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Author SHA1 Message Date
Vyankatesh 3fd0fe7884 corrections 2024-02-26 20:15:22 +05:30
Vyankatesh 807db881da Merge branch 'angmomMat' of https://github.com/v-r-a/mujoco into angmomMat 2024-02-26 15:03:22 +05:30
Vyankatesh 2663112871 Merge branch 'main' of https://github.com/v-r-a/mujoco into angmomMat 2024-02-26 14:54:37 +05:30
Vyankatesh ebf9d63702 changed the model, using central differences in CompareAngMomMats test 2024-02-26 14:48:47 +05:30
Vyankatesh 063edf5a09 corrections 2024-02-26 12:03:42 +05:30
Vyankatesh Ashtekar 3927188ab5 Merge branch 'google-deepmind:main' into angmomMat 2024-02-26 02:40:29 +05:30
Vyankatesh Ashtekar 41e41b538d added two tests for the mj_subtreeAngMomMat() function 2024-02-26 01:23:55 +05:30
Vyankatesh Ashtekar fe9b057dfe minor style corrections 2024-02-25 21:17:44 +05:30
Vyankatesh Ashtekar fad7ed30d2 added function mj_subtreeAngMomMat() 2024-02-25 21:09:11 +05:30
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
Alessio Quaglino c6a41fbfe6 Copy default spec before assigning defaults. 
PiperOrigin-RevId: 609766747
Change-Id: I79ebff62928ac2ffa5133020ee8bd001b68cdcd3
 2024-02-23 10:24:13 -08:00
Alessio Quaglino ce52047c6f Remove column = -1 from error messages. 
PiperOrigin-RevId: 609664538
Change-Id: I1cf27cbd0812d1d88d53724ae416a0b618140acc
 2024-02-23 02:40:23 -08:00
Alessio Quaglino c248beb7e2 Remove name and classname from mjmWrap. 
PiperOrigin-RevId: 609563968
Change-Id: Ic69b95412ec5914fb5a8dcd134c7e6e733bc05b0
 2024-02-22 18:14:33 -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
Alessio Quaglino 0ae9ba37f9 Replace PointToLocal with operator overload in mjCDef. 
PiperOrigin-RevId: 609376948
Change-Id: Id69909d06ab48824a9cbe0d5a305e8f8b72a193d
 2024-02-22 08:12:52 -08:00
Alessio Quaglino cf7bd77cd3 Fix refpos typo in xml_native_reader. 
PiperOrigin-RevId: 609376004
Change-Id: I2c722b03aaee63c4dcd8ac34f3e7c834bf15052d
 2024-02-22 08:09:57 -08:00
Saran Tunyasuvunakool b04de39e4e Fix false positives from mjData stack leakage detection. 
When built and run under address sanitizer (asan), `mj_markStack` and `mj_freeStack` are instrumented to detect leakage of mjData stack frames. When the compiler inlines several callees that call into mark/free in the same function, this instrumentation requires that the compiler retains separate mark/free calls for each original callee.

This change adds necessary optimization barriers to ensure that this is the case.

PiperOrigin-RevId: 609373993
Change-Id: I30dfd998fb66530735348e9715d92ee713f28210
 2024-02-22 08:03:51 -08:00
Alessio Quaglino 34d4a69027 Remove user_objetcs and user_model includes from xml_urdf. 
PiperOrigin-RevId: 609330384
Change-Id: I19b330e4063d3be4401dcf1b2b957b55e0616037
 2024-02-22 04:54:49 -08:00
Alessio Quaglino 5fe3e169ab Remove mjm_finalize. 
PiperOrigin-RevId: 609284351
Change-Id: I066332784d8210de6fec5aa718e097c9ef67903c
 2024-02-22 01:27:06 -08:00
Alessio Quaglino 7edacd39cd Add engine settings to mjmModel. 
PiperOrigin-RevId: 608915453
Change-Id: Ic58566d7a9cdb57e25954caec69f595c8c9ee88a
 2024-02-21 02:26:57 -08:00
Kyle Bayes a4a621f6e3 Add checksums (used as a timestamp) to VFS. 
Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.

PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
 2024-02-21 02:25:36 -08:00
Alessio Quaglino 042760eba8 Add compiler settings to mjmModel. 
PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
 2024-02-21 01:58:22 -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 7c534a066c Sort humanoid actuators in the same order as the joints. 
PiperOrigin-RevId: 608558353
Change-Id: I84015a92c39c187f65d59623f2793c29bf24b8ef
 2024-02-20 04:41:17 -08:00
Alessio Quaglino 78dc5aee9f Remove mjCPlugin from xml_native_reader. 
PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
 2024-02-20 03:46:42 -08:00
Yuval Tassa b56d4bf8a5 Add mujoco.minimize module. 
PiperOrigin-RevId: 608443678
Change-Id: Ib5dc78fe4523488b6c4e824f226591cf6a8a6216
 2024-02-19 18:58:42 -08:00
Kyle Bayes 24eb4c9f09 Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible. 
PiperOrigin-RevId: 608312069
Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
 2024-02-19 05:40:31 -08:00
Alessio Quaglino b77dfc683a Use OnePlugin for parsing Composite and Flexcomp plugins. 
PiperOrigin-RevId: 608265172
Change-Id: I053441a9e534d81c4847ad60fe4a3f7dce87350c
 2024-02-19 02:02:29 -08:00
Yuval Tassa 55e2c76c01 Use mj_resetDataKeyframe when loading key frames in simulate. 
PiperOrigin-RevId: 608209431
Change-Id: I1ee78c837cbc098144143b90e8c0b4618568c9cf
 2024-02-18 20:49:09 -08:00
Matthew Bennice c146bb4003 BEGIN PUBLIC 
Remove incorrectly added test files.
END PUBLIC

