3d9946cff3
Improve mesh processing readability
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PiperOrigin-RevId: 721524528
Change-Id: I3af4e25815cbc7517b772826af7d929ea93f8164
2025-01-30 14:41:21 -08:00
767be23207
Fix pretty printing in mjspec notebook.
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PiperOrigin-RevId: 721367994
Change-Id: Ia1c4ee5b64540ff2f9c08a1953295ff366e0c72b
2025-01-30 06:32:35 -08:00
2680bd3e8b
Merge pull request #2395 from hartikainen:main
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PiperOrigin-RevId: 721367039
Change-Id: Icb79cb50c2a07e5f10fdece3edc52b40cdcdfbac
2025-01-30 06:28:44 -08:00
904b49848f
Add worldbody assertions in attach tests.
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This clarifies the difference between attaching a full spec, which converts the worldbody to a frame, and attaching a specific body (or frame).
PiperOrigin-RevId: 721297010
Change-Id: Iff87fe99b81746e6ab3a189a3057b274d3c9a939
2025-01-30 01:35:55 -08:00
e0664b1bb8
Fix bug with box-box #2356 .
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PiperOrigin-RevId: 721138760
Change-Id: Ib9548b0bc505a9856176188c91858cff7c9accdf
2025-01-29 16:00:29 -08:00
5b245e5d02
Fix handling of _full_compat argument in put_data.
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PiperOrigin-RevId: 721128021
Change-Id: Ic1cce42fbb38799228d6433ef0c761b1f9b81c4b
2025-01-29 15:27:14 -08:00
0fda5344c2
Fix typos
2025-01-29 15:31:39 -05:00
7232a91617
Add keyframe fields to mjx.Model.
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PiperOrigin-RevId: 721060807
Change-Id: Iae6aa8773e0e9802b0bd1de9a14d83987cd56936
2025-01-29 12:02:48 -08:00
7cdf180641
Introduce trilinear flex parametrization.
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These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
2025-01-29 09:38:22 -08:00
1a4b821b6b
[doc] Tweak language in asset dict paragraph.
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PiperOrigin-RevId: 720994183
Change-Id: Ib99cc3fdd02eefdb2d78d7ac5adf36293c001062
2025-01-29 08:51:26 -08:00
f61973601e
[docs] Mention asset lookup in MjSpec construction.
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PiperOrigin-RevId: 720671094
Change-Id: I6ba343b37893620ba4f3477e57daa4876805156c
2025-01-28 12:33:55 -08:00
0643017346
Add asset argument to MjSpec constructors.
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PiperOrigin-RevId: 720628689
Change-Id: I189aa34973e58b9fb87951e34cb923d94e081a55
2025-01-28 10:39:27 -08:00
5b330ca19c
Change keyword argument asset to include in spec.from_file and spec.from_string.
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PiperOrigin-RevId: 720611881
Change-Id: I92f5e72cece8d3223bc552ea4f2ef742c47cb8c9
2025-01-28 09:55:48 -08:00
f4096bcab9
Add sphere and cylinder internal wrapping for spatial tendons to MJX.
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PiperOrigin-RevId: 720507688
Change-Id: I49fda2839e68623ff5e1f3c46bdc3d77acfc36ef
2025-01-28 03:22:14 -08:00
6a23841aad
manually inline mju_combineSparse
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PiperOrigin-RevId: 720326669
Change-Id: I03727291f133e3d481e73ad88735e54af8f62f1f
2025-01-27 15:22:18 -08:00
3dcfad3293
Add qpos to MJX bindings.
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PiperOrigin-RevId: 720311208
Change-Id: Iaf5f905e206256f38cd71949bbebd5151b2a2041
2025-01-27 14:36:42 -08:00
8c22181156
Fix documentation typos.
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PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
2025-01-27 10:58:22 -08:00
9605990648
Replace custom sort of sparse fixed tendons with mju_combineSparse.
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PiperOrigin-RevId: 720219887
Change-Id: I0491b3cb8987c119c3864fc0b5c38ca303d8f7f0
2025-01-27 10:24:58 -08:00
d21f624264
Fix binding issue with scalar attributes.
