5874c8a8df
Update xml_native_writer_test.cc
2025-02-08 22:14:32 +01:00
1025335c0c
Update MjXmlModifiers.cs
2025-02-08 22:14:03 +01:00
73aba91297
Add simple procedural tree example to model editing tutorial.
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https://youtu.be/7VJG61AapEc
PiperOrigin-RevId: 724729966
Change-Id: I48c288de8e01baa3cd8f40700bc7137744de37a0
2025-02-08 13:02:11 -08:00
5ee0654830
Roll back recent change to mjData.qLD until some issues are resolved.
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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
2025-02-07 10:21:42 -08:00
06758e35ab
Fix mjSpec colab after changing the default behavior of attach to be a shallow copy.
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PiperOrigin-RevId: 724375710
Change-Id: I5fac7d24c1d0b1ad4d427c021022c47620accf53
2025-02-07 09:41:03 -08:00
c1ecc50081
Store joint damping and stiffness in the private spec when springdamper is used in the public spec.
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PiperOrigin-RevId: 724288204
Change-Id: I7341d5d804e1ea73ded48b8b447addd4e124ab97
2025-02-07 03:55:24 -08:00
c27d3758c2
Convert qLD to CSR format.
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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:59:35 -08:00
cb1696eb34
Merge pull request #2390 from talregev:TalR/mesh
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PiperOrigin-RevId: 723916727
Change-Id: I0abb0a12121c9eb291ccbc6afa0b4117bd389956
2025-02-06 06:46:40 -08:00
dec7b661c1
Add mujoco.MjSpec.MjStruct type.
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PiperOrigin-RevId: 723552214
Change-Id: I8ecb43b4025b532ba8b48e15c9c6a2b350293d20
2025-02-05 10:01:35 -08:00
fe16c27555
Always compute the convex hull if the mesh inertia is set to convex.
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PiperOrigin-RevId: 723477903
Change-Id: Ibc50d62741f47a5b96a648efd8fb244810664c17
2025-02-05 05:52:10 -08:00
49d07c6100
Fix text edit buffer underrun.
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PiperOrigin-RevId: 723474334
Change-Id: Ibff6d83d67275e6c6333a00cabe33967913dceb1
2025-02-05 05:36:32 -08:00
0d4bc1de00
Do not use flexedge_length if trilinear interpolation is used.
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PiperOrigin-RevId: 723452451
Change-Id: I5a67fb74c13e80ae6d390694dd0c9f8c5e4d5213
2025-02-05 04:09:32 -08:00
3235f69afc
Make polytope2 and polytope4 more numerically robust in nativeccd.
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PiperOrigin-RevId: 723412555
Change-Id: Id262a3c19bcd30b74b1495591bdc95f951bfca50
2025-02-05 01:40:41 -08:00
6bd88711a8
Add parent to MjSpec wrapper in Python bindings.
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This keeps track of specs attached with the full attach function `attach`. It does not track fine-grained attach via `attach_body` and `attach_frame`.
PiperOrigin-RevId: 722597081
Change-Id: I56188f1718592128b7033538acc9a40553cbbed2
2025-02-03 04:04:11 -08:00
86ace5e562
Remove body.spec() function from the Python API
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We can only use the MjSpec wrapper, not the raw::MjSpec struct in the API.
PiperOrigin-RevId: 722589064
Change-Id: I007150f92738487f27211d7435e328cab86214f7
2025-02-03 03:31:35 -08:00
709b8d6b83
Add support for vector-valued joints in MJX bind.
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PiperOrigin-RevId: 721743855
Change-Id: I68d7f6220ade89a5c0c507ea955e45657541d4eb
2025-01-31 05:53:04 -08:00
3d9946cff3
Improve mesh processing readability
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PiperOrigin-RevId: 721524528
Change-Id: I3af4e25815cbc7517b772826af7d929ea93f8164
2025-01-30 14:41:21 -08:00
767be23207
Fix pretty printing in mjspec notebook.
