767c607f58
Add mju_sym2dense, document future breakage of mj_fullM
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PiperOrigin-RevId: 910242375
Change-Id: Ibfbdef9cfb66088723499ea257da09aee0d80938
2026-05-04 14:25:53 -07:00
a00bfa819c
Raise error when binding to a removed element.
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PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
4a102c37bc
Add support for indexing qfrc fields in MJX bind() method.
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PiperOrigin-RevId: 763415415
Change-Id: Idb567a1711679565444779fb1062d7b65434ef13
2025-05-26 07:04:12 -07:00
7ba507323d
Handle mocap body in bind.
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PiperOrigin-RevId: 759065524
Change-Id: Ic4cc737596af883f267b6e2c470ac4591ea1eead
2025-05-15 03:10:19 -07:00
4ba04586ae
Fix setting slices of multidimensional arrays for multiple targets
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PiperOrigin-RevId: 758623598
Change-Id: Ie05b36c25be74ddf7451a95377caf1ed1d692141
2025-05-14 04:36:58 -07:00
6cfea71985
Allow for different MJX backend implementations.
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PiperOrigin-RevId: 755935704
Change-Id: Ic135cd00137c2857c73c683ed9fdc5ac4418715d
2025-05-07 11:28:39 -07:00
96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
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PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
cc2f57d820
Change mjSpec and mjModel signature mechanism.
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The signature now contains the necessary information to safely perform `bind`. The private UIDs are now removed.
Fixes an issue of changing signature when compiling a copy of an mjSpec.
PiperOrigin-RevId: 744670626
Change-Id: Id3c66419cf2afbe78e91bc4b37d2299f5ec00ab1
2025-04-07 04:21:27 -07:00
ebd30493c8
Allow nameless bind in MJX.
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PiperOrigin-RevId: 742592221
Change-Id: I9490aebd64e3a31219c552d5b6eb55236680f10d
2025-04-01 01:45:44 -07:00
1f1d5287fb
Fix bind.set when using a single joint instead of a list.
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PiperOrigin-RevId: 738546056
Change-Id: I26ae045be9e983cb0760132b9d47eac018ca33cd
2025-03-19 14:44:22 -07:00
2abb2e2d5d
Add further MJX bind tests to clarify dimensions.
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Fixes #2463 .
PiperOrigin-RevId: 731674489
Change-Id: I9e21a2dd0b0636c94b2b917615889b9d721d542d
2025-02-27 04:34:08 -08:00
1c240d8bad
Raise error if trying to bind with a spec with an empty name.
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PiperOrigin-RevId: 731360983
Change-Id: I00365d158c1cae1cd912962ef453f43e93701080
2025-02-26 10:07:46 -08:00
41c2918819
Add batch support to MJX data bind.
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PiperOrigin-RevId: 729033713
Change-Id: I331317a54a7882dc67bf329da8aeaff7246754e4
2025-02-20 03:10:30 -08:00
9fb4ec95f8
Add handling for joint qacc in bind
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PiperOrigin-RevId: 728166579
Change-Id: Ib9ecfec23a3ae1ddba198670518c48dc0af49cd1
2025-02-18 05:30:25 -08:00
d5065f867b
Check type correctness in all bind paths.
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PiperOrigin-RevId: 727877128
Change-Id: I4f4f74a1fb96d3fc5abdea531b78eb54dc53d186
2025-02-17 08:46:10 -08:00
0a4eda5065
Fix setting slice of multidimensional arrays in mjx bind
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PiperOrigin-RevId: 727834258
Change-Id: Id8fa25ab3aacb02603f2e0ec701f89bb69a7ac7e
2025-02-17 05:52:51 -08:00
6f0bd0a5f8
Fix setting multidimensional arrays in MJX bind.
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PiperOrigin-RevId: 726956380
Change-Id: I51ab91b73a3a34938ac7bcd03e9691fd634cb296
2025-02-14 09:28:39 -08:00
709b8d6b83
Add support for vector-valued joints in MJX bind.
