f4e3469239
Add test for geom and mesh plugin attributes.
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This test verifies that geom.plugin and mesh.plugin are accessible and can be assigned a plugin instance.
PiperOrigin-RevId: 888576511
Change-Id: Id17885de5fdf1f4543ac195a8b04bb01139d1bfa
2026-03-24 03:59:35 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
6890e133c0
Add mjs_getCompiler C API and compiler property to Python spec elements.
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PiperOrigin-RevId: 881488083
Change-Id: I3aa1c0562bf2fd27057b8056048e3156fc1b067c
2026-03-10 09:57:36 -07:00
448e221690
Raise ValueError if adding a spec results in a duplicate name.
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PiperOrigin-RevId: 871397807
Change-Id: I50742efe7ba194ed3b1fe916f05e35b7fb2d7ec0
2026-02-17 10:54:47 -08:00
54ace777c1
Add convenient plugin assignment in Python bindings.
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PiperOrigin-RevId: 861168536
Change-Id: I274fbf3460d475434f837ab58bf5e2b0988369fd
2026-01-26 06:37:31 -08:00
5ae6b5fe31
Fix MjSpec.add_texture gridlayout argument to accept strings and character lists
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PiperOrigin-RevId: 859599919
Change-Id: If785f36010a7437b354ec0ce7db30c2b7ec69fe6
2026-01-22 07:28:16 -08:00
23c56ec4bb
mjSpec python bindings for add functions: accept size with 1, 2, or 3 parameters
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PiperOrigin-RevId: 858494291
Change-Id: I8a02dcac1d2419fbc728607907425b401cf66da4
2026-01-20 02:39:04 -08:00
09a6fb7d4d
#mjspec Enforce that material textures array is always of length mjNTEXROLE.
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PiperOrigin-RevId: 855684213
Change-Id: Id8a3734c75841dfb91bd2252114249f08461b7f2
2026-01-13 05:55:09 -08:00
7e45bbb51c
Add urdf file extension case to mj_parse.
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fixes #3004
PiperOrigin-RevId: 855249634
Change-Id: I6c21d0ada4fe482059f64e96d413796f5c1c66ce
2026-01-12 08:59:00 -08:00
5febca9eeb
Remove gainprm trailing dimension in test_actuator_shortname.
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PiperOrigin-RevId: 853243753
Change-Id: Ia46df64a2308ef0bbc94a396f0732e221e174ea0
2026-01-07 06:59:50 -08:00
90449f7521
Update codegen for mjSpec add functions to add typed arguments and docstring.
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PiperOrigin-RevId: 852351892
Change-Id: If785accdf8c9e48dd9924c54942856c1e00fd031
2026-01-05 10:14:49 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
3c19b63ed3
Refactor texture.data to be handled using py::bytes
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PiperOrigin-RevId: 843226742
Change-Id: I7ab920da3c387467b1fced27f557c6edd1af4bce
2025-12-11 08:06:12 -08:00
bf49fe3daa
Enable reading textures from spec in Python
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PiperOrigin-RevId: 842151742
Change-Id: I477d118cc7e2385d29b395b192fa89e9facb9c3e
2025-12-09 03:08:32 -08:00
d769440924
Store asset keys relative to the MJCF. This CL fixes cases when loading a spec with "from_zip" that fails on zipped folders that contain a root directory.
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PiperOrigin-RevId: 825484553
Change-Id: I79c6f542edbd3ffd167d0b5cecc704c32c8d6824
2025-10-29 04:24:09 -07:00
010d919244
Add __setattr__ to _MjBindModel and _MjBindData.
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This allows setting attributes with bind using a list of mjSpec objects as arguments.
PiperOrigin-RevId: 825456920
Change-Id: Ie6af956feab0a805175d7aaecf26e071401fbf05
2025-10-29 02:55:08 -07:00
2bdea1a0aa
Use "/" as default prefix during attach if not specified.
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The user can recover the old behavior by passing prefix="".
This enables to attach children with default and save a valid result to XML.
PiperOrigin-RevId: 825011185
Change-Id: Id20c2589da928bf92b77bdb01cfba73dfc1d2f52
2025-10-28 06:40:34 -07:00
ac2cd5dfd6
Add support for querying of MjsTendon path from Python.
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Fixes #2670
PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
2025-10-21 11:51:24 -07:00
056945df20
Enable frames to create the same children as bodies.
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PiperOrigin-RevId: 822097998
Change-Id: I8477d8abe2d6f711421126825fd94d39af1a4e07
2025-10-21 06:57:01 -07:00
59f14485e0
Move mjCWrap type to mjsWrap.
