ac2cd5dfd6
Add support for querying of MjsTendon path from Python.
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Fixes #2670
PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
2025-10-21 11:51:24 -07:00
0e1104768a
No public description
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PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
2025-09-19 10:10:45 -07:00
26ea20a21f
No public description
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PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d
2025-09-19 09:49:07 -07:00
77e025ea98
Move meshdir and texturedir to mjsCompiler.
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For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.
Fixes #2834 .
PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
2025-09-19 09:05:44 -07:00
07e7417d26
Add prefix to asset paths when appending specs.
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PiperOrigin-RevId: 794966246
Change-Id: I4825a11cc3234e6f403340dd997742cea0e2183b
2025-08-14 03:48:56 -07:00
eff4dda189
Suffix asset names when attaching specs.
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PiperOrigin-RevId: 794717786
Change-Id: I02abe06ca3c43138e91e61f4acf87a26b3faf7fc
2025-08-13 13:43:16 -07:00
784c7a419b
Improve builtin hemisphere docs
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PiperOrigin-RevId: 791271829
Change-Id: I391215b5388f4e9e2a17198dbcdbd0c605fda4b4
2025-08-05 10:25:45 -07:00
705ec6d7fb
Adds built-in superellipsoid mesh.
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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:02:52 -07:00
a5d4d1000e
Add built-in supertoroid mesh.
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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
2025-08-05 06:06:43 -07:00
996f0040fd
Add built-in sphere mesh.
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PiperOrigin-RevId: 791162850
Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
2025-08-05 05:05:05 -07:00
5220767457
Add built-in hemisphere mesh.
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PiperOrigin-RevId: 791148546
Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
2025-08-05 04:16:24 -07:00
a5a6379f83
Add built-in cone mesh type.
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Also delete `prism` type since it is subsumed by cone.
PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
2025-08-04 19:35:32 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
46dc67b7eb
Add function mjs_sensorDim to user API.
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Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
2025-07-29 10:20:27 -07:00
fc13995dd4
Yield ownership of vector<double>, vector<float>, and vector<int> to mjSpec in Python bindings.
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Fixes #2756
PiperOrigin-RevId: 785417251
Change-Id: Ib399c46ee59585258ace7d9583c68b7d06d0a9e4
2025-07-21 06:44:17 -07:00
594e17074a
Replace name attribute with setters and getters in the C API of mjSpec.
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PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
2025-07-03 02:30:56 -07:00
a2acd2d4ed
Rename detach_default and detach_body to delete in the mjSpec bindings.
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PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
2025-06-20 06:23:30 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
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In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
2025-06-20 04:12:27 -07:00
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
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PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
1fbbfd8079
Correct frame property in MjsBody from method to read-only attribute.
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PiperOrigin-RevId: 764188923
Change-Id: I7c753f7f431b79aa320681c45b7614f68b63852c
2025-05-28 03:48:07 -07:00
7a5b55f57e
Expose mjs_resolveOrientation to the Python API.
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PiperOrigin-RevId: 762571376
Change-Id: I08d8394b24670c7f102356da4234b17f1ba4e05f
2025-05-23 14:36:47 -07:00
e389872c7d
Add frame property to python bindings.
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PiperOrigin-RevId: 762452877
Change-Id: I555cec650d04700f6718b4d77a866c821b90685c
2025-05-23 09:24:24 -07:00
3e9d130092
Add mjs_getPluginAttributes.
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PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
2025-04-29 05:19:09 -07:00
ec186430ef
Add setting plugin config properties via Python bindings.
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PiperOrigin-RevId: 747421357
Change-Id: Ie80f1a889f2f6ec457c1e16193fa0694e07d3fe9
2025-04-14 08:07:14 -07:00
a209134315
Enable procedural plugin activation in Python bindings.
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PiperOrigin-RevId: 746055614
Change-Id: Idcc2f62fdfeccdca356e3d1acadf168b46a98881
2025-04-10 09:13:21 -07:00
5c12ea871f
Split MjSpec out into header to allow use by other pybind modules.
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This should enable other pybind modules to accept arguments of type MjSpec.
PiperOrigin-RevId: 745580987
Change-Id: I435a8d264149369e3fbee14c5d2c628ef74b2541
2025-04-09 07:31:23 -07:00
b839fe79e1
Allow to attach an entire mjSpec in mjs_attach.
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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
2025-04-01 09:51:52 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
2025-04-01 08:05:58 -07:00
305b68ecbf
Add tests for body.find_all() of joints and geoms, fix error message.
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Fixes #2525
PiperOrigin-RevId: 742685596
Change-Id: I5f0969967f2490d32e5691983e8d0c363d48a6bd
2025-04-01 07:14:59 -07:00
86c970bc23
Add error checking in mjs_setFrame.
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Also raise error if the frame is not found in the mjCBody copy constructor.
