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Author SHA1 Message Date
Copybara-Service 3ea8be2dcb Merge pull request #2078 from hartikainen:enable-mjb-for-mjx-testspeed 
PiperOrigin-RevId: 682328610
Change-Id: I1329d8f7a0a47234e3eda61c457567825c89bd88
 2024-10-04 08:22:53 -07:00
Alessio Quaglino 42c1718d57 Restore RecompileCompare test that was deactivated by mistake. 
PiperOrigin-RevId: 682310735
Change-Id: I5edf487b194e195de0ff712ad55c2b198de2ef51
 2024-10-04 07:20:13 -07:00
Copybara-Service f550aaac62 Merge pull request #2121 from hartikainen:fix-2119 
PiperOrigin-RevId: 682271290
Change-Id: If866f3c744054e404b4e208e72da2329a19eb2fd
 2024-10-04 04:47:41 -07:00
Kristian Hartikainen 3634bd5063 Fix python namespacing 2024-10-04 11:23:18 +03:00
Kyle Bayes dba32e827c Exit recursion gracefully when horizon reaches empty polytope in EPA. 
PiperOrigin-RevId: 682050023
Change-Id: I8e04f00e6ab3e15e177d1902889441cdbf11cafd
 2024-10-03 15:18:05 -07:00
Kyle Bayes 9d91703871 Replace heap with linear map in EPA. 
PiperOrigin-RevId: 681911349
Change-Id: Iffe2d3ff57b9a4cfcc223ea5d5d29e2e6696e1cf
 2024-10-03 09:27:02 -07:00
Kyle Bayes a02c37cf12 Use faster cross product in projectOriginPlane for NativeCCD. 
PiperOrigin-RevId: 681909044
Change-Id: I5d275a30bce4f24f2e4c205b9a9eb321a5a98b43
 2024-10-03 09:20:44 -07:00
Kyle Bayes dc995ad341 Remove unnecessary norm calculation in EPA. 
PiperOrigin-RevId: 681906350
Change-Id: Ib6a13ca170a8071adde0771c6ba2b38fb4fd4da4
 2024-10-03 09:12:51 -07:00
Taylor Howell c7c2edf758 Add external sphere and cylinder wrapping for spatial tendons to MJX. 
PiperOrigin-RevId: 681808698
Change-Id: I37612e2c6b781b759f9009e1bc6ae10b4e861c8d
 2024-10-03 03:56:24 -07:00
Alessio Quaglino dfd1f8fefc Fixed a bug causing an early stop of tree traversal. 
Fixes #2112.

PiperOrigin-RevId: 681804470
Change-Id: I15a6f010db1a97931438fa6d8fd1d5cda6863c32
 2024-10-03 03:38:17 -07:00
Alessio Quaglino 249c4b3f4f Prevent attaching models with different eulerseq, autolimits, or angle options. 
PiperOrigin-RevId: 681801855
Change-Id: Iaf107853797768270319e971a3e318db0703bca0
 2024-10-03 03:27:47 -07:00
Alessio Quaglino e973dc74dd Yield ownership of char[], vector<string>, and vector<byte> to mjSpec in Python bindings. 
PiperOrigin-RevId: 681522091
Change-Id: Icb3788d9ef6e914a307531e39ad8171c24f590af
 2024-10-02 11:14:48 -07:00
Alessio Quaglino 36ee89d6da Copy only referenced plugins. 
Fixes #2111.

PiperOrigin-RevId: 681486400
Change-Id: I384ac63fa76b27d6e84d91fa857127c42ff52e34
 2024-10-02 09:40:48 -07:00
Baruch Tabanpour 1a9d307042 Use mocap pos/quat in smooth.kinematics. 
PiperOrigin-RevId: 681136974
Change-Id: I0ece009ed1e68b61b0b96da2e685e86000f7f6b8
 2024-10-01 13:12:33 -07:00
Google DeepMind befe4af8f0 Add missing includes necessary after changes in libc++ headers. 
Tested:
    TAP train for global presubmit queue
    http://test/OCL:680649491:BASE:680620735:1727746506750:fa29d104
PiperOrigin-RevId: 681090682
Change-Id: I3346ed996d9b6cd0fc7d600c02c41e0cd1b72400
 2024-10-01 11:08:01 -07:00
Alessio Quaglino dfe8e45101 Namespace plugin instances when attaching. 
Fixes #2112.

