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
421c487d9d
Set mocap_pos/quat in make_data. Fixes #2606 .
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PiperOrigin-RevId: 755903897
Change-Id: Ied04e9bd3febfe1bbbba24ed1f52b3c0c6e50f38
2025-05-07 10:13:17 -07:00
4137a4c774
Bump version to 3.3.3 following the 3.3.2 release
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PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
2025-04-28 16:09:25 -07:00
d168135189
Remove duplicate test_tendon_force_clamp from inverse_test.py.
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PiperOrigin-RevId: 747835971
Change-Id: I96ca7a2e3f71dbc05af238c269a81b41b51fa48b
2025-04-15 05:40:25 -07:00
f317bd17c3
Add tendon actuator force sensor to MJX.
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PiperOrigin-RevId: 747344916
Change-Id: Iab513ff953408c002216ffff12e3f8c825cedc10
2025-04-14 03:51:20 -07:00
440ce5eb7a
Update the version number to 3.3.2 following the 3.3.1 release.
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PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
2025-04-10 13:17:20 -07:00
3c530976e3
Add rne_postconstraint dependence for FRAMELINACC and FRAMEANGACC sensors to MJX.
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PiperOrigin-RevId: 746009774
Change-Id: Ide45298b463f1ad04f1ffa7f60a7a8aeaf18f063
2025-04-10 06:48:40 -07:00
51c489fc30
Add inverse dynamics to MJX.
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PiperOrigin-RevId: 745998273
Change-Id: I203af89332ace5d7a60fff3ec6ff4cc88c02340d
2025-04-10 06:08:41 -07:00
8fc616bf8f
Add tendon actuator force limits to MJX.
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PiperOrigin-RevId: 745529685
Change-Id: I43c372116daefc3dd2ed6ad1bb9c6e3978bc8527
2025-04-09 04:28:45 -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
4e0a4f4d39
Defer device puts to the end of make_data. Fixes #2461 .
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PiperOrigin-RevId: 744875869
Change-Id: I8d88d4f73407b44f761d01309e2cc28b43aa305f
2025-04-07 15:43:43 -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
e1f5ceb65a
Add mjModel.tendon_armature (in preparation, not yet implemented)
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PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:06:27 -07:00
54f132f3f0
Resolve discrepancy in RK4 between MJX and MJ.
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PiperOrigin-RevId: 743185866
Change-Id: I478faca1d8733999cc9a0682e931b19ee05e3843
2025-04-02 10:16:07 -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
2e11afa2de
Fix a bug in the handling of efc_J in put_data.
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PiperOrigin-RevId: 738877177
Change-Id: Ie469af0e1c31843e8c59cd2cf6fc0befb1ed4956
2025-03-20 11:26:14 -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
a0fc6b18b5
Update references to JAX's GitHub repo
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JAX has moved from https://github.com/google/jax to https://github.com/jax-ml/jax
PiperOrigin-RevId: 733951719
Change-Id: Iee4a7bf4bcc9fc3108ca9d30b6b98f5df20c79c7
2025-03-05 19:25:00 -08:00
0f563ecf31
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:34:35 -08:00
c72c83aa3b
Allocate qM CSR matrix structure on mjData (currently empty).
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PiperOrigin-RevId: 733247419
Change-Id: I814e574e3161875e89433a6e03f2c9e200d8b1d6
2025-03-04 02:37:47 -08:00
06e217df7e
[MJ3.3.1] Bumping internal version number.
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PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
2025-02-27 14:53:28 -08:00
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
9996500de9
update the version number to 3.3.0 instead of 3.2.8
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PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
2025-02-26 11:42:55 -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
ed16f2daf2
Set nativeccd as default.
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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
1532cffdf0
#mjx Update bind type checks.
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PiperOrigin-RevId: 729566363
Change-Id: Ifb4fd3e83988140f781ac1d5db690cf6fbe70fbf
2025-02-21 10:02:02 -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
982330d15a
#mjx Make pytree registration optional.
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This is a noop for MJX itself, but is useful for custom types extending MJX types.
This CL also ensures unused kwargs in `__init_subclass__` are passed to the parent class.
PiperOrigin-RevId: 728215373
Change-Id: I362d3fb8d4b7d679a3a00d96866d46a52d711369
2025-02-18 08:12:43 -08:00
36142cddee
Fix site_xmat dimension in MJX docstring.
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PiperOrigin-RevId: 728213616
Change-Id: Icdea2194d4e4e347e88969eb6ecd45d1300cc0bc
2025-02-18 08:07:45 -08:00
fb07e0d1f7
Convert qLD to CSR format.
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PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
2025-02-18 07:14:45 -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
fb84ee4e17
#mjx Always define prefix attribute in Bind* classes.
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PiperOrigin-RevId: 727885838
Change-Id: I3e7dd0541fecf1eb913bb98b30e3df146ea665b8
2025-02-17 09:23:39 -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
94115ecf08
Fix qvel bind in MJX when using multiple joints.
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Reported by #2402 .
PiperOrigin-RevId: 725237347
Change-Id: I279c73e5cf2b959086292b739972afe5f70ceffb
2025-02-10 09:09:18 -08:00
0e01b51590
Output a useful message when there's a mismatch between MJX data and MuJoCo data array sizes.
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PiperOrigin-RevId: 725151186
Change-Id: I71f81bb82e2b8667880a31db5913e98f7885e677
2025-02-10 03:51:31 -08:00
5ee0654830
Roll back recent change to mjData.qLD until some issues are resolved.
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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
2025-02-07 10:21:42 -08:00
c27d3758c2
Convert qLD to CSR format.
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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:59:35 -08:00
dec7b661c1
Add mujoco.MjSpec.MjStruct type.
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PiperOrigin-RevId: 723552214
Change-Id: I8ecb43b4025b532ba8b48e15c9c6a2b350293d20
2025-02-05 10:01:35 -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
e0664b1bb8
Fix bug with box-box #2356 .
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PiperOrigin-RevId: 721138760
Change-Id: Ib9548b0bc505a9856176188c91858cff7c9accdf
2025-01-29 16:00:29 -08:00
5b245e5d02
Fix handling of _full_compat argument in put_data.
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PiperOrigin-RevId: 721128021
Change-Id: Ic1cce42fbb38799228d6433ef0c761b1f9b81c4b
2025-01-29 15:27:14 -08:00
7232a91617
Add keyframe fields to mjx.Model.
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PiperOrigin-RevId: 721060807
Change-Id: Iae6aa8773e0e9802b0bd1de9a14d83987cd56936
2025-01-29 12:02:48 -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
2c3d0becb2
Empty out Model fields restricted to MuJoCo in the same way we do for Data fields.
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PiperOrigin-RevId: 719705508
Change-Id: I4b07433481eafaea1d95a5bdd8fd83786939188f
2025-01-25 14:03:20 -08:00
3d174a4034
internal change
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PiperOrigin-RevId: 718782821
Change-Id: I2d2ead2577767587800f3ea69dba61247105e16f
2025-01-23 02:51:51 -08:00
68cd263337
Change type of light_poscom0 and `actuator_acc0'.
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This is required for batching over `mjx.Model` in case recompilation is used to change inertial values.
PiperOrigin-RevId: 717596504
Change-Id: I4b6780903ebf12ebbf8b7bc7b8990a01609d4491
2025-01-20 12:11:31 -08:00
Baruch Tabanpour