305b68ecbf
Add tests for body.find_all() of joints and geoms, fix error message.
...
Fixes #2525
PiperOrigin-RevId: 742685596
Change-Id: I5f0969967f2490d32e5691983e8d0c363d48a6bd
2025-04-01 07:14:59 -07:00
c0a7ea1edb
Added the element type mjOBJ_SPEC for mjSpec.
...
PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
2025-04-01 06:51:49 -07:00
0f456486a4
Merge pull request #2545 from maxzand:main
...
PiperOrigin-RevId: 742655847
Change-Id: Id2b3daf1be022620e1262a96052791c88e25b3eb
2025-04-01 05:40:00 -07:00
86c970bc23
Add error checking in mjs_setFrame.
...
Also raise error if the frame is not found in the mjCBody copy constructor.
Fixes #2543 .
PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
2025-04-01 03:34:48 -07:00
ebd30493c8
Allow nameless bind in MJX.
...
PiperOrigin-RevId: 742592221
Change-Id: I9490aebd64e3a31219c552d5b6eb55236680f10d
2025-04-01 01:45:44 -07:00
1f590c1275
Fixed contact force legend and added legends for accel and velocity
2025-03-28 19:50:52 -04:00
157b074116
Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.
...
PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:37:49 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
...
PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
209d2bd2c5
Added functionality for user payload data in mjSpec.
...
PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
2025-03-19 04:36:00 -07:00
1bf24e9f67
Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site.
...
PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
2025-03-17 10:21:38 -07:00
da04688071
Automatically compile mjSpec in to_xml().
...
Also, move mj_compile from MjModelWrapper to MjSpec.
PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
2025-03-17 09:21:10 -07:00
f480a9e985
Add MjSpec.from_zip() constructor.
...
PiperOrigin-RevId: 736871864
Change-Id: Ib6cc189d5912a57e5c505c744a4a1d6ad61d1c84
2025-03-14 08:31:14 -07:00
a7a8a68be5
Merge pull request #2496 from jjyyxx:patch-1
...
PiperOrigin-RevId: 736457846
Change-Id: I3b4b1554dd15e9ca73abee5c31d4758f694f5b44
2025-03-13 04:33:45 -07:00
3884c86a14
Fix broken model.vis repr
2025-03-12 00:28:38 +08:00
bd9d30adc7
Improve documentation of mj_saveLastXML fixes #2075
...
PiperOrigin-RevId: 735672207
Change-Id: I951b8be9cf12a2a4965a40bb8db4de4ddda18570
2025-03-11 01:57:46 -07:00
e04e0e5c3d
Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency.
...
PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b
2025-03-06 08:28:36 -08:00
0f563ecf31
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
...
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:34:35 -08:00
51f6aa8b43
Store assets by address instead of value in MjSpec.
...
PiperOrigin-RevId: 733343350
Change-Id: I42ee2a184ebff37a080dace0422bb61e1ba53527
2025-03-04 08:43:27 -08:00
c72c83aa3b
Allocate qM CSR matrix structure on mjData (currently empty).
...
PiperOrigin-RevId: 733247419
Change-Id: I814e574e3161875e89433a6e03f2c9e200d8b1d6
2025-03-04 02:37:47 -08:00
7651cb1b33
Copy texture coordinates from OBJ into flex. Fixes #2464 .
...
PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
2025-02-28 06:04:19 -08:00
06e217df7e
[MJ3.3.1] Bumping internal version number.
...
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
2025-02-27 14:53:28 -08:00
8de9b4e4e3
Merge pull request #2462 from jjyyxx:main
...
PiperOrigin-RevId: 731710330
Change-Id: If87dd2c06123bd9ddfc62b63370c8fedf320e721
2025-02-27 06:58:24 -08:00
9c31494fa1
Add MjSpec example for procedural meshes.
...
PiperOrigin-RevId: 731635686
Change-Id: I310b802966755f627c4ec2cbdcd2ce7b14921c57
2025-02-27 01:57:56 -08:00
e1f18a747e
Update dependencies and the changelog ahead of the 3.3.0 release.
...
PiperOrigin-RevId: 731406295
Change-Id: I05027722a9681f71549b7e022dfe13fc381b8564
2025-02-26 12:07:55 -08:00
9996500de9
update the version number to 3.3.0 instead of 3.2.8
...
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
2025-02-26 11:42:55 -08:00
ed16f2daf2
Set nativeccd as default.
...
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
2039629457
Expose MjSpec raw pointer via _address
2025-02-26 10:25:55 +08:00
d1d61925da
Do not delete the world child when doing spec.attach.
...
PiperOrigin-RevId: 730976077
Change-Id: I9aa8133241b45883e605ec80d64ae28af2962680
2025-02-25 12:02:13 -08:00
441b5c6082
Change MjSpec.default from method to attribute.
...
PiperOrigin-RevId: 730912407
Change-Id: I0147acbd257ecc8b72752a2992a7d4ea6e1b4c07
2025-02-25 09:17:45 -08:00
dc98ae978d
Publicize the rollout notebook, small improvements to plotting.
...
