6241814ad7
Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity.
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PiperOrigin-RevId: 664461284
Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76
2024-08-18 08:47:35 -07:00
6a12787a32
Add camera projection sensor to MJX.
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PiperOrigin-RevId: 664426007
Change-Id: I0f2681c156b12ab62503d45beb2cd8752e7202d6
2024-08-18 05:57:33 -07:00
51733c2a8a
Add rangefinder sensor to MJX.
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PiperOrigin-RevId: 664417458
Change-Id: I1ad7720e48541349f155984584314b2b49ccbf36
2024-08-18 05:15:58 -07:00
6acf40613d
Add support for disabling MJX sensors.
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PiperOrigin-RevId: 664410169
Change-Id: Icb278e9d7a9a493d5a61ab04c1300d8e412d0e83
2024-08-18 04:41:24 -07:00
390bce2352
Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data.
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PiperOrigin-RevId: 663808411
Change-Id: Ic55875f87f5c36b9dfe21e5ed5891d64c7003cab
2024-08-16 12:02:21 -07:00
ce9c0ea351
Modify MJX sensor_pos to handle unsupported sensors.
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PiperOrigin-RevId: 663768186
Change-Id: I2e7600e77855a96a47f012fb64b6cc43abbf6f64
2024-08-16 10:10:37 -07:00
6db96e07e4
Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock.
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PiperOrigin-RevId: 663668212
Change-Id: Ifc9adc6bff4544172ab22572da04a093aebfdbd4
2024-08-16 03:10:24 -07:00
a74c184f9d
Add efc_pos to MJX.
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fixes #1388
PiperOrigin-RevId: 663358494
Change-Id: I63885f9208d12edbaa4b7d123ce4c6d16f40dcbe
2024-08-15 10:33:44 -07:00
1141b4abbc
Force dtype of mjx.Contact.{geom1,geom2,geom} to int32.
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This improves compatibility with MuJoCo.
PiperOrigin-RevId: 662655282
Change-Id: I2a336d9453f40cf0bfa85a7203b55709e23a07fe
2024-08-13 14:34:43 -07:00
ebf887e14d
Add sensors to MJX. Implements jointpos and actuatorpos as examples.
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PiperOrigin-RevId: 660891329
Change-Id: Ie6c282a397de2f52843775ec747495e9be46d307
2024-08-08 10:33:19 -07:00
2c56946547
Increase mjVERSIONSTRING to 3.2.3 after release.
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PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
2024-08-08 10:31:57 -07:00
ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
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PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -07:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
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PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -07:00
2d24c58819
Adds support for fixed tendons to MJX.
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PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
2024-07-22 10:49:13 -07:00
d49d4bf64c
Make unsupported feature checking optional in put_model.
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PiperOrigin-RevId: 654141976
Change-Id: I35b5f1e4c5b07e32075e847d4a757698a0b603c1
2024-07-19 15:23:32 -07:00
db1d51a1f5
Add more fields to mjx.Option and mjx.Statistic for MuJoCo compatibility.
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Also add metadata fields to the Python bindings of mjModel and mjOption,
and fix dtype of a number of fields.
PiperOrigin-RevId: 654138876
Change-Id: If2bbe41bf3dfdb350d60b5289afc65fffb397ce9
2024-07-19 15:13:01 -07:00
85532b74e1
Speed up hfield JIT time by reducing XLA code generation overhead.
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PiperOrigin-RevId: 653766462
Change-Id: I9d7e7fa3a4d33ae0fa9d00babd5c5478eb4eff88
2024-07-18 15:01:43 -07:00
dbe18f5740
Add additional MuJoCo fields to MJX structs.
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PiperOrigin-RevId: 653270676
Change-Id: I5f7a62d3bd542abc0d618e63d2426663e7d6406f
2024-07-17 10:04:52 -07:00
7f46e936f6
Update setuptools to version 70.3.0.
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Addresses CVE-2024-6345.
