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494 Commits

Author SHA1 Message Date
Abhishek Joshi df88171ae1 removing unwanted code in __init__ function temporarily 2024-03-18 18:59:22 -05:00
Abhishek Joshi 765ba22cd9 Merge branch 'camera-bug-fixes' into demo_script 2024-03-18 15:50:57 -05:00
Abhishek Joshi d417356d73 removing tar file 2024-03-18 15:28:07 -05:00
Abhishek Joshi 66c044fcf4 adding demo script branch 2024-03-18 15:23:46 -05:00
Kevin Zakka c16a23d6c5 Fix typo in least squares notebook. 
PiperOrigin-RevId: 616927630
Change-Id: I06f361a6ec55f37123bd9eced29111e1920b9dc7
 2024-03-18 13:23:07 -07:00
Abhishek Joshi 7013c288bd bug fix for no camera; changed objid argument to obj_name 2024-03-14 09:02:34 -05:00
Yuval Tassa 40baa51072 Add tutorial notebook for mujoco.minimize module. 
PiperOrigin-RevId: 615410341
Change-Id: If9748ab56fb04e5203024327e2422a3737d2aab8
 2024-03-13 07:34:36 -07:00
Yuval Tassa e42f9c6490 Tweaks to basic tutorial notebook. 
PiperOrigin-RevId: 615368113
Change-Id: I888b252c75a1f6253dc78494e8348d00e8283ed7
 2024-03-13 04:42:45 -07:00
Yuval Tassa b61a09aa95 Delete redundant blank lines. 
PiperOrigin-RevId: 615359482
Change-Id: If1f850d560938b0c8cf6dd13c83ed72d1faae4cc
 2024-03-13 04:03:30 -07:00
Yuval Tassa 1fb3ab26f0 Tweaks to LQR tutorial notebook: 
- Unify all imports in one cell.
- Make final motion more interesting by adding more noise to joints which are not critical to balancing.

PiperOrigin-RevId: 615100505
Change-Id: I8302e441b3ca52d5134c317a35f99c5f74bac36b
 2024-03-12 10:52:34 -07:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -08:00
Nimrod Gileadi a00f1b5f30 Tidy up Colab notebook files. 
PiperOrigin-RevId: 613163325
Change-Id: Iec56375bb7631b8a3035f884b3aad6b54fb7b88b
 2024-03-06 04:14:11 -08:00
Meghha Dhoke e2c14188ad Updated abseil for release version v3.1.3 
PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
 2024-03-05 12:57:23 -08:00
Copybara-Service 827cdfd7d5 Merge pull request #1413 from awesome-aj0123:usd-integration 
PiperOrigin-RevId: 612933036
Change-Id: Ia29230b1d91508dbc8b1cf7c76ff48c17448bf89
 2024-03-05 12:33:58 -08:00
Meghha Dhoke 7e87c6ac44 Updated Eigen3 hash in below files for Mujoco release version v3.1.3 
- CMakeLists.txt
- MujocoDependencies.cmake

PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
 2024-03-05 11:26:16 -08:00
Copybara-Service 6b7d714291 Merge pull request #1450 from v-r-a:angmomMat 
PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
 2024-03-05 07:35:15 -08:00
Yuval Tassa 982760a63b Improve bindings for mjd_subQuat. 
- Accept `None` for optional arguments.
- Accept 3x3 matrices for matrix arguments.

PiperOrigin-RevId: 611000820
Change-Id: Id28cdb2ae574f372ff251f94ab4557d9d2eaa80b
 2024-02-27 23:55:19 -08:00
Abhishek Joshi e1531f6e15 removing usd import from __init__.py 2024-02-26 10:59:33 -06:00
Yuval Tassa 03a8fa9ca9 Improvements to minimize.least_squares: 
- Added central differencing option.
- Changed `mu` semantics from log10 to actual values.
- `mu` control is now more aggressive, saves a few iterations.
- Use Armijo sufficient reduction criterion.
- Added some checks for float64 and NaNs.
- Added log of final result to trace.
- Removed unhelpful QP timing.

PiperOrigin-RevId: 610096950
Change-Id: Idf1a7c3155ce8e82fc2d5fe0f2da2f16636ff63d
 2024-02-24 20:42:45 -08:00
Kyle Bayes 109f2d7119 Replace mj_makeEmptyFileVFS in Python bindings with mj_addBufferVFS. 
PiperOrigin-RevId: 609383859
Change-Id: Ib23ee49e803630a2895a471e9a3ed8b33551cbb9
 2024-02-22 08:36:42 -08:00
Abhishek Joshi 7ffd43b55c addressing PR comments 2024-02-21 10:18:13 -06:00
Abhishek Joshi f721d3900d Merge branch 'google-deepmind:main' into usd-integration 2024-02-21 07:03:55 -08:00
Saran Tunyasuvunakool abf6d41b7f Fix incorrect data types in Python bindings of certain arrays. 
The mismatch between the `py::array_t` template argument and the type of the MuJoCo struct member being wrapped caused the `py::array_t` to be constructed via an unintended constructor overload, which in turn triggered `use-after-poison` under asan.

