b56d4bf8a5
Add mujoco.minimize module.
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PiperOrigin-RevId: 608443678
Change-Id: Ib5dc78fe4523488b6c4e824f226591cf6a8a6216
2024-02-19 18:58:42 -08:00
24eb4c9f09
Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.
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PiperOrigin-RevId: 608312069
Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
2024-02-19 05:40:31 -08:00
b77dfc683a
Use OnePlugin for parsing Composite and Flexcomp plugins.
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PiperOrigin-RevId: 608265172
Change-Id: I053441a9e534d81c4847ad60fe4a3f7dce87350c
2024-02-19 02:02:29 -08:00
55e2c76c01
Use mj_resetDataKeyframe when loading key frames in simulate.
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PiperOrigin-RevId: 608209431
Change-Id: I1ee78c837cbc098144143b90e8c0b4618568c9cf
2024-02-18 20:49:09 -08:00
c146bb4003
BEGIN PUBLIC
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Remove incorrectly added test files.
END PUBLIC
Correct typo in copy.bara.sky
PiperOrigin-RevId: 607930101
Change-Id: Ib2c75d00e65f11c30be2ea0b3fdbb0c24bd3a164
2024-02-17 02:57:02 -08:00
dbf7afaeaa
Canonical USD example for MuJoCo Physics. This contains three items:
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floor - a static floor centered at origin of sides 100m x 100m
two_cubes - a standard example where 2 cubes have a hinge joint between them.
two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30).
PiperOrigin-RevId: 607809323
Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb
2024-02-16 14:56:39 -08:00
1b93226fb0
To save memory, avoid loading meshes that will never be used for collisions.
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PiperOrigin-RevId: 607770456
Change-Id: I34c4a34d1820a9fd88d2ebeaffec9a64637d2614
2024-02-16 12:40:35 -08:00
d7c47de353
Add mjStatistic to mjmModel.
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PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
2024-02-16 05:17:35 -08:00
f1d4f8f0a1
Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset.
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PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
2024-02-16 05:09:05 -08:00
05150546e3
Add inheritrange attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:42:44 -08:00
5e353efaaf
Add mjmModel opaque pointer to C API.
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PiperOrigin-RevId: 607619891
Change-Id: Ic1eaaa842438d9c2e19f742deff41967287853f5
2024-02-16 02:21:25 -08:00
f9f7827a64
Trim trailing default values in saved xmls.
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For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:
- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.
PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
2024-02-16 01:36:06 -08:00
6a346c42e8
Adds support for mjOption.impratio to MJX.
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PiperOrigin-RevId: 607456034
Change-Id: I7f6549a4332fd2bc0331d76a8906b971ce28dbcf
2024-02-15 14:28:36 -08:00
414a67640a
Add mjmDef to C API.
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PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
2024-02-15 06:17:58 -08:00
6f958bc404
Add mjmSkin to C API.
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PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
2024-02-15 05:09:10 -08:00
bafe490ea8
Sort assets in schema according to order in docs.
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PiperOrigin-RevId: 607272771
Change-Id: Ifd1220671a59effd0a841babbe746dd23d02eefd
2024-02-15 03:10:43 -08:00
ddabfb9b6a
Clean up handling of auto-limits.
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PiperOrigin-RevId: 607266967
Change-Id: Iec8332cc8467ea3c2dc046acf87d221b5af67259
2024-02-15 02:43:53 -08:00
d561995c03
Use less brittle search to determine whether an MJX field is a data or meta pytree node. Use correct type annotation for geom_convex_* fields in mjx.Model.
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PiperOrigin-RevId: 607096855
Change-Id: I2e14b9b63e676b4ac3ec2a12aa07316e1d019a79
2024-02-14 13:57:55 -08:00
80a986c0f5
Add mjmBodyPair to C API.
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PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
2024-02-14 08:40:05 -08:00
c9e7586499
Add mjmHField to C API.
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PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
2024-02-14 04:12:29 -08:00
2ee8a4dabd
Add mjmNumeric, mjmText, mjmTuple, mjmKey to C API.
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PiperOrigin-RevId: 606919327
Change-Id: I477f6cd8beefcb3962238722565e3b398b73446c
2024-02-14 03:10:38 -08:00
266161ee4c
Convert mju_openResource to write warnings to a given error string.
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PiperOrigin-RevId: 606907392
Change-Id: Ic70e980aa9ba2bdbe1787773f51749b34f74afed
2024-02-14 02:17:40 -08:00
f50a44e193
Allow jax config to choose precision.
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PiperOrigin-RevId: 606765036
Change-Id: I36977851615700507eb2e83cc6d2d1ff8255be62
2024-02-13 15:24:02 -08:00
9ecd700923
Add mjmMesh to C API.
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PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
2024-02-13 09:09:59 -08:00
06505f49f9
Add mjmTexture to C API.
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PiperOrigin-RevId: 606543622
Change-Id: I2db743c1c40116f0503329fb1d004d9b041e83e7
2024-02-13 02:09:39 -08:00
47bb4a828e
Fixes to the MJX Euler integrator and Newton solver, and test improvements to catch future bugs like this.
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PiperOrigin-RevId: 606389094
Change-Id: I50d0143f338fe29a823c930dba82995ce8a64ce2
2024-02-12 15:46:27 -08:00
805d862d5f
Fix manifold point function.
