6540289eb1
Change schema order in the docs: move option to the top, move visual down.
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PiperOrigin-RevId: 627036617
Change-Id: Icb18a4afab7d549baee8ed0df89e98dfac4d6e6c
2024-04-22 07:56:26 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
c2d0c5dd1b
Add cylinder collisions using SDFs.
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PiperOrigin-RevId: 626998709
Change-Id: I669a639b1cabf5ed522c73a07e54684d675fa396
2024-04-22 05:07:43 -07:00
9aa885aa63
Fix attribute order in mjsDefault.
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PiperOrigin-RevId: 626992244
Change-Id: I0755745d2d4a55fbf6c685ad383a5be0842e7984
2024-04-22 04:36:56 -07:00
cc78db41f4
Add mjs_detachBody to C API.
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PiperOrigin-RevId: 626947850
Change-Id: I7c897048098ecd4f2247725ef2d378dbd00ef4a0
2024-04-22 01:11:13 -07:00
001d2dfa85
comments
2024-04-21 22:29:58 +02:00
eb6624bd86
further clean up text, add comments, remove irrelevant observations in get_obs, regenerate apg outputs
2024-04-21 22:06:36 +02:00
f3a9d7790a
Merge branch 'google-deepmind:main' into main
2024-04-21 17:15:31 +02:00
34a61ae42f
Fix image link in model documentation.
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PiperOrigin-RevId: 626498569
Change-Id: I589257346d48e5424a6eb7d43d28561ff8c0e2d0
2024-04-19 16:32:05 -07:00
718e079cba
Fix bad changelog formatting.
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PiperOrigin-RevId: 626497821
Change-Id: I705b691b5ad985889a9b05da8c775df42b3811d6
2024-04-19 16:28:43 -07:00
3b64217b96
Remove deprecated mjx.device_* functions. They are not suited to upcoming condim support.
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PiperOrigin-RevId: 626486447
Change-Id: Ibd41874bb3903123567168ebbac563399788d2f2
2024-04-19 15:34:28 -07:00
e98a95821d
Add fruit fly model.
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PiperOrigin-RevId: 626447823
Change-Id: I2e13312364c42cf2fccf0a843f8f2661b1b2f6a1
2024-04-19 13:03:26 -07:00
ab7d8fe167
update comments
2024-04-19 06:44:59 +02:00
3e12452bc9
git clone mujoco menagerie rather than import anymal_c locally
2024-04-19 06:30:57 +02:00
a4df912018
Prepare MJX for condim.
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This is a refactor of collision_driver and some of its surrounding code in order to prepare for condim in MJX. In this change we reify types that are needed for condim: dim, efc_address, efc_type. We make explicit the way contacts are organized and grouped to guarantee that dim and efc_type are statically defined.
This change simplifies the way meshes are organized on device and slightly speeds up mesh collisions for cases where a single mesh is instanced across many geoms.
PiperOrigin-RevId: 626119500
Change-Id: Ic0c8599bcda2326f2e19cd3246a673e56097886b
2024-04-18 12:43:36 -07:00
8b7f1094f1
Fix jax deprecation warning for jax.tree_map.
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PiperOrigin-RevId: 626092308
Change-Id: I78145efe62ae118726c1755856d7cb9b1abd988a
2024-04-18 11:13:35 -07:00
4b7b40d329
Add test for saving and loading binary models.
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PiperOrigin-RevId: 626019520
Change-Id: I1e349921b3408bee288c52d9e52b29006ff3fda4
2024-04-18 06:55:07 -07:00
c331d18a6e
Support nested frames in mjs_attachFrame.
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PiperOrigin-RevId: 626001651
Change-Id: I3dc52baa6aad875504dd4c7d969a4091f52c4c16
2024-04-18 05:37:12 -07:00
d2392efe6c
Allow gl_context.GLContext to be None.
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PiperOrigin-RevId: 625927487
Change-Id: I85d5658c8ea529716aaac12b17957c59319367cc
2024-04-17 23:38:06 -07:00
5d2986f9c7
change default option on brax apg
2024-04-18 05:05:28 +02:00
568e1f2d59
refine text
2024-04-18 04:50:21 +02:00
4a76496533
Compile frames during compilation instead of parsing.
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PiperOrigin-RevId: 625717564
Change-Id: Ib82230f6cb423bb3091efd04a7fa0b1411e7cdf1
2024-04-17 09:56:24 -07:00
a4c31c09a8
Clean up user_api.h
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PiperOrigin-RevId: 625693719
Change-Id: I8e75abb9a38bd45ba7a81938eda3baf68b878d4a
2024-04-17 08:35:37 -07:00
2b4975811b
Fix bug in Python binding of mj_saveModel
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PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
2024-04-17 05:58:50 -07:00
81feadad5c
Add mjs_attachFrame to user_api.