PiperOrigin-RevId: 730841667
Change-Id: Id365f21cee078f28cb3fa797701c3c5a409607cd
2025-02-25 05:20:41 -08:00
ce82b63155
Add mjs_attachFrameToSite.
...
This is required in preparation of changing the spec.attach behavior in the Python bindings.
PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
2025-02-25 03:21:05 -08:00
cfc59164eb
rollout notebook: fixups to benchmarks, plots, text
...
1. MJX benchmarks use jax.lax.scan and block_until_ready
2. Benchmark parameters updated to match RL use case
3. humanoid benchmarks are warmstarted by 2 seconds, humanoid100 by 4 seconds
4. benchmarks use skip_checks and preallocated threadpools
5. Improved advanced usage plots
6. Benchmark no longer includes model initialization in timed section
7. Update notebook text as needed
2025-02-25 03:25:51 -05:00
a0eb985532
rollout notebook: fix bugs due to cell reordering
...
PiperOrigin-RevId: 729567659
Change-Id: I439da667317ed51370d7c8a9fbfc31d11140752c
2025-02-21 10:05:30 -08:00
f9bb6cb3db
Minor updates to rollout notebook:
...
1. Move benchmarks below advanced usage.
2. Request A100 GPU
3. Minor cosmetic changes.
PiperOrigin-RevId: 729538515
Change-Id: I12709cd95f6865e53fd3932ea0b303ee8efc4028
2025-02-21 08:27:33 -08:00
ea2bbc1d14
Merge pull request #2439 from aftersomemath:rollout-size_t
...
PiperOrigin-RevId: 729519951
Change-Id: Ic50b08960da84d2277820212d19fcbab9f2d67cf
2025-02-21 07:17:25 -08:00
a0971ef749
rollout fix cosmetics
2025-02-21 08:44:17 -05:00
aca4e5d6ae
rollout test for integer overflow in array size check
2025-02-20 21:12:52 -05:00
7efaf5c549
Improve docstring of mjxmacro.py
...
PiperOrigin-RevId: 729058910
Change-Id: I3ae9c7c50facca3bfb08a317c2267b9d8672f207
2025-02-20 04:43:26 -08:00
41c2918819
Add batch support to MJX data bind.
...
PiperOrigin-RevId: 729033713
Change-Id: I331317a54a7882dc67bf329da8aeaff7246754e4
2025-02-20 03:10:30 -08:00
df71467eed
rollout use size_t for array size check and pointer arithmetic
2025-02-19 22:46:12 -05:00
19624aef9d
Add an example of a textured height field to mjSpec notebook.
...
https://youtu.be/i6eXrzJNKeY
PiperOrigin-RevId: 728841769
Change-Id: I1aca838af69d8474aab13b06d8c1e5cf87fc6440
2025-02-19 15:34:21 -08:00
7a2ad8fd97
Merge pull request #2436 from aftersomemath:rollout-notebook-pr
...
PiperOrigin-RevId: 728706864
Change-Id: I8f3a507234c4265564a4fee9df0ab8111ff7dd85
2025-02-19 09:42:08 -08:00
b0e9d08673
Move introspect to python/introspect
...
PiperOrigin-RevId: 728695024
Change-Id: I96433e1e9ee509704d66bd4c1be1906732e4cc55
2025-02-19 09:01:21 -08:00
41a873b016
Notebook showcasing the Python rollout module
2025-02-18 10:57:03 -05:00
7f11a0df12
Add check for height fields size during compilation.
...
Fixes #2427 .
PiperOrigin-RevId: 727805729
Change-Id: Idf3192e5fb238249faaeae6b4fb9de4c55755d96
2025-02-17 04:01:27 -08:00
37d7591ce0
Add support for user-defined figures in the MuJoCo viewer.
...
PiperOrigin-RevId: 726983516
Change-Id: Ifb821f3cafb163d4f3077d76b0668037b4bc5a9c
2025-02-14 10:45:47 -08:00
5b924fec98
Add support for binding to arrays of mjs element.
...
Fixes #2402 .
PiperOrigin-RevId: 726449592
Change-Id: I0cde44889837a71a222b20cf91fa56568b4af689
2025-02-13 06:01:30 -08:00
1b4258d274
Change set_default and default to classname in the bindings.
...
Having defaults in the names of the attribute or function names is confusing for the users since the defaults are not re-applied but are only used for writing to XML. The alternative would be to change mjs_setDefault to re-apply them, but this would overwrite any other attribute set by the user so far.
PiperOrigin-RevId: 726431090
Change-Id: I41f4a23e1722e278b0ecc0a00b07db9b384fe994
2025-02-13 04:52:02 -08:00
7af9bcbf00
mjSpec tutorial: Move humanoid and Menagerie imports to the cells that require them.
...
PiperOrigin-RevId: 725945693
Change-Id: I3f0d4c867626ef61605815bb708a55c8e29d79e2
2025-02-12 01:02:17 -08:00
d830691f53
Merge pull request #2291 from AaronYoung5:main
...
PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
2025-02-12 00:16:10 -08:00
Yuval Tassa