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PiperOrigin-RevId: 606366838
Change-Id: I8cf031f6f0fd0173777e0a9bb6d11c0c77c617ec
2024-02-12 14:32:24 -08:00
eabd4c06f9
Move schema definition validation from runtime to a test.
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PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
2024-02-12 09:49:48 -08:00
b6873ec8a2
Move mjModel.mesh_{pos,quat} before mesh_pathadr so all attributes related to original asset data are next to each other.
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PiperOrigin-RevId: 606277473
Change-Id: Ia4f6df552192c8a2847126975b6a1a31df63cf65
2024-02-12 09:37:48 -08:00
13d6eeacdd
Add mjmPair to C API.
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PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
2024-02-12 09:25:33 -08:00
72cf304e2b
Improve documentation of mesh pre-processing.
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PiperOrigin-RevId: 606268723
Change-Id: I1d939cbb214036ab477e12ae3fd266a25ff89399
2024-02-12 09:04:18 -08:00
b224367a9b
Add mjmFlex to C API.
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PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
2024-02-12 08:48:11 -08:00
ab209c41be
Align comments in mjm_ structs.
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PiperOrigin-RevId: 606214754
Change-Id: I4d5ddd98baf52fc71acc1bfca0b345cafda4ce7f
2024-02-12 04:54:03 -08:00
ff39d0b812
Keep include elements while parsing XML. No change in behavior.
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PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
2024-02-12 03:54:44 -08:00
4e5b194e88
Add mjmMaterial and mjmFrame to C API.
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PiperOrigin-RevId: 606191307
Change-Id: Iaf43f81522029002b28bba14ea046b1c968ab2e7
2024-02-12 02:56:03 -08:00
4b8363de6d
Update docs with new Menagerie models.
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PiperOrigin-RevId: 606126764
Change-Id: I677e7860798e60b2b65d7054f60ad2bc5c4c05b1
2024-02-11 20:42:59 -08:00
3601026b1d
Refactor handling of auto-limits.
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PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
2024-02-10 22:01:13 -08:00
cebd2a657e
Clean-up user_api.h and user_init.cc
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PiperOrigin-RevId: 605967516
Change-Id: Ieaf75d764778d81932b860ca9f16007adc0037a1
2024-02-10 21:21:13 -08:00
230f8c7b63
Increase maximum compiler error message length from 300 to 600.
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PiperOrigin-RevId: 605947931
Change-Id: I5564d0e2d6690ee75996a10e05cd6c7eca49f279
2024-02-10 18:51:44 -08:00
1bd6a32af2
Add mjmEquality, mjmTendon and mjmWrap to C API.
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PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
2024-02-10 03:30:31 -08:00
4ad1dc4b84
Mention the roles of "center" and "extent" in visual/global/{azimuth,elevation}. Fixes #1407 .
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PiperOrigin-RevId: 605649532
Change-Id: I0ca0142a3c164a502fefb6b91d204c4bb3d25a95
2024-02-09 09:22:50 -08:00
dc40bbd1f5
Refactor global object tables logic.
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This unifies the implementation for plugins and resource providers.
PiperOrigin-RevId: 605617372
Change-Id: I2ea52b4c53f48c4c59edd5fdc1c51c7edba7340e
2024-02-09 06:50:06 -08:00
6fa139a693
Add mjmActuator and mjmSensor.
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PiperOrigin-RevId: 605600704
Change-Id: I0a2f5eb9d894c068ca9ee08940c752066021b6ec
2024-02-09 05:11:13 -08:00
e3cbad280c
Add mjmJoint, mjmCamera, and mjmLight to C API.
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PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
2024-02-09 04:44:58 -08:00
e77c3cb258
Update MJX viewer to use mjx.get_data_into and fix bad function parameters.
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PiperOrigin-RevId: 605461208
Change-Id: I7a4f6a1ed92382e522d50224e7b5cd73d8842750
2024-02-08 16:32:27 -08:00
4933a2c7b6
Improve performance of getting and putting MJX device data by reducing cost of ncon.
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PiperOrigin-RevId: 605454760
Change-Id: I5c52a84c12ab67d042fe43f6ada284b51a762294
2024-02-08 16:06:58 -08:00
3e2d62c248
Improve performance of getting and putting MJX device data with large numpy arrays.
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ndarray.tobytes() is faster than converting arrays to tuples by orders of magnitude.
PiperOrigin-RevId: 605437697
Change-Id: I7d42c10e178b1aec80ff38a82e863e0701c15e62
2024-02-08 15:02:21 -08:00
1fe258fb60
Add mjmGeom to C API.
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PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
2024-02-08 06:53:01 -08:00
3baab3784a
Update MJX notebook to work with brax 0.10.0.
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PiperOrigin-RevId: 605105172
Change-Id: Icd209ada7977439ed7d5213588412d37dd54ffc0
2024-02-07 14:49:17 -08:00
e4fada1963
Correct use of uninitialized value and clean up FullInertia function
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PiperOrigin-RevId: 605049375
Change-Id: I7ffb6bd56b08111036e8490bf767fb9393499f13
2024-02-07 11:38:02 -08:00
Yuval Tassa