766cd20273
Add mjs_bodyToFrame() to convert a body to a frame.
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Also add test for attaching the world body.
PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
2024-10-14 00:39:20 -07:00
cdb167f275
Add mjs_attachToSite for attaching a body to a site.
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PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
2024-10-10 07:12:49 -07:00
1f9dca8bc4
Do not expose plugin_slot.
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PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
2024-10-07 09:38:01 -07:00
66faba9aa5
Avoid changing semantics of mjsPlugin.name across XML sections.
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The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.
PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
2024-10-07 07:57:03 -07:00
6e66cafe76
Capture mjs_attach error message in the Python bindings.
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PiperOrigin-RevId: 682409212
Change-Id: I391ee48626e7dcd985f65a231370ef5ec16124d7
2024-10-04 12:19:42 -07:00
e973dc74dd
Yield ownership of char[], vector<string>, and vector<byte> to mjSpec in Python bindings.
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PiperOrigin-RevId: 681522091
Change-Id: Icb3788d9ef6e914a307531e39ad8171c24f590af
2024-10-02 11:14:48 -07:00
89aea5e217
Add body.find_all() to Python bindings.
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This enables to generate a list of all body children of a given type.
Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112 .
PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
2024-10-01 08:57:25 -07:00
8a825e6050
Add auto-generated tree element lists to Python bindings.
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PiperOrigin-RevId: 680973047
Change-Id: I948151260cba330c6b7218cecf13aae2c7ae92c7
2024-10-01 05:23:03 -07:00
6a415da267
Make from_file() and from_string() classmethod functions.
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This prevents the user from modifying an mjSpec and then calling the functions to load it from string/file.
PiperOrigin-RevId: 679311284
Change-Id: I4f1ae3cc8f15bece245f624303470d538deec410
2024-09-26 15:16:10 -07:00
5bca7876c4
Update spec.from_string() and spec.from_file() to match the respective mjModel functions.
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PiperOrigin-RevId: 678230403
Change-Id: I7f3d8c5fd44d30b5695eee1f8513cc27f4158d94
2024-09-24 06:57:20 -07:00
b5bcc91a03
Add bindings generation for mjOption, mjVisual, and mjStatistic.
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Fixes #2076 .
PiperOrigin-RevId: 677789263
Change-Id: Ie1bda40af62c5ac9bbba541668a50adfc59d3f7c
2024-09-23 07:43:09 -07:00
0ba11b9623
Add plugins list to mjSpec Python API.
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Fixes #2061 .
PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
2024-09-23 06:13:42 -07:00
6c7e1095c5
Add mjsPlugin and mjsOrientation related keyword argument support for mjSpec Python bindings.
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PiperOrigin-RevId: 676412967
Change-Id: I8cc1bfcc443327fde33246981400b375f8d4ff3d
2024-09-19 07:55:31 -07:00
bfda9f4ace
Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors.
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PiperOrigin-RevId: 675929024
Change-Id: Idd8c584276d8f585b79585230f5167f79760eaef
2024-09-18 04:02:10 -07:00
b0c7101f1c
Add optional kwarg inputs to mjSpec Python bindings for mjsBody add constructors.
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PiperOrigin-RevId: 675141078
Change-Id: I8d735ae7d0a018ce7cd1aca56c899d1455586015
2024-09-16 07:32:55 -07:00
505d01a1c1
Add error handling to mj_recompile.
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This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception.
PiperOrigin-RevId: 666784579
Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48
2024-08-23 07:18:28 -07:00
e0e134ca63
Add plugin tests for mjSpec.
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Fixes #1903 .
PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
2024-08-15 10:19:53 -07:00
b341bd391d
Fix a bug with mjs_delete functions.
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PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
2024-07-30 09:13:57 -07:00
70ac76bb4b
Add assets to MjSpec.compile()
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PiperOrigin-RevId: 653965318
Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
2024-07-19 04:34:38 -07:00
5d51b4cd5f
Check that element is a nullptr before casting.
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The bug was caused by the fact that the `mjs_as*` functions would return a pointer to a `mjC*` object, even if the input `mjsElement` pointer was null. This would cause a segfault.
PiperOrigin-RevId: 651802736
Change-Id: Ibec00d269a4befadff8a68e0513fd381c7e38a2a
2024-07-12 09:46:16 -07:00
9d0812911c
Add a test for type attribute.
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PiperOrigin-RevId: 649635359
Change-Id: Ibe5d9fcb5f14371e5f154d645b838a9d012331d5
2024-07-05 06:16:46 -07:00
118b6810b3
Make "id" a property rather than a method of mjsElements in Python bindings.
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PiperOrigin-RevId: 649424035
Change-Id: I8226b3040aa2001ae9748399257e36ac263b7c8b
2024-07-04 08:35:37 -07:00
a0945e4b5a
Add non-tree element lists to python bindings.
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Fixes #1752 .
PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
2024-07-04 07:24:02 -07:00
8f16b72f44
Rename mjSpec.euler to eulerseq to match MJCF.
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PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
2024-07-03 03:10:02 -07:00
9106f40e2b
Add mjSpec bindings.
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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
2024-07-01 12:05:50 -07:00
Alessio Quaglino