Fixes #2543 .
PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
2025-04-01 03:34:48 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
1bf24e9f67
Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site.
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PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
2025-03-17 10:21:38 -07:00
da04688071
Automatically compile mjSpec in to_xml().
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Also, move mj_compile from MjModelWrapper to MjSpec.
PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
2025-03-17 09:21:10 -07:00
2039629457
Expose MjSpec raw pointer via _address
2025-02-26 10:25:55 +08:00
d1d61925da
Do not delete the world child when doing spec.attach.
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PiperOrigin-RevId: 730976077
Change-Id: I9aa8133241b45883e605ec80d64ae28af2962680
2025-02-25 12:02:13 -08:00
441b5c6082
Change MjSpec.default from method to attribute.
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PiperOrigin-RevId: 730912407
Change-Id: I0147acbd257ecc8b72752a2992a7d4ea6e1b4c07
2025-02-25 09:17:45 -08:00
1b4258d274
Change set_default and default to classname in the bindings.
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Having defaults in the names of the attribute or function names is confusing for the users since the defaults are not re-applied but are only used for writing to XML. The alternative would be to change mjs_setDefault to re-apply them, but this would overwrite any other attribute set by the user so far.
PiperOrigin-RevId: 726431090
Change-Id: I41f4a23e1722e278b0ecc0a00b07db9b384fe994
2025-02-13 04:52:02 -08:00
d830691f53
Merge pull request #2291 from AaronYoung5:main
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PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
2025-02-12 00:16:10 -08:00
e54f3c222d
Autogenerate mjSpec find_* methods.
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PiperOrigin-RevId: 725255440
Change-Id: Ia9112f6c582ea9bb0af38aa97a917e72a98a84f5
2025-02-10 10:03:44 -08:00
4156350708
Add to_file function to save the Spec to a file.
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Fixes #2415 .
PiperOrigin-RevId: 725161617
Change-Id: I6c374cc7f7cb3f1da1cc0da531dd7e5be5d62b6a
2025-02-10 04:33:14 -08:00
6bd88711a8
Add parent to MjSpec wrapper in Python bindings.
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This keeps track of specs attached with the full attach function `attach`. It does not track fine-grained attach via `attach_body` and `attach_frame`.
PiperOrigin-RevId: 722597081
Change-Id: I56188f1718592128b7033538acc9a40553cbbed2
2025-02-03 04:04:11 -08:00
86ace5e562
Remove body.spec() function from the Python API
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We can only use the MjSpec wrapper, not the raw::MjSpec struct in the API.
PiperOrigin-RevId: 722589064
Change-Id: I007150f92738487f27211d7435e328cab86214f7
2025-02-03 03:31:35 -08:00
0643017346
Add asset argument to MjSpec constructors.
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PiperOrigin-RevId: 720628689
Change-Id: I189aa34973e58b9fb87951e34cb923d94e081a55
2025-01-28 10:39:27 -08:00
5b330ca19c
Change keyword argument asset to include in spec.from_file and spec.from_string.
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PiperOrigin-RevId: 720611881
Change-Id: I92f5e72cece8d3223bc552ea4f2ef742c47cb8c9
2025-01-28 09:55:48 -08:00
6a7a7a5f80
Add the override_assets attribute to MjSpec.
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When specified, child asset with repeated names will override parent's, rather than throw an error. Default behavior is to override.
PiperOrigin-RevId: 717979621
Change-Id: I18022dc266619b4ba1a8636d1c60f85b0eb5f862
2025-01-21 10:39:02 -08:00
1412a29dac
Merge child asset dictionary into parent spec during attach().
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PiperOrigin-RevId: 717939728
Change-Id: I54f8ac87062cf19f55a16af37b777701545ed865
2025-01-21 08:57:09 -08:00
4bb6aeb19f
Change site and frame attach API.
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Old API:
```
site.attach(child_spec)
frame.attach(child_spec)
```
New API:
```
parent_spec.attach(child_spec, frame=frame_name_or_object)
parent_spec.attach(site_spec, site=site_name_or_object)
```
This enables accessing the parent object during attach, which will be used in a follow-up CL to automatically append the child assets to the parent.
PiperOrigin-RevId: 717908589
Change-Id: I0fb27e99694c954cb8ba8a8c98484ffd53a4d6db
2025-01-21 07:29:27 -08:00
699a6765e3
Add find functions for joints, lights, and cameras to mjSpec bindings.
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PiperOrigin-RevId: 717578768
Change-Id: I2087ccbb9cf8b3b8ec03e9eb2edb0707d4a4cac1
2025-01-20 11:02:34 -08:00
4903d5321c
add find_geom property to mjSpec
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PiperOrigin-RevId: 716225290
Change-Id: Ie6e229b0e802e7df06148f994d598334592e8ad1
2025-01-16 07:20:19 -08:00
Sam Haves