3e2bbbd792
Merge pull request #2612 from budzianowski:main
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PiperOrigin-RevId: 763392959
Change-Id: I56472db86a347fb18d1450b80bbfe5405382cdae
2025-05-26 05:37:31 -07:00
7a5b55f57e
Expose mjs_resolveOrientation to the Python API.
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PiperOrigin-RevId: 762571376
Change-Id: I08d8394b24670c7f102356da4234b17f1ba4e05f
2025-05-23 14:36:47 -07:00
eb6f7dc6b7
Gate some calls with __EMSCRIPTEN__
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PiperOrigin-RevId: 762520516
Change-Id: If9f7729721bab8c947861a968cf96eecc6591228
2025-05-23 12:10:52 -07:00
9e4931b79d
Add CollisionAPI and MeshCollisionAPI schemas to mjcPhysics.
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PiperOrigin-RevId: 762478906
Change-Id: I9103e8d3cf99492e2df1c6b4af7937b12993f225
2025-05-23 10:26:31 -07:00
e389872c7d
Add frame property to python bindings.
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PiperOrigin-RevId: 762452877
Change-Id: I555cec650d04700f6718b4d77a866c821b90685c
2025-05-23 09:24:24 -07:00
e44513bee5
Merge pull request #2640 from google-deepmind:dependabot/pip/mjx/setuptools-78.1.1
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PiperOrigin-RevId: 762416151
Change-Id: I40e47cb3334ab2fa7f8bdfef27fa1720186cd082
2025-05-23 07:37:33 -07:00
76ddc30072
Make MJCF SdfFileFormat plugin create hierarchy reflecting MJCF instead of sibling rigidbodies.
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PiperOrigin-RevId: 762117447
Change-Id: Id13f7a4f4e383a0c9e670e5272836f2fb1099830
2025-05-22 14:04:58 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
373b4c0437
Support image/ktx format for textures.
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PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
2025-05-22 05:47:55 -07:00
3e9bc79b54
Adds color space to textures.
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PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
2025-05-22 04:33:40 -07:00
62a9d5b98d
Add MjcPhysicsSceneAPI support.
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Still missing compiler settings but will follow up in a future CL. Tried to add full coverage for testing setting of attributes to non-default values.
PiperOrigin-RevId: 761636862
Change-Id: Id4b9486645b2600931556cdcb8dc71f28ec309cd
2025-05-21 13:03:46 -07:00
bf1f8081c1
Enable Visualization pane in Passive Viewer. Fixes #2158
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PiperOrigin-RevId: 761522429
Change-Id: Ice4322ce413891893c89856e55f60a4f26010cf2
2025-05-21 07:52:55 -07:00
7da6b5b9d9
Ensure mjx.get_data_into returns correct efc_J, qLD, and qLDiagInv.
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PiperOrigin-RevId: 761264885
Change-Id: Ia3e669e24b2cc05f1506f0508c552c48233298cb
2025-05-20 16:03:18 -07:00
49c33716a1
Allow _realloc_con_efc to also allocate new nJ arrays.
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PiperOrigin-RevId: 761252071
Change-Id: Idce822c6f2b8f2d81a5d43228f5dc35281c5ad07
2025-05-20 15:26:04 -07:00
5051520733
Delete commented code.
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PiperOrigin-RevId: 761234852
Change-Id: Ibea32eee47448073fff1ed2df307b1e44c78423f
2025-05-20 14:37:50 -07:00
85c84c1ece
Initialize Passive Viewer's internal mjModel and mjData to nullptr.
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Prevents the render thread from calling `mjv_updateScene` before these have been initialized.
PiperOrigin-RevId: 761181568
Change-Id: I4f7f61fdcf7f87dcd6317883e5082d9ce2266e20
2025-05-20 12:19:07 -07:00
b728a50eb2
Correct elastic2d default information in the changelog.
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PiperOrigin-RevId: 761120899
Change-Id: Id7093f9baa775fb71cf1dd7aaf74f6bd8d4d5e83
2025-05-20 09:48:28 -07:00
1663867cba
Add GL_EXT_texture_sRGB to MuJoCo's GLAD stubs.
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PiperOrigin-RevId: 761025068
Change-Id: I9197f206666adf547aa5fcd0e06b54d7d4c415fa
2025-05-20 04:38:20 -07:00
06e4937ed7
Bump setuptools from 75.5.0 to 78.1.1 in /mjx
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Bumps [setuptools](https://github.com/pypa/setuptools ) from 75.5.0 to 78.1.1.
- [Release notes](https://github.com/pypa/setuptools/releases )
- [Changelog](https://github.com/pypa/setuptools/blob/main/NEWS.rst )
- [Commits](https://github.com/pypa/setuptools/compare/v75.5.0...v78.1.1 )
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updated-dependencies:
- dependency-name: setuptools
dependency-version: 78.1.1
dependency-type: direct:production
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Signed-off-by: dependabot[bot] <support@github.com >
2025-05-19 21:16:37 +00:00
cada50434a
Raise an error if MJX scan functions are called on models with zero DoFs.
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In the future, MJX will support correctly simulating models with zero dofs.
PiperOrigin-RevId: 760731314
Change-Id: Iadddf80a959c64cddb31610e60927ae0437ebcaf
2025-05-19 12:42:19 -07:00
bf722098f0
Fix broken link in changelog.
