56e00a5d4a
Re-order elements of mjSTATE_FULLPHYSICS. Fixes #1876
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PiperOrigin-RevId: 659267096
Change-Id: Iaf1e13caa989c41179aa0bd635cfa17ac776d06d
2024-08-04 03:32:24 -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
70a3a541ea
Unpoison destination arena when copying mjData.
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PiperOrigin-RevId: 658312528
Change-Id: Ie6d3497793ef70b89eaa64dcc7aed4130678f06c
2024-08-01 01:38:14 -07:00
9febd760a1
Set working directory for python tests on GitHub.
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PiperOrigin-RevId: 657961231
Change-Id: I859f823ae7fa7bf73b4adde77746eb3340ba8587
2024-07-31 04:54:19 -07:00
b341bd391d
Fix a bug with mjs_delete functions.
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PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
2024-07-30 09:13:57 -07:00
24a555062d
Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.
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- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.
PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
2024-07-30 08:41:59 -07:00
123a01bd83
Merge pull request #1833 from JewelryForge:main
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PiperOrigin-RevId: 657249579
Change-Id: I11b9602ea685b22d0cc61add9e90e7a5c68559dd
2024-07-29 10:36:39 -07:00
6928e09f36
Small performance improvement: Parse body once during replicate.
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PiperOrigin-RevId: 657227162
Change-Id: I5b60c25ab4634a44ed0474fdbf22e676bcb8f6d7
2024-07-29 09:32:40 -07:00
a29f67c850
Add test models for tendon wrapping.
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PiperOrigin-RevId: 657208035
Change-Id: Ib82bd2b31a15d1386f8096b280def9e7325c8e46
2024-07-29 08:24:37 -07:00
a4bd2bec0a
Skip disabled actuators in mjd_actuator_vel.
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Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.
Fixes #1838
PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
2024-07-29 07:31:58 -07:00
3f0749a0f7
Do not remove elements that contain user errors when detaching a subtree.
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PiperOrigin-RevId: 657190780
Change-Id: I073a437013f80596a341f7b80bed991536efeb43
2024-07-29 07:19:12 -07:00
70d70bc3b7
Fix typos in MuJoCo documentation.
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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
2024-07-25 13:31:13 -07:00
5ac5cfb618
Support directories in VFS via mj_addBufferVFS.
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PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
2024-07-23 13:39:18 -07:00
2746cb8559
Support FilePaths instead of raw strings in XML code.
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PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
2024-07-23 08:36:53 -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
33e5960653
Allow multiple textures per material in MJCF.
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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
2024-07-22 09:57:51 -07:00
e79efa60d6
Reset tree indices before recompiling.
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Fixes #1822 .
PiperOrigin-RevId: 654762203
Change-Id: I7f656f7dad376d4899229a8741315c8f821bfa56
2024-07-22 08:30:29 -07:00
f62792594f
Add a new disable flag mjDSBL_AUTORESETNAN.
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PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
2024-07-22 03:22:41 -07:00
cdd8531290
Fix typos and indents.
2024-07-22 13:45:15 +08:00
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
b3f79e561d
Fix bug in pre-counting equality constraints.
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PiperOrigin-RevId: 654031345
Change-Id: If8c660b3e6fed78d8fd8de470f1cf2a709ac1244
2024-07-19 09:33:59 -07:00
796173170c
Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.
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PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
2024-07-19 09:29:22 -07:00
8a8a44a4db
Refactor numerical parsing in XML.
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PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
2024-07-19 05:42:02 -07:00
e92af73cbf
Add mjmodel support for textures with different number of channels.
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PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:22:19 -07:00
70ac76bb4b
Add assets to MjSpec.compile()
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PiperOrigin-RevId: 653965318
Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
2024-07-19 04:34:38 -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
c198a69bbf
Return null pointer from mjs_firstChild and mjs_firstElement when the requested list is empty.
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Fixes #1824 .
PiperOrigin-RevId: 653758711
Change-Id: I6ede762cafd88dcbb0dfc9c2999b7aee24bd2e2a
2024-07-18 14:35:36 -07:00
384ed8097a
Various fixes in mujoco/usd
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PiperOrigin-RevId: 653610253
Change-Id: Ibe57c19c6a7326266f51c5cda39cd564bd456c54
2024-07-18 07:20:28 -07:00
ffb50b7b67
Improve readability of body transmission code.