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PiperOrigin-RevId: 720136044
Change-Id: I0846a93ef36a23371d1bd504adff02dcce0abcf9
2025-01-27 05:47:36 -08:00
d86900aac1
Speed up mju_cholUpdateSparse by not checking for varying sparsity pattern where it is guaranteed to not vary.
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PiperOrigin-RevId: 720126576
Change-Id: I3a43bdd0259656fab462b1cd155cb422982e970d
2025-01-27 05:07:28 -08:00
4ab274aea9
Fix missing arg for mj_compile in model-editing doc example code.
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PiperOrigin-RevId: 720005405
Change-Id: Idf71a1a12fe4cfcc450cd80c91b13ee8a75e1636
2025-01-26 20:25:50 -08:00
08edde5fd8
Add test for armature, model will be used in upcoming improved documentation for armature.
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PiperOrigin-RevId: 719916567
Change-Id: I7f74bd3c3864f43f5f68d458d5b128cfee1d7e6c
2025-01-26 12:01:12 -08:00
2c3d0becb2
Empty out Model fields restricted to MuJoCo in the same way we do for Data fields.
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PiperOrigin-RevId: 719705508
Change-Id: I4b07433481eafaea1d95a5bdd8fd83786939188f
2025-01-25 14:03:20 -08:00
2546fcefa0
Add mujoco.MjSpec.to_zip()
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PiperOrigin-RevId: 719003836
Change-Id: I310ac96b0080b3313c325cee76d3bf7f81fa9df0
2025-01-23 14:01:06 -08:00
3d174a4034
internal change
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PiperOrigin-RevId: 718782821
Change-Id: I2d2ead2577767587800f3ea69dba61247105e16f
2025-01-23 02:51:51 -08:00
f9fd2e4ba4
Add a test showing how to implement scipy's 'soft_l1' loss in minimize.least_squares
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PiperOrigin-RevId: 718649580
Change-Id: I5cec0e2850c805301407c9eb543ab3ba69d42e79
2025-01-22 18:25:44 -08:00
21d97902ee
Check keyframe size before appending it during attach.
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Fixes #2365 .
PiperOrigin-RevId: 718455748
Change-Id: I20c56b7c6fbd868962d19682e72e6294edb6893e
2025-01-22 11:09:49 -08:00
aa505a7872
Add support for NativeCCD multiple contacts for box-box collision.
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PiperOrigin-RevId: 718352304
Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
2025-01-22 06:02:58 -08:00
0090e1e908
Rename rollout variable nroll to nbatch.
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PiperOrigin-RevId: 718196100
Change-Id: Ic36b1a96ea1af2de351539115d4eee051d195aaf
2025-01-21 21:04:15 -08:00
ac76540eb8
Merge pull request #2377 from aftersomemath:rollout-fix-ndata-check
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PiperOrigin-RevId: 718181763
Change-Id: Ie88bf1d26c77478ce3a5ca8fdf29ae90e54b5834
2025-01-21 20:11:33 -08:00
67dd4827a6
Improve printing of inertia-like matrices, allow mj_printData to take const mjData*
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PiperOrigin-RevId: 718176884
Change-Id: I057dabe6973e19db86e9ff9ce4430c6d17dfce2b
2025-01-21 19:59:45 -08:00
6a7a7a5f80
Add the override_assets attribute to MjSpec.
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When specified, child asset with repeated names will override parent's, rather than throw an error. Default behavior is to override.
PiperOrigin-RevId: 717979621
Change-Id: I18022dc266619b4ba1a8636d1c60f85b0eb5f862
2025-01-21 10:39:02 -08:00
1412a29dac
Merge child asset dictionary into parent spec during attach().
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PiperOrigin-RevId: 717939728
Change-Id: I54f8ac87062cf19f55a16af37b777701545ed865
2025-01-21 08:57:09 -08:00
4bb6aeb19f
Change site and frame attach API.
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Old API:
```
site.attach(child_spec)
frame.attach(child_spec)
```
New API:
```
parent_spec.attach(child_spec, frame=frame_name_or_object)
parent_spec.attach(site_spec, site=site_name_or_object)
```
This enables accessing the parent object during attach, which will be used in a follow-up CL to automatically append the child assets to the parent.