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PiperOrigin-RevId: 760730799
Change-Id: I65e2d06f9162266b2929cc4d26af621fc3535197
2025-05-19 12:40:36 -07:00
94803d772c
Enable multithreading of Newton solver.
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PiperOrigin-RevId: 760723081
Change-Id: Ib7d3c9cec2fdf7dd0e46a570f37c0a6fc5424c7b
2025-05-19 12:18:22 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
45fc15b844
Speed up sparse supernode detection by combining it with transposition.
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PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
2025-05-19 10:14:15 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
8268c6d1ff
Add mjv_copyData
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PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
2025-05-19 08:59:43 -07:00
670c97c4f7
Reorder model editing notebook, placing dm_control example last
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PiperOrigin-RevId: 760642275
Change-Id: I7d8a625ab1d6d8364de93571390e8c14289e070a
2025-05-19 08:57:49 -07:00
6c201d3e1c
Add examples of scaling assets into tutorial notebook. Fixes #2476
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PiperOrigin-RevId: 760617809
Change-Id: I86d4fadb473cf8ad9bcfd058567551c431f2bf31
2025-05-19 07:34:51 -07:00
84d658a5ad
Remove redundant variable in mj_factorI
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PiperOrigin-RevId: 760604094
Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa
2025-05-19 06:42:11 -07:00
178fb49c2b
Fix namespacing in USD schema.
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PiperOrigin-RevId: 759632714
Change-Id: I666ca0e5b7f264f63eae0bbb39f0403654fb1c56
2025-05-16 08:54:24 -07:00
df09980258
Create python module for MjcPhysics.
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PiperOrigin-RevId: 759602056
Change-Id: I06e604a5f6b3ca3b1a4bb949589d1b7ab72dd6ad
2025-05-16 07:13:05 -07:00
ee8abdf854
Speed up mju_sqrMatTDSparse
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PiperOrigin-RevId: 759593417
Change-Id: I0168e1f96333769d09d61e835560910d43aac608
2025-05-16 06:42:17 -07:00
81442e06a0
Add MjcPhysicsSiteAPI support and testing.
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PiperOrigin-RevId: 759124593
Change-Id: Ic2fa2a00f8384f432ee2eef95c80f5c180aa4ca9
2025-05-15 06:38:03 -07:00
7ba507323d
Handle mocap body in bind.
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PiperOrigin-RevId: 759065524
Change-Id: Ic4cc737596af883f267b6e2c470ac4591ea1eead
2025-05-15 03:10:19 -07:00
e8c566bee1
Remove use of diagnum in solver
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PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
2025-05-15 00:39:28 -07:00
dc4968506b
Remove MjcPhysics prefix from schema API types.
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PiperOrigin-RevId: 758718987
Change-Id: I8a3a5dc7a990d401a91f5982e62c590e8924472a
2025-05-14 09:39:24 -07:00
0a5da8db22
Rename MjcSiteAPI to MjcPhysicsSiteAPI for consistency.
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PiperOrigin-RevId: 758708231
Change-Id: I75914ba52159996515547aa9e2e93690cadbfc66
2025-05-14 09:10:30 -07:00
e1baa15776
Remove unnecessary argument in mju_mulSymVecSparse
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PiperOrigin-RevId: 758688536
Change-Id: Ife1099b948215363ddaa6d0b0edcf3492edcddcc
2025-05-14 08:12:15 -07:00
71bdd915f7
Move bending stiffness from plugin to the compiler.
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PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:39:24 -07:00
d8bebdc675
Remove unnecessary diagnum argument in mj_solveLD and mj_factorI
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PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
2025-05-14 07:13:27 -07:00
b0c36c6b33
Remove dead functions.
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PiperOrigin-RevId: 758663369
Change-Id: I2de0d9802eb73c3541ef17e46182608b08a3793e
2025-05-14 06:55:39 -07:00
dd28b887d4
Rename C sparse structure to M in mjdata, improve docstrings.
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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
2025-05-14 05:26:19 -07:00
4ba04586ae
Fix setting slices of multidimensional arrays for multiple targets
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PiperOrigin-RevId: 758623598
Change-Id: Ie05b36c25be74ddf7451a95377caf1ed1d692141
2025-05-14 04:36:58 -07:00
1165018f71
Add island support to Newton solver
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PiperOrigin-RevId: 758618486
Change-Id: I257d78c7dc9aa4dbf7cd6d8849d8ec48201edf24
2025-05-14 04:20:34 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
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PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:28:03 -07:00
a6c3a287d6
Prepare Newton solver for island support
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PiperOrigin-RevId: 758600631
Change-Id: Iac354588ad91f404a30fa035893560db60db733f
2025-05-14 03:18:03 -07:00
34e8ff1aad
Add flex edge flap connectivity to mjModel.
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PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
2025-05-14 02:50:37 -07:00
2386dfd7da
Add touch sensor for estimating the surface contact stresses from the SDF.
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PiperOrigin-RevId: 758556339
Change-Id: Ib56d76fab084b530fd68d61a29294cb6f1d05f3f
2025-05-14 00:45:58 -07:00
23865c7491
Skip cow.xml from xml_native_writer_test.
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Including it caused tests to become flaky.
PiperOrigin-RevId: 758414305
Change-Id: I6a5b6b20df7faf736bb3dd8610019b9c9a23d633
2025-05-13 16:10:18 -07:00
4186589738
Use mjData.M where appropriate
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PiperOrigin-RevId: 758374391
Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
2025-05-13 14:22:41 -07:00
Copybara-Service