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PiperOrigin-RevId: 721367994
Change-Id: Ia1c4ee5b64540ff2f9c08a1953295ff366e0c72b
2025-01-30 06:32:35 -08:00
2680bd3e8b
Merge pull request #2395 from hartikainen:main
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PiperOrigin-RevId: 721367039
Change-Id: Icb79cb50c2a07e5f10fdece3edc52b40cdcdfbac
2025-01-30 06:28:44 -08:00
904b49848f
Add worldbody assertions in attach tests.
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This clarifies the difference between attaching a full spec, which converts the worldbody to a frame, and attaching a specific body (or frame).
PiperOrigin-RevId: 721297010
Change-Id: Iff87fe99b81746e6ab3a189a3057b274d3c9a939
2025-01-30 01:35:55 -08:00
e0664b1bb8
Fix bug with box-box #2356 .
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PiperOrigin-RevId: 721138760
Change-Id: Ib9548b0bc505a9856176188c91858cff7c9accdf
2025-01-29 16:00:29 -08:00
5b245e5d02
Fix handling of _full_compat argument in put_data.
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PiperOrigin-RevId: 721128021
Change-Id: Ic1cce42fbb38799228d6433ef0c761b1f9b81c4b
2025-01-29 15:27:14 -08:00
0fda5344c2
Fix typos
2025-01-29 15:31:39 -05:00
7232a91617
Add keyframe fields to mjx.Model.
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PiperOrigin-RevId: 721060807
Change-Id: Iae6aa8773e0e9802b0bd1de9a14d83987cd56936
2025-01-29 12:02:48 -08:00
7cdf180641
Introduce trilinear flex parametrization.
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These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
2025-01-29 09:38:22 -08:00
1a4b821b6b
[doc] Tweak language in asset dict paragraph.
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PiperOrigin-RevId: 720994183
Change-Id: Ib99cc3fdd02eefdb2d78d7ac5adf36293c001062
2025-01-29 08:51:26 -08:00
f61973601e
[docs] Mention asset lookup in MjSpec construction.
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PiperOrigin-RevId: 720671094
Change-Id: I6ba343b37893620ba4f3477e57daa4876805156c
2025-01-28 12:33:55 -08:00
0643017346
Add asset argument to MjSpec constructors.
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PiperOrigin-RevId: 720628689
Change-Id: I189aa34973e58b9fb87951e34cb923d94e081a55
2025-01-28 10:39:27 -08:00
5b330ca19c
Change keyword argument asset to include in spec.from_file and spec.from_string.
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PiperOrigin-RevId: 720611881
Change-Id: I92f5e72cece8d3223bc552ea4f2ef742c47cb8c9
2025-01-28 09:55:48 -08:00
f4096bcab9
Add sphere and cylinder internal wrapping for spatial tendons to MJX.
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PiperOrigin-RevId: 720507688
Change-Id: I49fda2839e68623ff5e1f3c46bdc3d77acfc36ef
2025-01-28 03:22:14 -08:00
fd568d68d4
Generalize mesh object to be the type of tiny_obj_loader.
2025-01-28 11:33:29 +02:00
6a23841aad
manually inline mju_combineSparse
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PiperOrigin-RevId: 720326669
Change-Id: I03727291f133e3d481e73ad88735e54af8f62f1f
2025-01-27 15:22:18 -08:00
3dcfad3293
Add qpos to MJX bindings.
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PiperOrigin-RevId: 720311208
Change-Id: Iaf5f905e206256f38cd71949bbebd5151b2a2041
2025-01-27 14:36:42 -08:00
8c22181156
Fix documentation typos.
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PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
2025-01-27 10:58:22 -08:00
9605990648
Replace custom sort of sparse fixed tendons with mju_combineSparse.
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PiperOrigin-RevId: 720219887
Change-Id: I0491b3cb8987c119c3864fc0b5c38ca303d8f7f0
2025-01-27 10:24:58 -08:00
d21f624264
Fix binding issue with scalar attributes.