PiperOrigin-RevId: 652857861
Change-Id: Iea5f6cb58b825b226ba61d259775ddbee05acd6d
2024-07-16 08:38:56 -07:00
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
c145b79f6e
Using typing instead of collections.abc. Fixes #1763
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PiperOrigin-RevId: 651186508
Change-Id: I844ec884b802837554b0b60f2414d6bc37f2da14
2024-07-10 16:21:00 -07:00
4b733b14d7
Merge pull request #1770 from fanminshi:fix_mjx_import
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PiperOrigin-RevId: 649199077
Change-Id: Ie1e404cfb0c33db077fa6299edc45645aaecd1cf
2024-07-03 14:27:00 -07:00
c5cefdc2f6
Remove unidentified entries from mjx/requirements.txt
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PiperOrigin-RevId: 648363514
Change-Id: Ia4e60c088a078a9e3fc2e619c1819f4a3f2edcf1
2024-07-01 07:33:40 -07:00
ec03aa9c9b
Fix missing import in training_apg.ipynb
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When you run the notebook, you will immedidately
observe ModuleNotFoundError for few modules. This
installs required dependencies.
2024-06-30 23:11:26 +00:00
4d4b0bb2c3
Don't normalize mjData->qpos quaternions in-place.
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PiperOrigin-RevId: 647927542
Change-Id: I13b0be55498d1da3af2cdc414cfed4c3908a6fe1
2024-06-29 03:07:10 -07:00
ee6a1dba28
UI improvements. Fixes #1274 .
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Copybara import of the project:
--
a1297d997d0b3cc624bbd1e704ffb7fbb2c5db9d by Emo Todorov <etodorov@gmail.com >:
UI imrovements
When OpenGL buffer size is too small to hold entire UI with all sections open, older sections (as determined by latest mouse click) are automatically closed as needed.
To test this new functionality, uncomment the test near the top of mjui_resize().
UI items now have userid, which can be used for event handling. It is set through the (new) last field of mjuiDef, called otherint.
Sections titles can now have a checkmark - in which case they are rendered differently. Set via mjuiDef.otherint: 0- none (as before), 1- rendering changed but box not shown, 2- box shown. This can be used to label sections of special interest to the application.
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b0405bfb3005586ef1d2656ea9cc43c608225927 by Emo Todorov <etodorov@gmail.com >:
more ui improvements
Implemented mjPRESERVE state for adding sections and separators, so you don't have to keep track of old states.
simulate.cc is now modified to use this new functionality. I also made the separators in the Physics section collapsible. If you don't like it, change them back to state 1.
Also added functionality for handling section checkboxes.
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10f4c49be62a6605a38b7c0c7bfae1629024ba31 by Emo Todorov <etodorov@gmail.com >:
even more ui improvements
Selection boxes that extend below the current UI height are finally rendered in full.
Sections and collapsible separators now have rounded corners. The radius can be controlled from theme spacing.
More theme color settings were added. In particular, color gradients can now be disabled (the two end colors are set independently).
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96c2dc601a25d31c93b21f8e089d349e729e829e by Emo Todorov <etodorov@gmail.com >:
final ui improvements
Cleaned up the code a bit.
Added more control for color gradients.
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c9eddb679f36df3f0745d37e3fa90c4e66ee6b98 by Emo Todorov <etodorov@gmail.com >:
bug fix
Fixed some rendering bugs in the new functionality.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1749 from emotodorov:ui_improve ddfc21dbcf0482b8f0d5eacab21847c302f71440
PiperOrigin-RevId: 646060325
Change-Id: Idb27aae7cd0311d00f26387bcadf5891175e867d
2024-06-24 05:33:51 -07:00
44417f0059
Update mjx/requirements.txt
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PiperOrigin-RevId: 644744086
Change-Id: Ie6733ddbd1af9da43785b35c06e465e90267d9a3
2024-06-19 07:35:27 -07:00
6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
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These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
2024-06-16 10:02:36 -07:00
28e5ba2d29
Copybara import of the project:
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--
8857485483508e2c82c6a827daee8b457f88d1c8 by Taylor <taylor.athaniel.howell@gmail.com >:
velcoity -> velocity
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1733 from thowell:docs 8857485483508e2c82c6a827daee8b457f88d1c8
PiperOrigin-RevId: 642779993
Change-Id: I84d15237314af8b823fe616f72bd79a088a21d61
2024-06-12 16:42:30 -07:00
238736393b
#mjx Make Data.time strongly typed.