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PiperOrigin-RevId: 625648309
Change-Id: I4d6dfc4d38ad6ce688df83eb7cc2c34676076193
2024-04-17 05:25:16 -07:00
bfad82d475
fix typos
2024-04-17 14:23:10 +02:00
b2a8ff9b24
Merge branch 'google-deepmind:main' into main
2024-04-17 14:08:51 +02:00
4b6c07cd7d
Prevent bodies from overwriting the frame names in xml_native_writer.
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PiperOrigin-RevId: 625632369
Change-Id: If3bd048ac40e116fcb97beb3dca3d99826fe4ad0
2024-04-17 04:07:50 -07:00
8043e95c00
revert pyproject
2024-04-17 12:12:33 +02:00
ad86492986
Merge branch 'main' of https://github.com/Andrew-Luo1/mujoco_apg_tutorial into main
2024-04-17 11:59:21 +02:00
9b2274593d
update text
2024-04-17 11:59:09 +02:00
4ae47dd4ec
Merge branch 'google-deepmind:main' into main
2024-04-17 11:13:32 +02:00
7a7c33a23b
benchmark against ppo
2024-04-17 11:07:46 +02:00
7db18c4081
upload videos
2024-04-17 08:02:05 +02:00
b33230210a
Disable precise error message check in LoadMSHASCII_22_MissingNumElements_Fail
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For some reason, this check fails on Windows on GH Actions.
PiperOrigin-RevId: 625396036
Change-Id: I96bf233dcd61e7a64f817da41e47ea39e0c5c157
2024-04-16 11:22:54 -07:00
6481a838c8
Fix monospace rendering in changelog.
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PiperOrigin-RevId: 625388305
Change-Id: I82c7cd0e221627a14f6a2b2d9285099f488b1dcb
2024-04-16 11:00:57 -07:00
7c86a02a80
Improve printing of geom/geom contacts.
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PiperOrigin-RevId: 625338796
Change-Id: I89267c3512c0ab28c0e1d35c571fd4d4bafa9b43
2024-04-16 08:25:02 -07:00
961124ab0b
Changed semantics of mjCBody::operator+=
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PiperOrigin-RevId: 625318655
Change-Id: I0b722bf22125bb0dfb886661e7de5c1638bbe1f9
2024-04-16 07:07:31 -07:00
f086dc9b4b
Better parsing for GMSH2.2
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PiperOrigin-RevId: 625267106
Change-Id: Iecf767c43cee1067fdab3859df28050f8a365e2b
2024-04-16 03:23:52 -07:00
daaf81fa56
slightly stabler quadruped training
2024-04-16 04:54:22 +02:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
683929ab34
Remove integration MJX test from github actions.
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PiperOrigin-RevId: 625116629
Change-Id: I8f9c4c881732cda3f4559643a1493a9e1c2d9510
2024-04-15 16:19:15 -07:00
0fa0437313
Add cylinder plane.
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PiperOrigin-RevId: 625099227
Change-Id: I02cb86c3e8c7fd5914a082f1e8a3bae6274b3c8e
2024-04-15 15:18:04 -07:00
38fa5083eb
Fix support for deep penetration in plane-convex.
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PiperOrigin-RevId: 625088511
Change-Id: I30bd4d475f4bfde98b5ae6254dd67bbe0fc09c08
2024-04-15 14:42:41 -07:00
7b3f1a0261
Add mjModel.mesh_scale: scaling applied to asset vertices.
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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:26:06 -07:00
f19e7be8c6
all demos in tutorial work locally
2024-04-15 21:29:05 +02:00
27cddcb712
add anymal_c model foor mjx demo
2024-04-15 08:22:54 +02:00
df262402cf
add diagram for apg notebook
2024-04-15 08:12:43 +02:00
9f1651b7bd
Raise error for gravcomp.
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PiperOrigin-RevId: 624292351
Change-Id: Ia8cfce33f990616035772fb88c34fb1434c73220
2024-04-12 14:25:34 -07:00
bcee4e9954
Add more details to reproducibility section.
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PiperOrigin-RevId: 624186625
Change-Id: Ibceace5b2b3d84c9cf0a179adfb6638450f9cb9f
2024-04-12 08:27:30 -07:00
Yuval Tassa