Correct typo in copy.bara.sky

PiperOrigin-RevId: 607930101
Change-Id: Ib2c75d00e65f11c30be2ea0b3fdbb0c24bd3a164
 2024-02-17 02:57:02 -08:00
Matthew Bennice dbf7afaeaa Canonical USD example for MuJoCo Physics. This contains three items: 
floor - a static floor centered at origin of sides 100m x 100m

two_cubes - a standard example where 2 cubes have a hinge joint between them.

two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30).

PiperOrigin-RevId: 607809323
Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb
 2024-02-16 14:56:39 -08:00
Erik Frey 1b93226fb0 To save memory, avoid loading meshes that will never be used for collisions. 
PiperOrigin-RevId: 607770456
Change-Id: I34c4a34d1820a9fd88d2ebeaffec9a64637d2614
 2024-02-16 12:40:35 -08:00
Alessio Quaglino d7c47de353 Add mjStatistic to mjmModel. 
PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
 2024-02-16 05:17:35 -08:00
Nimrod Gileadi f1d4f8f0a1 Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset. 
PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
 2024-02-16 05:09:05 -08:00
Yuval Tassa 05150546e3 Add inheritrange attribute to position and intvelocity actuators. 
PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
 2024-02-16 04:42:44 -08:00
Alessio Quaglino 5e353efaaf Add mjmModel opaque pointer to C API. 
PiperOrigin-RevId: 607619891
Change-Id: Ic1eaaa842438d9c2e19f742deff41967287853f5
 2024-02-16 02:21:25 -08:00
Yuval Tassa f9f7827a64 Trim trailing default values in saved xmls. 
For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:

- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.

PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
 2024-02-16 01:36:06 -08:00
Erik Frey 6a346c42e8 Adds support for mjOption.impratio to MJX. 
PiperOrigin-RevId: 607456034
Change-Id: I7f6549a4332fd2bc0331d76a8906b971ce28dbcf
 2024-02-15 14:28:36 -08:00
Alessio Quaglino 414a67640a Add mjmDef to C API. 
PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
 2024-02-15 06:17:58 -08:00
Alessio Quaglino 6f958bc404 Add mjmSkin to C API. 
PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
 2024-02-15 05:09:10 -08:00
Yuval Tassa bafe490ea8 Sort assets in schema according to order in docs. 
PiperOrigin-RevId: 607272771
Change-Id: Ifd1220671a59effd0a841babbe746dd23d02eefd
 2024-02-15 03:10:43 -08:00
Yuval Tassa ddabfb9b6a Clean up handling of auto-limits. 
PiperOrigin-RevId: 607266967
Change-Id: Iec8332cc8467ea3c2dc046acf87d221b5af67259
 2024-02-15 02:43:53 -08:00
Erik Frey d561995c03 Use less brittle search to determine whether an MJX field is a data or meta pytree node. Use correct type annotation for geom_convex_* fields in mjx.Model. 
PiperOrigin-RevId: 607096855
Change-Id: I2e14b9b63e676b4ac3ec2a12aa07316e1d019a79
 2024-02-14 13:57:55 -08:00
Alessio Quaglino 80a986c0f5 Add mjmBodyPair to C API. 
PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
 2024-02-14 08:40:05 -08:00
Alessio Quaglino c9e7586499 Add mjmHField to C API. 
PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
 2024-02-14 04:12:29 -08:00
Alessio Quaglino 2ee8a4dabd Add mjmNumeric, mjmText, mjmTuple, mjmKey to C API. 
PiperOrigin-RevId: 606919327
Change-Id: I477f6cd8beefcb3962238722565e3b398b73446c
 2024-02-14 03:10:38 -08:00
Kyle Bayes 266161ee4c Convert mju_openResource to write warnings to a given error string. 
PiperOrigin-RevId: 606907392
Change-Id: Ic70e980aa9ba2bdbe1787773f51749b34f74afed
 2024-02-14 02:17:40 -08:00
Baruch Tabanpour f50a44e193 Allow jax config to choose precision. 
PiperOrigin-RevId: 606765036
Change-Id: I36977851615700507eb2e83cc6d2d1ff8255be62
 2024-02-13 15:24:02 -08:00
Alessio Quaglino 9ecd700923 Add mjmMesh to C API. 
PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
 2024-02-13 09:09:59 -08:00
Alessio Quaglino 06505f49f9 Add mjmTexture to C API. 
PiperOrigin-RevId: 606543622
Change-Id: I2db743c1c40116f0503329fb1d004d9b041e83e7
 2024-02-13 02:09:39 -08:00