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250 Commits

Author SHA1 Message Date
Yuval Tassa 982760a63b Improve bindings for mjd_subQuat. 
- Accept `None` for optional arguments.
- Accept 3x3 matrices for matrix arguments.

PiperOrigin-RevId: 611000820
Change-Id: Id28cdb2ae574f372ff251f94ab4557d9d2eaa80b
 2024-02-27 23:55:19 -08:00
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
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
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 b56d4bf8a5 Add mujoco.minimize module. 
PiperOrigin-RevId: 608443678
Change-Id: Ib5dc78fe4523488b6c4e824f226591cf6a8a6216
 2024-02-19 18:58:42 -08:00
Meghha Dhoke f763254a00 Updating Mujoco Release version number to v3.1.3 
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
 2024-02-05 15:59:20 -08:00
Meghha Dhoke f75923a48d Updated version numbers to cmake files
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PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
 2024-02-05 12:55:30 -08:00
Copybara-Service 66a8bef6fa Merge pull request #1392 from alefram:fix-mj_forward-link 
PiperOrigin-RevId: 604116464
Change-Id: If4de574e0206c46a98c03949e7123178be73f6c3
 2024-02-04 09:49:27 -08:00
Alexis f3b48edf2b fix metadata and update mj_forward link 2024-02-02 18:26:32 -04:00
Alexis d8577bfc9a Revert "fix link of mj_forward on tutorial" 
This reverts commit 40c0a91a40.
 2024-02-02 17:39:44 -04:00
Alexis 40c0a91a40 fix link of mj_forward on tutorial 2024-02-01 23:28:40 -04:00
Alexis bfa359cb2e Revert "fix mj_forward link typo" 
This reverts commit 9f006dccdb.
 2024-02-01 23:25:56 -04:00
Alexis 9f006dccdb fix mj_forward link typo 2024-02-01 22:45:36 -04:00
Yuval Tassa aceb52bd09 Improvements to mujoco.rollout: 
- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time.
- User-defined control spec.
- Stop squeezing: outputs always have dim=3.

PiperOrigin-RevId: 600445256
Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
 2024-01-22 07:01:53 -08:00
Yuval Tassa a23a368778 clean up rollout.cc 
PiperOrigin-RevId: 599849967
Change-Id: I899b28bf78bf0414b07314c24cfe6e24441eba30
 2024-01-19 09:03:10 -08:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Nimrod Gileadi ca023a6f28 Update EGL init code for Python 3.12. 
Fixes google-deepmind/mujoco#1299.

PiperOrigin-RevId: 595982512
Change-Id: Ib0261483a7f6cb8addf04f5010f09d3554c8bf45
 2024-01-05 06:50:55 -08:00
Kevin Zakka 1c7809e542 Free MjrContext in Renderer destructor. Fixes #1186. 
PiperOrigin-RevId: 595125644
Change-Id: I5dadc3508ec296ba8844fed2a8f5d2de7e53221d
 2024-01-02 08:38:46 -08:00
Yuval Tassa 4c066a26b5 Change mjVISSTRING of connect and weld equality constraints from "Constraint" to "Equality". This is more consistent with the 'E' shortcut key and with mjDISABLESTRING ("constraint" means all constraints, "equality" means bilateral constraints). 
Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.

PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
 2023-12-24 12:06:59 -08:00
Google DeepMind 7fb448613f Post release version update: Update to V3.1.2 
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
 2023-12-18 15:03:37 -08:00
Yuval Tassa 38fa756a20 Add mjGEOM_LINEBOX, used in visualization of collision trees. 
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
 2023-12-15 05:36:35 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Baruch Tabanpour 0d37670698 Fix eigen3 commit hash. 
PiperOrigin-RevId: 590335535
Change-Id: I90819d420e5ef54dfc5b202ce0407e1ea833a8a4
 2023-12-12 14:22:45 -08:00
Google DeepMind 0df1c9c733 Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0 
PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
 2023-12-12 13:17:35 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00
Kevin Zakka 53883ce86a Add a close() method to mujoco.Renderer which explicitly frees the gl context. 
PiperOrigin-RevId: 590221484
Change-Id: I07392f9c53f662a37a57ab23acfef9aa5a98a49b
 2023-12-12 08:59:46 -08:00
Yuval Tassa 822b03446c Improve pipeline documentation, expose mj_implicit function to public header. 
PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
 2023-11-29 10:18:57 -08:00
Copybara-Service 20eeb75086 Merge pull request #1187 from tmplt:ref/cmake-system-pybind 
PiperOrigin-RevId: 584560576
Change-Id: I1c16fbf80e3ba7175cf4d1d89a459e817100e1f8
 2023-11-22 02:20:02 -08:00
Viktor Sonesten 0ea316ed71 cmake: support system-wide pybind11 
Original behavior remains.
 2023-11-20 14:43:46 +01:00
Baruch Tabanpour 23cdfef7fe Update C++ dependency versions. 
PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
 2023-11-16 11:15:01 -08:00
Baruch Tabanpour 1554048856 Bump dev version number to 3.0.2. 
PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
 2023-11-15 12:51:04 -08:00
Alessio Quaglino 9ae40e718e Define mj_multiRay bindings explicitly. 
Fixes #1184.

PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
 2023-11-13 07:31:22 -08:00
Yuval Tassa c45996bba8 Add cell to tutorial colab demonstrating procedural camera control. 
https://youtu.be/cE3s_IfO4g4

PiperOrigin-RevId: 579466532
Change-Id: I433db285bcfa2b9fab0c11e1fef1e25af8187901
 2023-11-04 07:43:06 -07:00
Saran Tunyasuvunakool f7bdd5dc0e Upgrade pip to version 23.3.1. 
PiperOrigin-RevId: 579062729
Change-Id: Id6a78e6002a7aabb0f947d7722d5c178d5d9ca62
 2023-11-02 21:20:55 -07:00
Nimrod Gileadi 084facc9ab Python bindings: Store a reference to MjModel in MjDataWrapper. 
Before this change, MjDataWrapper contained a custom data structure called MjDataMetadata, which contained the sizes of various arrays needed to create MjData. This was used for serialization and deserialization, as well as copying MjData instances.

This worked fine for native MuJoCo models, but as soon as plugins were used, there was information in the model that was needed and not available in MjDataMetadata. Since plugins are so general, keeping MjDataMetadata was untenable.

PiperOrigin-RevId: 578205355
Change-Id: I11b9ee797d1da5aaf1fecbbe170b3b0f1f1a3e6c
 2023-10-31 09:16:40 -07:00
Saran Tunyasuvunakool 4c24be9ee3 Make mjpython.py work with Python from CommandLineTools. 
PiperOrigin-RevId: 577305478
Change-Id: Iec4b23c97f80462e5c16aca5ac4450faf3181a0c
 2023-10-27 14:26:16 -07:00
Alessio Quaglino 1a47a97040 Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114. 
Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
 2023-10-25 09:08:20 -07:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00
Kevin Zakka e90b347cbf Add mesh conversion utilities. 
PiperOrigin-RevId: 573343028
Change-Id: I4b258f91a11d1994659b0129de5ddb2077689f01
 2023-10-13 16:13:24 -07:00
Saran Tunyasuvunakool efdc89e347 Update dependency versions. 
PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
 2023-10-13 14:41:48 -07:00
Copybara-Service 59164702ab Merge pull request #978 from aftersomemath:depth-precision-in-place 
PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
 2023-10-12 11:18:36 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Saran Tunyasuvunakool 649a474788 Migrate to pyproject.toml. 
PiperOrigin-RevId: 572726851
Change-Id: Iad254df70d15c962a5e58c8caf82b32530d26b06
 2023-10-11 16:55:34 -07:00
Saran Tunyasuvunakool f32219c37c Install locally built wheels with --no-deps --no-index. 
PiperOrigin-RevId: 572665469
Change-Id: I65c93e42155024d8dbfb42e45fd5b4be09f3528e
 2023-10-11 13:13:59 -07:00
Saran Tunyasuvunakool 7e549495d9 Fix macOS mjpython launcher to suppoer show_{left,right}_ui. 
PiperOrigin-RevId: 572377315
Change-Id: Iee734a6e49821b42e94dc19d9ed92a45ee605ea7
 2023-10-10 15:04:02 -07:00
Saran Tunyasuvunakool a84499e904 Fix non-graceful exiting behaviour in launch_passive. 
The viewer currently hard crashes when the user script loops on the passive viewer handle without paying attention to `is_running`. This is considered user error, however this change makes the user script hang on the loop rather than hard crashing.

Startblock:
   diffbase is submitted
PiperOrigin-RevId: 572336261
Change-Id: Id53126a158242b947584da1f946304ae8e792d4a
 2023-10-10 12:39:37 -07:00
Saran Tunyasuvunakool a1d0cbd654 Add show_{left,right}_ui kwarg to viewer.launch(_passive). 
Fixes #857

PiperOrigin-RevId: 572333909
Change-Id: I12247fe856afddf808eb8f386a594acac47c34b5
 2023-10-10 12:31:11 -07:00
Saran Tunyasuvunakool 2e15574b58 Allow user-defined visualization geoms to be added to the passive viewer. 
Fixes #1023, #1082

PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
 2023-10-10 10:52:21 -07:00
Google DeepMind df48624d0d Place mjx tutorial correctly in copybara excludes. 
PiperOrigin-RevId: 571390140
Change-Id: I8d0b9ac7b30391e4abaa1ba03fd941e028fd2991
 2023-10-06 11:29:54 -07:00