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PiperOrigin-RevId: 641774798
Change-Id: I5e13e3cefeb7942083f623f29757a459656062dd
2024-06-09 20:56:33 -07:00
4c3d9461ae
Elliptic friction in MJX.
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PiperOrigin-RevId: 641384367
Change-Id: I510c565940324fbbf392ce537ce27e0cb9af3eb1
2024-06-07 16:05:58 -07:00
c136f3d6e8
Fix barkour path.
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PiperOrigin-RevId: 641093437
Change-Id: I92b8193c8458461e1a1f80b1e4c099067ed2099a
2024-06-06 19:09:58 -07:00
fb8bf206d9
Update MJX colab with hfield example.
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PiperOrigin-RevId: 641061897
Change-Id: Ia1002173adce7b7b12203857abed18568ae236f1
2024-06-06 16:43:34 -07:00
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
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PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
c511d02265
Add hfield. Fixes #1655 #1491 #1695
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PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
2024-05-29 16:21:34 -07:00
7ca8a629a2
Speed up primitive sdf slightly.
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PiperOrigin-RevId: 637105250
Change-Id: Iec73b0b30d5222617d01622771afbc95a646da45
2024-05-24 20:01:54 -07:00
2a9067a6b3
Replace dt with opt.timestep.
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PiperOrigin-RevId: 636984197
Change-Id: I2b5eaae0c5e5be840f93c4fe8f725884959703cd
2024-05-24 11:35:22 -07:00
86e6fc6de7
Fixes #1668
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PiperOrigin-RevId: 634483090
Change-Id: I30b55bbf419e57a7b2966dfca4da6bb57d5879ad
2024-05-16 11:58:09 -07:00
c6e88d3a72
Add hash for jaxlib wheel.
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PiperOrigin-RevId: 633543166
Change-Id: I36df252d8fc213a3025c017bff0d706f66154cdd
2024-05-14 04:58:26 -07:00
c6b1293e58
Add contact force support function. #1555
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PiperOrigin-RevId: 632591177
Change-Id: I15aa00686d9f885330506d2d63443c700cc029f6
2024-05-10 13:41:45 -07:00
31de1dad9d
Update requirements.txt for mujoco and mjx.
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PiperOrigin-RevId: 632441444
Change-Id: Ia9ff35b453476b2f1f5a7a8facc819a8925dcd8b
2024-05-10 03:30:53 -07:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
24bc1c8b52
Add new differentiable physics tutorial to readme.
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PiperOrigin-RevId: 631458983
Change-Id: Ic0ef9e93397a974be50f0616571a4a5fea6f2b21
2024-05-07 10:00:45 -07:00
8d1f65c01a
Add act to mjx viewer.
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PiperOrigin-RevId: 629451047
Change-Id: I0baf546d3d91632291e93dec39f4dba7c329d370
2024-04-30 10:13:20 -07:00
719476c274
Fix bug in `mjx.ray` and speed up ray-mesh by ~30% for large meshes.
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PiperOrigin-RevId: 629209303
Change-Id: I39466e9a2dc55ec48dcca1780e8abef903d1c754
2024-04-29 15:48:00 -07:00
e9709900b4
Add gravcomp.
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PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
2024-04-24 11:19:34 -07:00
68e33f4c4e
Merge pull request #1601 from Andrew-Luo1:main
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PiperOrigin-RevId: 627779916
Change-Id: I656984b53556360b1ba88ca6adc8ea1cf2e9d215
2024-04-24 10:49:13 -07:00
0a60d555c6
Fix small bug in testspeed.
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PiperOrigin-RevId: 627773755
Change-Id: Iebbcaa41cfdde126312e388d368843a4754abfb8
2024-04-24 10:30:45 -07:00
d15db54537
Add support functions for id2name and name2id.
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PiperOrigin-RevId: 627525330
Change-Id: Ic8069f64c94ef4b8f96f62b88ece62a8b296d870
2024-04-23 15:35:59 -07:00
554771f6b3
Merge branch 'main' of https://github.com/Andrew-Luo1/mujoco_apg_tutorial into main
2024-04-23 13:50:08 +02:00
Taylor Howell