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Author SHA1 Message Date
Yuval Tassa 8f37ae1bf2 Add missing fields in mj_printData, don't print integration-related fields if identically zero. 
PiperOrigin-RevId: 732917127
Change-Id: Ia5fe8e4b6c2485fcf4336847535c1cc72b9d6d62
 2025-03-03 07:34:14 -08:00
Yuval Tassa 010f9bacbb Fix typo in Python API docs. 
PiperOrigin-RevId: 732600862
Change-Id: Ie9a8db9555ac3e233d29a10d289b71745d644cb2
 2025-03-02 01:20:25 -08:00
Yuval Tassa 6c8cf82f27 Docs: fix mixed-up forward dynamics stages. 
PiperOrigin-RevId: 732465925
Change-Id: I8d350e398d749076cc5f24cd33fa1ee87876e426
 2025-03-01 09:34:23 -08:00
Alessio Quaglino 7651cb1b33 Copy texture coordinates from OBJ into flex. Fixes #2464. 
PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
 2025-02-28 06:04:19 -08:00
Kevin Sayed 06e217df7e [MJ3.3.1] Bumping internal version number. 
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
 2025-02-27 14:53:28 -08:00
Copybara-Service 8de9b4e4e3 Merge pull request #2462 from jjyyxx:main 
PiperOrigin-RevId: 731710330
Change-Id: If87dd2c06123bd9ddfc62b63370c8fedf320e721
 2025-02-27 06:58:24 -08:00
Alessio Quaglino 2abb2e2d5d Add further MJX bind tests to clarify dimensions. 
Fixes #2463.

PiperOrigin-RevId: 731674489
Change-Id: I9e21a2dd0b0636c94b2b917615889b9d721d542d
 2025-02-27 04:34:08 -08:00
Yuval Tassa 9c31494fa1 Add MjSpec example for procedural meshes. 
PiperOrigin-RevId: 731635686
Change-Id: I310b802966755f627c4ec2cbdcd2ce7b14921c57
 2025-02-27 01:57:56 -08:00
Yuval Tassa 7fdee13874 Fix typo. 
PiperOrigin-RevId: 731484375
Change-Id: I63859249dc60ca065a94996b52530b57fd975d0b
 2025-02-26 15:50:47 -08:00
Yuval Tassa 929e94cf59 Fix bullet indentation in changelog. 
PiperOrigin-RevId: 731477093
Change-Id: Idece8a4f8db05546b878006fc22290896dc01182
 2025-02-26 15:27:17 -08:00
Kevin Sayed e1f18a747e Update dependencies and the changelog ahead of the 3.3.0 release. 
PiperOrigin-RevId: 731406295
Change-Id: I05027722a9681f71549b7e022dfe13fc381b8564
 2025-02-26 12:07:55 -08:00
Kevin Sayed 9996500de9 update the version number to 3.3.0 instead of 3.2.8 
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
 2025-02-26 11:42:55 -08:00
Alessio Quaglino 1c240d8bad Raise error if trying to bind with a spec with an empty name. 
PiperOrigin-RevId: 731360983
Change-Id: I00365d158c1cae1cd912962ef453f43e93701080
 2025-02-26 10:07:46 -08:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Kyle Bayes 4f691eeae4 Fix minor issues in EPA in nativeccd. 
PiperOrigin-RevId: 731327356
Change-Id: Iba8215b7991ef74bf890c8da7e9332474e19e9c3
 2025-02-26 08:28:35 -08:00
Yuxuan Jiang 2039629457 Expose MjSpec raw pointer via _address 2025-02-26 10:25:55 +08:00
Alessio Quaglino d1d61925da Do not delete the world child when doing spec.attach. 
PiperOrigin-RevId: 730976077
Change-Id: I9aa8133241b45883e605ec80d64ae28af2962680
 2025-02-25 12:02:13 -08:00
Kyle Bayes bd66fbd046 Fix return value in mesh edge contact in nativeccd. 
PiperOrigin-RevId: 730924994
Change-Id: Iab4f26da126713bae6629eef502bb2aad690c595
 2025-02-25 09:54:05 -08:00
Alessio Quaglino 441b5c6082 Change MjSpec.default from method to attribute. 
PiperOrigin-RevId: 730912407
Change-Id: I0147acbd257ecc8b72752a2992a7d4ea6e1b4c07
 2025-02-25 09:17:45 -08:00
Alessio Quaglino ed7adf3d17 Do not namespace the body that contains the frame during mjs_attachFrame. 
PiperOrigin-RevId: 730912252
Change-Id: I026993af648766c09d569709d268430207d83169
 2025-02-25 09:16:44 -08:00
Kyle Bayes fbe0990b17 Fix bugs in nativeccd with collisions with margin. 
PiperOrigin-RevId: 730903745
Change-Id: I45ddb674f32cb1f28ff37c587ea953ec595241b3
 2025-02-25 08:51:21 -08:00
Yuval Tassa dc98ae978d Publicize the rollout notebook, small improvements to plotting. 
PiperOrigin-RevId: 730841667
Change-Id: Id365f21cee078f28cb3fa797701c3c5a409607cd
 2025-02-25 05:20:41 -08:00
Alessio Quaglino ce82b63155 Add mjs_attachFrameToSite. 
This is required in preparation of changing the spec.attach behavior in the Python bindings.

PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
 2025-02-25 03:21:05 -08:00
Copybara-Service 6b11f2b88e Merge pull request #2456 from aftersomemath:rollout-notebook-fixups 
PiperOrigin-RevId: 730789232
Change-Id: Id3001497bae70d4a41640992e115fa6483d42720
 2025-02-25 02:02:02 -08:00
Levi Burner cfc59164eb rollout notebook: fixups to benchmarks, plots, text 
1. MJX benchmarks use jax.lax.scan and block_until_ready
2. Benchmark parameters updated to match RL use case
3. humanoid benchmarks are warmstarted by 2 seconds, humanoid100 by 4 seconds
4. benchmarks use skip_checks and preallocated threadpools
5. Improved advanced usage plots
6. Benchmark no longer includes model initialization in timed section
7. Update notebook text as needed
 2025-02-25 03:25:51 -05:00
Alessio Quaglino 14c8dc62f0 Add termination character to flattened plugin attributes if empty. 
Fixes #2450.

PiperOrigin-RevId: 730521722
Change-Id: Iec3fa377c65693d782eeb766a144a1c89096d1f3
 2025-02-24 11:07:18 -08:00
Kyle Bayes 024616345d Support edge contacts with multiccd in nativeccd. 
PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
 2025-02-24 09:48:43 -08:00
Kyle Bayes a6f1dc5e9e Match faceset type to intersect res param type in nativeccd. 
PiperOrigin-RevId: 730470904
Change-Id: Id7b3712c10d5ec871e2d272036e4e87c1e8620e0
 2025-02-24 08:58:10 -08:00
Kyle Bayes ae1c3b7ec0 Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom. 
PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
 2025-02-24 08:14:04 -08:00
Yuval Tassa cf1784bb79 Fix typo. 
PiperOrigin-RevId: 730410150
Change-Id: I0b2de4aea15cb630585f8c15dc29f368729adc3e
 2025-02-24 05:25:25 -08:00
Alessio Quaglino 21fa8286f4 Fix changelog typo. 
PiperOrigin-RevId: 730409533
Change-Id: Ife84281021be31b2385aa2263a36b9a2af09348a
 2025-02-24 05:23:00 -08:00
Alessio Quaglino b3aa5df68a Improve composite docs and changelog. 
PiperOrigin-RevId: 730394496
Change-Id: Ie993214deb82b526a96510e02f6ecff103c58607
 2025-02-24 04:26:35 -08:00
Yuval Tassa 81b1948b46 Clean up engine_derivative_test.cc 
PiperOrigin-RevId: 730166629
Change-Id: I3418be9f7b289f4109ae43c221b89199d2ccf325
 2025-02-23 10:59:20 -08:00
Alessio Quaglino c52d1b3941 Remove the particle composite (replaced by replicate). 
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
 2025-02-23 03:14:11 -08:00
Alessio Quaglino 0fcd20f0da Remove grid from composite types. 
Replaced it with flexcomp in the models.

PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
 2025-02-23 01:31:41 -08:00
Yuval Tassa b90ff3f0b1 Improve integrator documentation. 
PiperOrigin-RevId: 729710349
Change-Id: I8bf1727b8cd3ea45bb16e3607c9d8f58e4a69007
 2025-02-21 17:30:55 -08:00
Yuval Tassa f554b38c36 Fix syntax bug in simulation.rst 
PiperOrigin-RevId: 729710215
Change-Id: I49899ed50d5e97a2c5ad35e5de2e93186b7c64ec
 2025-02-21 17:28:59 -08:00
Yuval Tassa a0eb985532 rollout notebook: fix bugs due to cell reordering 
PiperOrigin-RevId: 729567659
Change-Id: I439da667317ed51370d7c8a9fbfc31d11140752c
 2025-02-21 10:05:30 -08:00
Google DeepMind 1532cffdf0 #mjx Update bind type checks. 
PiperOrigin-RevId: 729566363
Change-Id: Ifb4fd3e83988140f781ac1d5db690cf6fbe70fbf
 2025-02-21 10:02:02 -08:00
Yuval Tassa f9bb6cb3db Minor updates to rollout notebook: 
1. Move benchmarks below advanced usage.
2. Request A100 GPU
3. Minor cosmetic changes.

PiperOrigin-RevId: 729538515
Change-Id: I12709cd95f6865e53fd3932ea0b303ee8efc4028
 2025-02-21 08:27:33 -08:00
Copybara-Service ea2bbc1d14 Merge pull request #2439 from aftersomemath:rollout-size_t 
PiperOrigin-RevId: 729519951
Change-Id: Ic50b08960da84d2277820212d19fcbab9f2d67cf
 2025-02-21 07:17:25 -08:00
Levi Burner a0971ef749 rollout fix cosmetics 2025-02-21 08:44:17 -05:00
Alessio Quaglino 6aabbc1892 Fixes an issue when self-attaching a model with pulley in tendons. 
The decision to attach a tendon is taken by looking at whether any of the elements in its path exist when the namespace is added to them. This does not work when pulleys are present so we need to ignore them in the count of unreferenced element.

PiperOrigin-RevId: 729484365
Change-Id: I561a3a2eaa975a17421c8abe3ebfec8d4dd88951
 2025-02-21 04:54:31 -08:00
Levi Burner aca4e5d6ae rollout test for integer overflow in array size check 2025-02-20 21:12:52 -05:00
Yuval Tassa 7efaf5c549 Improve docstring of mjxmacro.py 
PiperOrigin-RevId: 729058910
Change-Id: I3ae9c7c50facca3bfb08a317c2267b9d8672f207
 2025-02-20 04:43:26 -08:00
Yuval Tassa fe9fcae5dc Clean up mj_tendon. 
PiperOrigin-RevId: 729042293
Change-Id: Id0d8483b71b9dbb99e19a67323034f3762e26346
 2025-02-20 03:44:39 -08:00
Alessio Quaglino 41c2918819 Add batch support to MJX data bind. 
PiperOrigin-RevId: 729033713
Change-Id: I331317a54a7882dc67bf329da8aeaff7246754e4
 2025-02-20 03:10:30 -08:00
Levi Burner df71467eed rollout use size_t for array size check and pointer arithmetic 2025-02-19 22:46:12 -05:00
Yuval Tassa 19624aef9d Add an example of a textured height field to mjSpec notebook. 
https://youtu.be/i6eXrzJNKeY

PiperOrigin-RevId: 728841769
Change-Id: I1aca838af69d8474aab13b06d8c1e5cf87fc6440
 2025-02-19 15:34:21 -08:00
Copybara-Service 7a2ad8fd97 Merge pull request #2436 from aftersomemath:rollout-notebook-pr 
PiperOrigin-RevId: 728706864
Change-Id: I8f3a507234c4265564a4fee9df0ab8111ff7dd85
 2025-02-19 09:42:08 -08:00