PiperOrigin-RevId: 717908589
Change-Id: I0fb27e99694c954cb8ba8a8c98484ffd53a4d6db
2025-01-21 07:29:27 -08:00
bd1bbfe401
Fix bug where EPA horizon returns zero edges due to numerical inaccuracies in float32.
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PiperOrigin-RevId: 717825833
Change-Id: I9fa440816765d4c3eaa0c6c26ec0bd90c774fa01
2025-01-21 02:50:53 -08:00
cee122116e
rollout: fix bugs in checking list lengths, add tests
2025-01-21 00:36:52 -05:00
2624d524ba
Switch mj_solveM_island to use CSR representation
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PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
2025-01-20 18:36:04 -08:00
a5ab7a9515
Switch mj_solveM2 to use CSR representation.
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PiperOrigin-RevId: 717639495
Change-Id: I59eee0f23606481480ec5acb8a3bba2c14b2ea2f
2025-01-20 15:16:26 -08:00
baf1c43b3c
Fix more misleading line for creating list of models in rollout_test.py
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PiperOrigin-RevId: 717628943
Change-Id: I83a314565ce4ec683afeea18c8c8ce9e23d5452e
2025-01-20 14:27:31 -08:00
68cd263337
Change type of light_poscom0 and `actuator_acc0'.
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This is required for batching over `mjx.Model` in case recompilation is used to change inertial values.
PiperOrigin-RevId: 717596504
Change-Id: I4b6780903ebf12ebbf8b7bc7b8990a01609d4491
2025-01-20 12:11:31 -08:00
ff4783482c
Fix misleading line for creating list of models in rollout_test.py
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PiperOrigin-RevId: 717582208
Change-Id: I1b4e40fc5ccbfe68fb7dc240715c704f1f68d9fe
2025-01-20 11:13:21 -08:00
699a6765e3
Add find functions for joints, lights, and cameras to mjSpec bindings.
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PiperOrigin-RevId: 717578768
Change-Id: I2087ccbb9cf8b3b8ec03e9eb2edb0707d4a4cac1
2025-01-20 11:02:34 -08:00
600f4acb52
Change GJK and EPA return values.
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PiperOrigin-RevId: 717549079
Change-Id: I42df5660bcc8336e2e9c8fce71385cbb06104848
2025-01-20 08:59:37 -08:00
5c4c79cd6a
Refactor LD back-substitution (CSR version).
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PiperOrigin-RevId: 717403904
Change-Id: Idcd5e71f03a960203c22cb737d399fac5a0ba59c
2025-01-19 22:47:25 -08:00
2a100547bd
Remove match in support.py (introduced in Python 3.10).
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https://github.com/google-deepmind/mujoco_playground/issues/16
PiperOrigin-RevId: 717395934
Change-Id: I0be1b8285a79702a1dfc086e15e07bab0f9f6d40
2025-01-19 22:08:51 -08:00
e2b1cfc3a8
Merge pull request #2249 from Balint-H:docs/unity-tutorial
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PiperOrigin-RevId: 717294302
Change-Id: Ief98bd6cd4eac448062e331b6737043f12926ad2
2025-01-19 13:01:07 -08:00
f13c107cd7
Workaround to doc build error caused by sphinx-toolbox bug.
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See issue for details: https://github.com/sphinx-toolbox/sphinx-toolbox/issues/176
PiperOrigin-RevId: 717282405
Change-Id: I9e02804a3571fcca74eb7f174f3c3e262b0d3b65
2025-01-19 11:58:52 -08:00
1d47a91c19
Add a test for mj_solveM2
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PiperOrigin-RevId: 717278730
Change-Id: I7507e569620c34f250482eec8402c08c793f4e48
2025-01-19 11:34:20 -08:00
203e9bc292
Remove trailing spaces
2025-01-19 13:24:36 +00:00
b2d353d062
Document default visible geom groups in XMLreference.
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PiperOrigin-RevId: 717050528
Change-Id: I0414495d2f5a17ac2d8ba35c9353ecf0b7e8a18d
2025-01-18 12:42:01 -08:00
Tom Power