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(code block mentioned in #1790 )
PiperOrigin-RevId: 653601254
Change-Id: Ibee727ab668b690c3b9a55c39110c6219cca17fa
2024-07-18 06:43:40 -07:00
231d9632cd
Avoid duplicated code in mjCModel by adding ResetTreeLists().
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PiperOrigin-RevId: 653575505
Change-Id: I61ee1462deae2a371cf6f36ca1cf3dbbd88d174c
2024-07-18 05:08:18 -07:00
67922f41b9
Exclude nbuffer from CompareModel.
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This will give more informative errors when the test fails.
PiperOrigin-RevId: 653571444
Change-Id: I78b0a2bfc7794dae81607a9dbbdb91439af48b0c
2024-07-18 04:50:25 -07:00
dd9dd295ba
Prevent uninitialized memory during a copy of joints and actuators.
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PiperOrigin-RevId: 653340718
Change-Id: Icc5ada05abd590504c157311a309f9b8493feac9
2024-07-17 13:22:11 -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
dd25973481
Remove unnecessary def_map copying.
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Introduced in 5b080bacc427b9ddda5bhttps://github.com/google-deepmind/mujoco/commit/27b9ddda5bdd12345abdfbc0a6efce121d40cd6c#r144157607 )
PiperOrigin-RevId: 653254345
Change-Id: Ie944d2c3924d3eb91f7743c0d0c8413cd2cd79cc
2024-07-17 09:10:31 -07:00
2664cc1391
Allow passing a null pointer in mj_recompile.
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Fixes #1819 .
PiperOrigin-RevId: 653242587
Change-Id: I36dbd6ed54abdf21abeb62cf41ee88f159008d01
2024-07-17 08:29:01 -07:00
a2fd34caee
Modify test/testdata/model.xml so the wrapping is stable. Fixes #1795
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PiperOrigin-RevId: 653202132
Change-Id: I90ccff840a0b98d44dbee8888cb37ff5195caaa6
2024-07-17 05:46:04 -07:00
f20edda26e
Merge pull request #1759 from Balint-H:fix/unity-multi-dof-axes
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PiperOrigin-RevId: 653173396
Change-Id: Iedd13dc23ccdd370ba0237bbe278d3bde755bb84
2024-07-17 03:54:22 -07:00
2cf352c2e6
Add VFS handling logic to mj_openResource.
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PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
2024-07-17 00:41:18 -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
8e827d0d50
Add missing changelog item.
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PiperOrigin-RevId: 652830666
Change-Id: Iba41871a4e92081dde6428f12abe93c58ea9b02a
2024-07-16 07:21:37 -07:00
c588023729
Mujoco changelog update for 3.2.0
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PiperOrigin-RevId: 652594852
Change-Id: I69be392fb212263ac55b3cc25fd454c39cbd4553
2024-07-15 14:11:44 -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
cb4cb7d09b
Update version hashes in MuJoCo CMake files ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652555501
Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
2024-07-15 12:00:25 -07:00
39b22ebc26
Remove dangling section header from function docs.
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PiperOrigin-RevId: 652456322
Change-Id: Ib1d7aa387b7ba8957c93f0227f530aa0b37f2668
2024-07-15 06:11:25 -07:00
9a7c1df130
Set unused inherited opaque pointers to nullptr.
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PiperOrigin-RevId: 652444674
Change-Id: I3e82b1e1ae029f2f01ddcdf5ce2ccb45624e7062
2024-07-15 05:15:45 -07:00
cf61d88e41
Move pointer assignments from CopyFromSpec() to PointToLocal().
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Note that these internal pointers are inherited from the public structs and are unused internally.
PiperOrigin-RevId: 652414750
Change-Id: I5e42503bce8e9019291ec0a1f8c4278438474e9b
2024-07-15 02:47:32 -07:00
3d28a1d8c7
Fix formatting in documentation code samples.
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PiperOrigin-RevId: 652237833
Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f
2024-07-14 07:08:18 -07:00
22a10fd2ff
Minor documentation improvements.
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PiperOrigin-RevId: 652064694
Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
2024-07-13 08:36:47 -07:00
e13ddfa2ab
Improve compiler-related documentation.
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PiperOrigin-RevId: 651827545
Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
2024-07-12 11:05:16 -07:00
Yuval Tassa