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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
2025-10-20 16:28:41 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
1fb1810b07
Add ability to specify a material assignment to a mesh asset.
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This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.
PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
2025-08-22 09:11:31 -07:00
07e7417d26
Add prefix to asset paths when appending specs.
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PiperOrigin-RevId: 794966246
Change-Id: I4825a11cc3234e6f403340dd997742cea0e2183b
2025-08-14 03:48:56 -07:00
eff4dda189
Suffix asset names when attaching specs.
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PiperOrigin-RevId: 794717786
Change-Id: I02abe06ca3c43138e91e61f4acf87a26b3faf7fc
2025-08-13 13:43:16 -07:00
784c7a419b
Improve builtin hemisphere docs
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PiperOrigin-RevId: 791271829
Change-Id: I391215b5388f4e9e2a17198dbcdbd0c605fda4b4
2025-08-05 10:25:45 -07:00
705ec6d7fb
Adds built-in superellipsoid mesh.
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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:02:52 -07:00
a5d4d1000e
Add built-in supertoroid mesh.
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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
2025-08-05 06:06:43 -07:00
996f0040fd
Add built-in sphere mesh.
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PiperOrigin-RevId: 791162850
Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
2025-08-05 05:05:05 -07:00
5220767457
Add built-in hemisphere mesh.
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PiperOrigin-RevId: 791148546
Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
2025-08-05 04:16:24 -07:00
a5a6379f83
Add built-in cone mesh type.
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Also delete `prism` type since it is subsumed by cone.
PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
2025-08-04 19:35:32 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
46dc67b7eb
Add function mjs_sensorDim to user API.
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Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
2025-07-29 10:20:27 -07:00
a771fc6c09
Increase mjNSENS to 3
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PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
9e7979e492
Add checks for contact sensor when constructing with mjSpec Python bindings.
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PiperOrigin-RevId: 788008233
Change-Id: I14518b8cce1a7dad4fd24933478e0cc1bb75e350
2025-07-28 07:50:56 -07:00
fc13995dd4
Yield ownership of vector<double>, vector<float>, and vector<int> to mjSpec in Python bindings.
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Fixes #2756
PiperOrigin-RevId: 785417251
Change-Id: Ib399c46ee59585258ace7d9583c68b7d06d0a9e4
2025-07-21 06:44:17 -07:00
6e7aaacb85
Do not rely on global object lists in mjCBody::NextChild().
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PiperOrigin-RevId: 782963753
Change-Id: I0afecbab4b7796f077963ba66eb7140d8f83ad89
2025-07-14 10:47:45 -07:00
1a4ddca6cf
Make mjs_findElement find meshes by file name.
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PiperOrigin-RevId: 780150428
Change-Id: Ie500062fa8cca755683b66540e84ede588d7c331
2025-07-07 09:51:33 -07:00
af7d20c035
Change mjs_nextChild to be DFS to match XML parsing.
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PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
2025-07-03 10:07:13 -07:00
69ce5dbd05
Consolidate tree traversal tests in the C and Python APIs.
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PiperOrigin-RevId: 778883024
Change-Id: I0d30ed011e60a6da7148cebc1f715895fd0c6fd6
2025-07-03 07:25:23 -07:00
564c51ddb9
Check for duplicated names when setting element names.
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PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
2025-07-03 03:20:55 -07:00
a2acd2d4ed
Rename detach_default and detach_body to delete in the mjSpec bindings.
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PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
2025-06-20 06:23:30 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
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In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
2025-06-20 04:12:27 -07:00
92bc486558
Make mjs_findElement find textures by file name.
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This is done if the model is uncompiled and their name is empty.
PiperOrigin-RevId: 772885774
Change-Id: I827d5b679637fa0571cfb0a69833ed688df16304
2025-06-18 05:54:12 -07:00
d2501eff68
Use procedural model creation in plugin tests.
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This will be useful for simplifying the mjSpec API for plugins.
PiperOrigin-RevId: 772505558
Change-Id: I8eb57d7e129e0f6430fb4c610a543e0dc0f3b295
2025-06-17 09:30:54 -07:00
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
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PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
7a5b55f57e
Expose mjs_resolveOrientation to the Python API.
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PiperOrigin-RevId: 762571376
Change-Id: I08d8394b24670c7f102356da4234b17f1ba4e05f
2025-05-23 14:36:47 -07:00
e389872c7d
Add frame property to python bindings.
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PiperOrigin-RevId: 762452877
Change-Id: I555cec650d04700f6718b4d77a866c821b90685c
2025-05-23 09:24:24 -07:00
3e9d130092
Add mjs_getPluginAttributes.
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PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
2025-04-29 05:19:09 -07:00
Alessio Quaglino