106453fa2b
Updated version number to be (v3.1.4) ahead of current release (v3.1.3)
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PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
2024-03-06 09:07:25 -08:00
e2c14188ad
Updated abseil for release version v3.1.3
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PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
2024-03-05 12:57:23 -08:00
827cdfd7d5
Merge pull request #1413 from awesome-aj0123:usd-integration
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PiperOrigin-RevId: 612933036
Change-Id: Ia29230b1d91508dbc8b1cf7c76ff48c17448bf89
2024-03-05 12:33:58 -08:00
7e87c6ac44
Updated Eigen3 hash in below files for Mujoco release version v3.1.3
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- CMakeLists.txt
- MujocoDependencies.cmake
PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
2024-03-05 11:26:16 -08:00
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
982760a63b
Improve bindings for mjd_subQuat.
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- 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
e1531f6e15
removing usd import from __init__.py
2024-02-26 10:59:33 -06:00
03a8fa9ca9
Improvements to minimize.least_squares:
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- 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
109f2d7119
Replace mj_makeEmptyFileVFS in Python bindings with mj_addBufferVFS.
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PiperOrigin-RevId: 609383859
Change-Id: Ib23ee49e803630a2895a471e9a3ed8b33551cbb9
2024-02-22 08:36:42 -08:00
7ffd43b55c
addressing PR comments
2024-02-21 10:18:13 -06:00
f721d3900d
Merge branch 'google-deepmind:main' into usd-integration
2024-02-21 07:03:55 -08:00
abf6d41b7f
Fix incorrect data types in Python bindings of certain arrays.
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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
b56d4bf8a5
Add mujoco.minimize module.
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PiperOrigin-RevId: 608443678
Change-Id: Ib5dc78fe4523488b6c4e824f226591cf6a8a6216
2024-02-19 18:58:42 -08:00
a50f002bed
changing to exporter file name
2024-02-15 09:34:39 -06:00
e7a493bcca
changing name to exporter
2024-02-15 09:34:11 -06:00
18edadb975
Merge branch 'google-deepmind:main' into usd-integration
2024-02-12 06:04:57 -08:00
f763254a00
Updating Mujoco Release version number to v3.1.3
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PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
2024-02-05 15:59:20 -08:00
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
ff6581df1c
Merge branch 'usd-integration' of github.com:awesome-aj0123/mujoco into usd-integration
2024-02-01 02:48:17 -06:00
75c0647bcc
adding mujoco uds bridge
2024-02-01 02:47:45 -06:00
aceb52bd09
Improvements to mujoco.rollout:
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- `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
a23a368778
clean up rollout.cc
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PiperOrigin-RevId: 599849967
Change-Id: I899b28bf78bf0414b07314c24cfe6e24441eba30
2024-01-19 09:03:10 -08:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
8f247d5ed6
Merge branch 'google-deepmind:main' into usd-integration
2024-01-15 15:10:49 -05:00
ca023a6f28
Update EGL init code for Python 3.12.
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Fixes google-deepmind/mujoco#1299 .
PiperOrigin-RevId: 595982512
Change-Id: Ib0261483a7f6cb8addf04f5010f09d3554c8bf45
2024-01-05 06:50:55 -08:00
1c7809e542
Free MjrContext in Renderer destructor. Fixes #1186 .
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PiperOrigin-RevId: 595125644
Change-Id: I5dadc3508ec296ba8844fed2a8f5d2de7e53221d
2024-01-02 08:38:46 -08:00
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).
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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
7fb448613f
Post release version update: Update to V3.1.2
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PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
2023-12-18 15:03:37 -08:00
38fa756a20
Add mjGEOM_LINEBOX, used in visualization of collision trees.
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PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
2023-12-15 05:36:35 -08:00
c2c76195dd
Updating Mujoco Release version number to v3.1.1
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PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
2023-12-13 14:26:08 -08:00
0d37670698
Fix eigen3 commit hash.
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PiperOrigin-RevId: 590335535
Change-Id: I90819d420e5ef54dfc5b202ce0407e1ea833a8a4
2023-12-12 14:22:45 -08:00
0df1c9c733
Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0
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PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
2023-12-12 13:17:35 -08:00
fcebdf4d09
Update MuJoCo to v3.1.0 for release.
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PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
2023-12-12 10:37:47 -08:00
53883ce86a
Add a close() method to mujoco.Renderer which explicitly frees the gl context.
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PiperOrigin-RevId: 590221484
Change-Id: I07392f9c53f662a37a57ab23acfef9aa5a98a49b
2023-12-12 08:59:46 -08:00
822b03446c
Improve pipeline documentation, expose mj_implicit function to public header.
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PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
2023-11-29 10:18:57 -08:00
20eeb75086
Merge pull request #1187 from tmplt:ref/cmake-system-pybind
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PiperOrigin-RevId: 584560576
Change-Id: I1c16fbf80e3ba7175cf4d1d89a459e817100e1f8
2023-11-22 02:20:02 -08:00
0ea316ed71
cmake: support system-wide pybind11
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Original behavior remains.
2023-11-20 14:43:46 +01:00
08bdc9f691
Merge branch 'google-deepmind:main' into usd-integration
2023-11-19 10:33:14 -06:00
23cdfef7fe
Update C++ dependency versions.
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PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
2023-11-16 11:15:01 -08:00
1554048856
Bump dev version number to 3.0.2.
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PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
2023-11-15 12:51:04 -08:00
1491ac15d8
Merge branch 'google-deepmind:main' into usd-integration
2023-11-15 12:38:46 -06:00
9ae40e718e
Define mj_multiRay bindings explicitly.
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Fixes #1184 .
PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
2023-11-13 07:31:22 -08:00
c37212138e
Updating output file structure and adding compression functionality
2023-11-07 18:04:40 -06:00
084facc9ab
Python bindings: Store a reference to MjModel in MjDataWrapper.
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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
4c24be9ee3
Make mjpython.py work with Python from CommandLineTools.
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PiperOrigin-RevId: 577305478
Change-Id: Iec4b23c97f80462e5c16aca5ac4450faf3181a0c
2023-10-27 14:26:16 -07:00
1a47a97040
Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114 .
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Added `frustum` to `rgba` and `scale` in the `visual` section.
PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
2023-10-25 09:08:20 -07:00
35097a6afa
Merge branch 'usd-integration' of github.com:awesome-aj0123/mujoco into usd-integration
2023-10-19 12:25:52 -05:00
57b14f178b
Merge branch 'google-deepmind:main' into usd-integration
2023-10-19 12:30:36 -05:00
f094f964ed
Merge branch 'usd-integration' of github.com:awesome-aj0123/mujoco into usd-integration
2023-10-19 12:25:14 -05:00
49e8cd0fd3
Updating output file structure for USD frames
2023-10-19 12:24:57 -05:00
Meghha Dhoke