This bug affected the `geom`, `flex`, `elem`, and `vert` arrays in `mjContact`, and all array members in `mjrContext`.

PiperOrigin-RevId: 608632860
Change-Id: Ic227f691041b004a0fcf0cb6fa3d62c44861d9aa
 2024-02-20 09:26:19 -08:00
Yuval Tassa b56d4bf8a5 Add mujoco.minimize module. 
PiperOrigin-RevId: 608443678
Change-Id: Ib5dc78fe4523488b6c4e824f226591cf6a8a6216
 2024-02-19 18:58:42 -08:00
Abhishek Joshi a50f002bed changing to exporter file name 2024-02-15 09:34:39 -06:00
Abhishek Joshi e7a493bcca changing name to exporter 2024-02-15 09:34:11 -06:00
Abhishek Joshi 18edadb975 Merge branch 'google-deepmind:main' into usd-integration 2024-02-12 06:04:57 -08:00
Meghha Dhoke f763254a00 Updating Mujoco Release version number to v3.1.3 
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
 2024-02-05 15:59:20 -08:00
Meghha Dhoke f75923a48d Updated version numbers to cmake files
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PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
 2024-02-05 12:55:30 -08:00
Copybara-Service 66a8bef6fa Merge pull request #1392 from alefram:fix-mj_forward-link 
PiperOrigin-RevId: 604116464
Change-Id: If4de574e0206c46a98c03949e7123178be73f6c3
 2024-02-04 09:49:27 -08:00
Alexis f3b48edf2b fix metadata and update mj_forward link 2024-02-02 18:26:32 -04:00
Alexis d8577bfc9a Revert "fix link of mj_forward on tutorial" 
This reverts commit 40c0a91a40.
 2024-02-02 17:39:44 -04:00
Alexis 40c0a91a40 fix link of mj_forward on tutorial 2024-02-01 23:28:40 -04:00
Alexis bfa359cb2e Revert "fix mj_forward link typo" 
This reverts commit 9f006dccdb.
 2024-02-01 23:25:56 -04:00
Alexis 9f006dccdb fix mj_forward link typo 2024-02-01 22:45:36 -04:00
Abhishek Joshi ff6581df1c Merge branch 'usd-integration' of github.com:awesome-aj0123/mujoco into usd-integration 2024-02-01 02:48:17 -06:00
Abhishek Joshi 75c0647bcc adding mujoco uds bridge 2024-02-01 02:47:45 -06:00
Yuval Tassa aceb52bd09 Improvements to mujoco.rollout: 
- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time.
- User-defined control spec.
- Stop squeezing: outputs always have dim=3.

PiperOrigin-RevId: 600445256
Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
 2024-01-22 07:01:53 -08:00
Yuval Tassa a23a368778 clean up rollout.cc 
PiperOrigin-RevId: 599849967
Change-Id: I899b28bf78bf0414b07314c24cfe6e24441eba30
 2024-01-19 09:03:10 -08:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Abhishek Joshi 8f247d5ed6 Merge branch 'google-deepmind:main' into usd-integration 2024-01-15 15:10:49 -05:00
Nimrod Gileadi ca023a6f28 Update EGL init code for Python 3.12. 
Fixes google-deepmind/mujoco#1299.

PiperOrigin-RevId: 595982512
Change-Id: Ib0261483a7f6cb8addf04f5010f09d3554c8bf45
 2024-01-05 06:50:55 -08:00
Kevin Zakka 1c7809e542 Free MjrContext in Renderer destructor. Fixes #1186. 
PiperOrigin-RevId: 595125644
Change-Id: I5dadc3508ec296ba8844fed2a8f5d2de7e53221d
 2024-01-02 08:38:46 -08:00
Yuval Tassa 4c066a26b5 Change mjVISSTRING of connect and weld equality constraints from "Constraint" to "Equality". This is more consistent with the 'E' shortcut key and with mjDISABLESTRING ("constraint" means all constraints, "equality" means bilateral constraints). 
Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.

PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
 2023-12-24 12:06:59 -08:00
Google DeepMind 7fb448613f Post release version update: Update to V3.1.2 
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
 2023-12-18 15:03:37 -08:00
Yuval Tassa 38fa756a20 Add mjGEOM_LINEBOX, used in visualization of collision trees. 
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
 2023-12-15 05:36:35 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Baruch Tabanpour 0d37670698 Fix eigen3 commit hash. 
PiperOrigin-RevId: 590335535
Change-Id: I90819d420e5ef54dfc5b202ce0407e1ea833a8a4
 2023-12-12 14:22:45 -08:00
Google DeepMind 0df1c9c733 Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0 
PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
 2023-12-12 13:17:35 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00