PiperOrigin-RevId: 681045462
Change-Id: I2c945c5405fcb91e0f9a1b0b1e94f68d174c84ee
 2024-10-01 09:14:37 -07:00
Alessio Quaglino 89aea5e217 Add body.find_all() to Python bindings. 
This enables to generate a list of all body children of a given type.

Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112.

PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
 2024-10-01 08:57:25 -07:00
Alessio Quaglino 8a825e6050 Add auto-generated tree element lists to Python bindings. 
PiperOrigin-RevId: 680973047
Change-Id: I948151260cba330c6b7218cecf13aae2c7ae92c7
 2024-10-01 05:23:03 -07:00
Yuval Tassa 62ec802ec1 Tweaks to benchmarks. 
- Modify parse_benchmark_test to not time the first instance of file loading.
- Improve readability of step_benchmark_test.

PiperOrigin-RevId: 680953562
Change-Id: I4569d1b946ecb49b6590ea313f0b598ffc897888
 2024-10-01 04:08:40 -07:00
Baruch Tabanpour cb745db412 Ensure ten_wrapnum/wrapadr are int type. 
PiperOrigin-RevId: 680709773
Change-Id: Iebc0c796e66e657b8bebcc5fe4b2d347d9bdf42c
 2024-09-30 14:02:48 -07:00
Alessio Quaglino 6832df3091 Replace mjs_setActivePlugins with mjs_activatePlugin. 
PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
 2024-09-30 09:46:47 -07:00
Yuval Tassa cf13413c0b Clean up dual solver functions. 
PiperOrigin-RevId: 680587029
Change-Id: I20c78e96785af94634361d7823b1e5caba08800d
 2024-09-30 08:31:40 -07:00
Alessio Quaglino e6e6e3b51b Copy plugins when attaching a model. 
Before this CL, the same mjCPlugin objects were referenced by both models.

Fixes #2100.

PiperOrigin-RevId: 680579479
Change-Id: Ida3459f78f9fa4a942cea31b3d5d3e8da2832feb
 2024-09-30 08:08:12 -07:00
Kyle Bayes 43a82e08be Add benchmark test for collisions. 
PiperOrigin-RevId: 680554813
Change-Id: I0be5b102d68aa1a54b4ceca6b2bd24fbc519f5df
 2024-09-30 06:46:25 -07:00
Alessio Quaglino 40b2ae92e5 Reset pending keyframes in source model after attaching. 
Fixes #2101.

PiperOrigin-RevId: 680526395
Change-Id: I3bd06db5231d653b1c5bc1c2ba6b03b52e65f288
 2024-09-30 05:05:21 -07:00
Alessio Quaglino 58a49bad96 Add nested keyframes attachment test. 
This is a no-op change for keyframes but it shows an example of behavior.

Also, fixed two bugs:
- Missing namespace when attaching frames.
- Incorrect body id and subtreedof when attaching a compiled spec. Fixes #2063.

PiperOrigin-RevId: 680289467
Change-Id: I2ddaa7ad2226fa466ec3bbf74a7553d497bb4bb9
 2024-09-29 11:57:56 -07:00
Copybara-Service 807ee852d0 Merge pull request #2097 from emotodorov:ui 
PiperOrigin-RevId: 679704368
Change-Id: Iae396a134e6019c8cdb935a306f097f9427e134c
 2024-09-27 13:16:01 -07:00
Alessio Quaglino 25e4d75a07 Return attached body/frame in mjs_attachBody/Frame. 
PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
 2024-09-27 08:34:00 -07:00
Yuval Tassa 176345b4e1 Remove meaningless const qualifier for scalar arguments in sparse function signatures. 
PiperOrigin-RevId: 679568516
Change-Id: I910626cd9555966c3b0a9ffba4064d263b2c16e1
 2024-09-27 06:37:18 -07:00
Taylor Howell 6a6e10d779 Add mju_cholFactorNNZ to compute the number of non-zeros per row for sparse Cholesky factorization. 
PiperOrigin-RevId: 679553197
Change-Id: I6f92deec347dae97d2e219cfb5376f92e777da1a
 2024-09-27 05:39:08 -07:00
Alessio Quaglino bb6da503dc Make 3 the default number of channels in mjsTexture. 
PiperOrigin-RevId: 679521155
Change-Id: Ie6c962e75983c8bf8323170338b3d480be3a1117
 2024-09-27 03:33:04 -07:00
Emo Todorov a985faef51 section checkbox highligting 2024-09-26 22:22:02 -04:00
Alessio Quaglino 6a415da267 Make from_file() and from_string() classmethod functions. 
This prevents the user from modifying an mjSpec and then calling the functions to load it from string/file.