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PiperOrigin-RevId: 721743855
Change-Id: I68d7f6220ade89a5c0c507ea955e45657541d4eb
2025-01-31 05:53:04 -08:00
f4096bcab9
Add sphere and cylinder internal wrapping for spatial tendons to MJX.
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PiperOrigin-RevId: 720507688
Change-Id: I49fda2839e68623ff5e1f3c46bdc3d77acfc36ef
2025-01-28 03:22:14 -08:00
3dcfad3293
Add qpos to MJX bindings.
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PiperOrigin-RevId: 720311208
Change-Id: Iaf5f905e206256f38cd71949bbebd5151b2a2041
2025-01-27 14:36:42 -08:00
d21f624264
Fix binding issue with scalar attributes.
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PiperOrigin-RevId: 720136044
Change-Id: I0846a93ef36a23371d1bd504adff02dcce0abcf9
2025-01-27 05:47:36 -08:00
c16f95f62c
Add sensordata MJX binding.
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PiperOrigin-RevId: 716241711
Change-Id: I11a82f58c41dca93e9a5337f0c573158026fa971
2025-01-16 08:14:58 -08:00
f899e717d4
Raise error for invalid name in MJX bind.
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PiperOrigin-RevId: 716214444
Change-Id: Ie9e3156b32b0c218cdbd0beb93a4a78800e07c43
2025-01-16 06:40:48 -08:00
f1d557c125
Support for MJX bind set() for scalars.
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PiperOrigin-RevId: 715832281
Change-Id: I217021e81fae95e44e9297a1c447891ff76572bd
2025-01-15 09:38:02 -08:00
da32b0db30
Handle ctrl special case explicitly in bind().
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PiperOrigin-RevId: 714055763
Change-Id: I020008723af4a590926268a2ea615af54e20aa0b
2025-01-10 08:08:03 -08:00
3f32cc2479
Add mjSpec binding to MJX.
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PiperOrigin-RevId: 714026500
Change-Id: I5cb3fe6cc975b3aa43d44185e3bc186b45845cf3
2025-01-10 06:16:32 -08:00
0f381a9ebd
Add muscle actuators to MJX.
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PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
2024-11-11 07:46:20 -08:00
1945926351
Fix computation of tangential contact forces in MJX _decode_pyramid.
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PiperOrigin-RevId: 685665382
Change-Id: Icdbba4a3ee5fec804340d73d525a36ee570c2aa8
2024-10-14 05:01:00 -07:00
c6b1293e58
Add contact force support function. #1555
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PiperOrigin-RevId: 632591177
Change-Id: I15aa00686d9f885330506d2d63443c700cc029f6
2024-05-10 13:41:45 -07:00
d15db54537
Add support functions for id2name and name2id.
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PiperOrigin-RevId: 627525330
Change-Id: Ic8069f64c94ef4b8f96f62b88ece62a8b296d870
2024-04-23 15:35:59 -07:00
419be4c605
Add crude broadphase impl.
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PiperOrigin-RevId: 611643683
Change-Id: Id7816dadd7e9f1b8855268b815353c61540c4e0c
2024-02-29 17:12:58 -08:00
0a7be1732c
Adds support for explicit dense/sparse mass matrices to MJX.
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This increases performance, particularly for the Newton solver on TPU.
PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
2024-01-23 00:32:07 -08:00
5cbaa23388
Remove TEST_FILES from MJX test_util.py.
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PiperOrigin-RevId: 599886327
Change-Id: I4d166e09db22fffc959dbe34fa3469bd4a1b9f84
2024-01-19 11:15:06 -08:00
b3ccf67ebf
Cleanup MJX tests and migrate them to put_model/put_data.
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PiperOrigin-RevId: 588304729
Change-Id: I58075383e6eed64ae00cea305a568eba6465b0b0
2023-12-05 23:08:05 -08:00
8f9c690c85
Add MJX and bump version number to 3.0.0.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
2023-10-18 10:33:29 +01:00
Yuval Tassa