057957
Change-Id: I3f30cf175b5ad0842f3fbbf7fdb42ba7a2212682
 2024-10-29 09:55:08 -07:00
Google DeepMind 71cfcc5432 Use assertIn instead of assertContainsSubsequence for substring checks. 
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
Copybara-Service 2c86136dd6 Merge pull request #2160 from traversaro:patch-40 
PiperOrigin-RevId: 690660035
Change-Id: Id4dc7eb53b7c6cda050d1e6b385eec16d66d077e
 2024-10-28 10:17:13 -07:00
Joss Moore ca45041049 MjSpecs.copy should return an MjSpec rather than a raw::MjSpec* 
raw::MjSpec* is not a good python object.
PiperOrigin-RevId: 690564198
Change-Id: I3a5dd525a3a9acc67bb0e598dd508572dc4c687f
 2024-10-28 04:55:38 -07:00
Yuval Tassa d8494fef3b Remove deprecated mjv_makeConnector function. 
PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
 2024-10-28 04:51:47 -07:00
Silvio Traversaro 455116466b Fix running tests out of a installed mujoco python package 2024-10-25 13:24:21 +02:00
Alessio Quaglino bebec52869 Add find_all with string input. 
PiperOrigin-RevId: 689487165
Change-Id: I48511aec1610b2112f9456e8f410d077c57c7a95
 2024-10-24 13:01:49 -07:00
Yuval Tassa a3ea01e57e Remove deprecated mju_rotVecMat and mju_rotVecMatT functions. 
PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
 2024-10-24 09:15:23 -07:00
Alessio Quaglino 159f23e6b4 Remember compiler options during attach. 
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
Yuval Tassa e14aebfd16 Expose mju_sparse2dense to public API. 
PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
 2024-10-23 09:01:25 -07:00
Alessio Quaglino bfa78614c8 Require prefix for the attach tag. 
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
Copybara-Service 1802d9b1a7 Merge pull request #2069 from squarefk:main 
PiperOrigin-RevId: 688255285
Change-Id: Id33ad1fb826a590e95f48bf366f1d19d1f2ac2a4
 2024-10-21 13:37:29 -07:00
Alessio Quaglino dcf2816543 Remove copy_back from Python bindings and mj_copyBack from the C API. 
PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
 2024-10-18 11:55:04 -07:00
Google DeepMind ffdb800e45 Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release. 
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
 2024-10-16 14:24:06 -07:00
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Google DeepMind d1e004aa97 Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release. 
PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
 2024-10-15 13:03:13 -07:00
Yuval Tassa ee7b994021 Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369. 
PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
 2024-10-14 09:07:22 -07:00
Alessio Quaglino 766cd20273 Add mjs_bodyToFrame() to convert a body to a frame. 
Also add test for attaching the world body.

PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
 2024-10-14 00:39:20 -07:00
Alessio Quaglino cdb167f275 Add mjs_attachToSite for attaching a body to a site. 
PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
 2024-10-10 07:12:49 -07:00
Yuval Tassa 5dcc31a6aa Fix read-from-uninitialized-memory in bindings_test.py 
PiperOrigin-RevId: 684082155
Change-Id: I6f3030559ebda4eda28c17ab866c7502c74e5862
 2024-10-09 10:14:26 -07:00
Yuval Tassa 9a0dc20821 Move Newton Hessian memory allocation from stack to arena. 
PiperOrigin-RevId: 684054446
Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
 2024-10-09 08:54:54 -07:00
Yuval Tassa b1941708dd Add some arena-allocated attributes to compare in mjData pickle/unpickle test. 
PiperOrigin-RevId: 684025320
Change-Id: Ic3282eaae74e43a33c2ed5f1b25ad38884487829
 2024-10-09 07:15:52 -07:00
Yuval Tassa b66da3d369 Add mjData.L, sparse Cholesky factor of Newton solver Hessian. 
PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
 2024-10-08 10:13:08 -07:00
Alessio Quaglino 1f9dca8bc4 Do not expose plugin_slot. 
PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
 2024-10-07 09:38:01 -07:00
Alessio Quaglino 66faba9aa5 Avoid changing semantics of mjsPlugin.name across XML sections. 
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.

PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
 2024-10-07 07:57:03 -07:00
Copybara-Service bce43b63ed Merge pull request #2120 from hartikainen:fix-2118 
PiperOrigin-RevId: 683098606
Change-Id: Ib558bab7aca9042e318056de411ddf1a229d421d
 2024-10-07 02:39:29 -07:00
Alessio Quaglino 6e66cafe76 Capture mjs_attach error message in the Python bindings. 
PiperOrigin-RevId: 682409212
Change-Id: I391ee48626e7dcd985f65a231370ef5ec16124d7
 2024-10-04 12:19:42 -07:00
Copybara-Service 7e9481fbeb Merge pull request #2067 from abhihjoshi:documentation 
PiperOrigin-RevId: 682364758
Change-Id: I3a5000a2851a560018ae0e04a2b7ad13415cb7c6
 2024-10-04 10:15:19 -07:00
Kristian Hartikainen 3634bd5063 Fix python namespacing 2024-10-04 11:23:18 +03:00
Kristian Hartikainen 5d46884efe Rename MuJoCo (mjpython).app -> MuJoCo_(mjpython).app 2024-10-04 11:10:28 +03:00
Alessio Quaglino e973dc74dd Yield ownership of char[], vector<string>, and vector<byte> to mjSpec in Python bindings. 
PiperOrigin-RevId: 681522091
Change-Id: Icb3788d9ef6e914a307531e39ad8171c24f590af
 2024-10-02 11:14:48 -07:00
Google DeepMind befe4af8f0 Add missing includes necessary after changes in libc++ headers. 
Tested:
    TAP train for global presubmit queue
    http://test/OCL:680649491:BASE:680620735:1727746506750:fa29d104
PiperOrigin-RevId: 681090682
Change-Id: I3346ed996d9b6cd0fc7d600c02c41e0cd1b72400
 2024-10-01 11:08:01 -07:00
Alessio Quaglino 89aea5e217 Add body.find_all() to Python bindings. 
This enables to generate a list of all body children of a given type.

Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112.

PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
 2024-10-01 08:57:25 -07:00
Alessio Quaglino 8a825e6050 Add auto-generated tree element lists to Python bindings. 
PiperOrigin-RevId: 680973047
Change-Id: I948151260cba330c6b7218cecf13aae2c7ae92c7
 2024-10-01 05:23:03 -07:00
Alessio Quaglino 25e4d75a07 Return attached body/frame in mjs_attachBody/Frame. 
PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
 2024-09-27 08:34:00 -07:00
Alessio Quaglino 6a415da267 Make from_file() and from_string() classmethod functions. 
This prevents the user from modifying an mjSpec and then calling the functions to load it from string/file.

PiperOrigin-RevId: 679311284
Change-Id: I4f1ae3cc8f15bece245f624303470d538deec410
 2024-09-26 15:16:10 -07:00
Alessio Quaglino 5bca7876c4 Update spec.from_string() and spec.from_file() to match the respective mjModel functions. 
PiperOrigin-RevId: 678230403
Change-Id: I7f3d8c5fd44d30b5695eee1f8513cc27f4158d94
 2024-09-24 06:57:20 -07:00
Yu Fang 1ee57a1fca Fix the initialization of the EGL context in multiprocessing 2024-09-23 12:01:25 -07:00
Abhishek Joshi 456dcc150c Updating documentation for comments 2024-09-23 14:10:48 -04:00
Alessio Quaglino b5bcc91a03 Add bindings generation for mjOption, mjVisual, and mjStatistic. 
Fixes #2076.

PiperOrigin-RevId: 677789263
Change-Id: Ie1bda40af62c5ac9bbba541668a50adfc59d3f7c
 2024-09-23 07:43:09 -07:00
Alessio Quaglino 0ba11b9623 Add plugins list to mjSpec Python API. 
Fixes #2061.

PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
 2024-09-23 06:13:42 -07:00
Taylor Howell 6c7e1095c5 Add mjsPlugin and mjsOrientation related keyword argument support for mjSpec Python bindings. 
PiperOrigin-RevId: 676412967
Change-Id: I8cc1bfcc443327fde33246981400b375f8d4ff3d
 2024-09-19 07:55:31 -07:00
Taylor Howell bfda9f4ace Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors. 
PiperOrigin-RevId: 675929024
Change-Id: Idd8c584276d8f585b79585230f5167f79760eaef
 2024-09-18 04:02:10 -07:00
Google DeepMind 476599f8b6 Update pybind11 to v2.13.6 
PiperOrigin-RevId: 675241879
Change-Id: Icaa0a957b7c7ac64daf5d29ccae1ab8bf89a8e1d
 2024-09-16 12:09:02 -07:00
Taylor Howell b0c7101f1c Add optional kwarg inputs to mjSpec Python bindings for mjsBody add constructors. 
PiperOrigin-RevId: 675141078
Change-Id: I8d735ae7d0a018ce7cd1aca56c899d1455586015
 2024-09-16 07:32:55 -07:00
Google DeepMind dde25d039b Update Mujoco dependencies to latest versions. 
PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
 2024-09-12 14:10:21 -07:00