PiperOrigin-RevId: 679311284
Change-Id: I4f1ae3cc8f15bece245f624303470d538deec410
 2024-09-26 15:16:10 -07:00
Yuval Tassa 8bbf9c7b4f Rename config.yaml -> config.yml. 
PiperOrigin-RevId: 679225889
Change-Id: I2e3d26dbd763485c34880d287511f2810886422b
 2024-09-26 11:26:12 -07:00
Nimrod Gileadi d758349632 Correct the docs about available attributes on the default/mesh tag. 
PiperOrigin-RevId: 679125186
Change-Id: I5cd597ac12b0600a835cdd23bda69c9aae4f651f
 2024-09-26 06:31:27 -07:00
Nimrod Gileadi 86ea1e498c Update pillow dependency used in tests to 10.3.0. 
PiperOrigin-RevId: 679114607
Change-Id: I5729d5ce1baff02cdf1caa8124ef46b2b17b85b5
 2024-09-26 05:53:41 -07:00
Kristian Hartikainen 6f031f2293 Enable binary .mjb in mjx/viewer.py 2024-09-26 12:40:20 +03:00
Kristian Hartikainen 827401554e Enable binary .mjb in mjx/testspeed.py 2024-09-26 12:40:13 +03:00
Taylor Howell 30cd8cc0e2 Add keyword argument example to code block in model editing section of the documentation. 
PiperOrigin-RevId: 678643644
Change-Id: Ie1d5659f01cc882628a669e7be22eff975a888fc
 2024-09-25 04:34:03 -07:00
Alessio Quaglino 1eb6fc2285 Disallow using elasticity and edge constraints at the same time. 
Fixes #2084.

PiperOrigin-RevId: 678614880
Change-Id: I44eead3dc4edf82d725a3063b927a421c660721a
 2024-09-25 02:56:20 -07:00
Erik Frey 2785dbc0da Add tendon types to MJX name2id and id2name. 
PiperOrigin-RevId: 678424789
Change-Id: I2634be0810f8f7dafec597919c512752d2efcfa6
 2024-09-24 15:46:33 -07:00
Baruch Tabanpour 306e52c30f internal change. 
PiperOrigin-RevId: 678355240
Change-Id: I271bece139de5d6e2e629d7f2fe84a4e2dd71138
 2024-09-24 12:37:58 -07:00
Alessio Quaglino f0d52813b8 Copy joint state to the modified mjSpec when detaching bodies. 
Fixes #2085.

PiperOrigin-RevId: 678351210
Change-Id: I2a546877dd50abc7805099f8d5c40807ffe780e6
 2024-09-24 12:26:29 -07:00
Baruch Tabanpour b09c1a977e Add jit flag to viewer (easier debugging). Make convex.xml stable. 
PiperOrigin-RevId: 678312872
Change-Id: I0d65d7c2d05a7b5103fa0be2233cbc5ba232817c
 2024-09-24 10:49:34 -07:00
Alessio Quaglino 5bca7876c4 Update spec.from_string() and spec.from_file() to match the respective mjModel functions. 
PiperOrigin-RevId: 678230403
Change-Id: I7f3d8c5fd44d30b5695eee1f8513cc27f4158d94
 2024-09-24 06:57:20 -07:00
Copybara-Service 910cd89cc7 Merge pull request #2083 from jjyyxx:patch-1 
PiperOrigin-RevId: 678207225
Change-Id: I440823d00faa119bbd948351f38e3774c6fa37a6
 2024-09-24 05:42:17 -07:00
Yuxuan Jiang 55962538c4 Fix typo in programming documentation 2024-09-24 15:33:27 +08:00
Baruch Tabanpour 3a17be2d24 Add pause key to MJX viewer. 
PiperOrigin-RevId: 677959701
Change-Id: I7f816eb6bf702461f0d749b2aa6cd1664c258f3d
 2024-09-23 15:23:13 -07:00
Erik Frey 5838f84777 Fix bug where MJX data tendon fields are incorrect after calling put_data. 
PiperOrigin-RevId: 677911639
Change-Id: I75f536fa348e2941d9ec2d454f475cd067e6d3af
 2024-09-23 13:12:49 -07:00
Yuval Tassa 5219893813 Replace mjQUICKSORT with std::stable_sort in user_mesh.cc 
PiperOrigin-RevId: 677864209
Change-Id: I1cca8e1ae8c84e652b12c24cfddfbca97d8c6841
 2024-09-23 11:06:46 -07:00