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PiperOrigin-RevId: 720136044
Change-Id: I0846a93ef36a23371d1bd504adff02dcce0abcf9
2025-01-27 05:47:36 -08:00
d86900aac1
Speed up mju_cholUpdateSparse by not checking for varying sparsity pattern where it is guaranteed to not vary.
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PiperOrigin-RevId: 720126576
Change-Id: I3a43bdd0259656fab462b1cd155cb422982e970d
2025-01-27 05:07:28 -08:00
4ab274aea9
Fix missing arg for mj_compile in model-editing doc example code.
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PiperOrigin-RevId: 720005405
Change-Id: Idf71a1a12fe4cfcc450cd80c91b13ee8a75e1636
2025-01-26 20:25:50 -08:00
08edde5fd8
Add test for armature, model will be used in upcoming improved documentation for armature.
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PiperOrigin-RevId: 719916567
Change-Id: I7f74bd3c3864f43f5f68d458d5b128cfee1d7e6c
2025-01-26 12:01:12 -08:00
2c3d0becb2
Empty out Model fields restricted to MuJoCo in the same way we do for Data fields.
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PiperOrigin-RevId: 719705508
Change-Id: I4b07433481eafaea1d95a5bdd8fd83786939188f
2025-01-25 14:03:20 -08:00
2546fcefa0
Add mujoco.MjSpec.to_zip()
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PiperOrigin-RevId: 719003836
Change-Id: I310ac96b0080b3313c325cee76d3bf7f81fa9df0
2025-01-23 14:01:06 -08:00
3d174a4034
internal change
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PiperOrigin-RevId: 718782821
Change-Id: I2d2ead2577767587800f3ea69dba61247105e16f
2025-01-23 02:51:51 -08:00
f9fd2e4ba4
Add a test showing how to implement scipy's 'soft_l1' loss in minimize.least_squares
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PiperOrigin-RevId: 718649580
Change-Id: I5cec0e2850c805301407c9eb543ab3ba69d42e79
2025-01-22 18:25:44 -08:00
21d97902ee
Check keyframe size before appending it during attach.
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Fixes #2365 .
PiperOrigin-RevId: 718455748
Change-Id: I20c56b7c6fbd868962d19682e72e6294edb6893e
2025-01-22 11:09:49 -08:00
aa505a7872
Add support for NativeCCD multiple contacts for box-box collision.
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PiperOrigin-RevId: 718352304
Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
2025-01-22 06:02:58 -08:00
0090e1e908
Rename rollout variable nroll to nbatch.
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PiperOrigin-RevId: 718196100
Change-Id: Ic36b1a96ea1af2de351539115d4eee051d195aaf
2025-01-21 21:04:15 -08:00
ac76540eb8
Merge pull request #2377 from aftersomemath:rollout-fix-ndata-check
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PiperOrigin-RevId: 718181763
Change-Id: Ie88bf1d26c77478ce3a5ca8fdf29ae90e54b5834
2025-01-21 20:11:33 -08:00
67dd4827a6
Improve printing of inertia-like matrices, allow mj_printData to take const mjData*
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PiperOrigin-RevId: 718176884
Change-Id: I057dabe6973e19db86e9ff9ce4430c6d17dfce2b
2025-01-21 19:59:45 -08:00
6a7a7a5f80
Add the override_assets attribute to MjSpec.
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When specified, child asset with repeated names will override parent's, rather than throw an error. Default behavior is to override.
PiperOrigin-RevId: 717979621
Change-Id: I18022dc266619b4ba1a8636d1c60f85b0eb5f862
2025-01-21 10:39:02 -08:00
1412a29dac
Merge child asset dictionary into parent spec during attach().
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PiperOrigin-RevId: 717939728
Change-Id: I54f8ac87062cf19f55a16af37b777701545ed865
2025-01-21 08:57:09 -08:00
Maxim Evtush