c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
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PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
d1e004aa97
Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release.
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PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
2024-10-15 13:03:13 -07:00
6881ce2437
Remove support for Python 3.8.
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Python 3.8 has been deprecated upstream, and any tests depending on Homebrew already stopped working. Following our support policy, we are removing support for 3.8 from our packages, too.
PiperOrigin-RevId: 686012836
Change-Id: Ibd220eb9c10e9a74bbd4443c1d7286a1fde9e5e5
2024-10-15 01:54:18 -07:00
ee7b994021
Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.
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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
2024-10-14 09:07:22 -07:00
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
5dcc31a6aa
Fix read-from-uninitialized-memory in bindings_test.py
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PiperOrigin-RevId: 684082155
Change-Id: I6f3030559ebda4eda28c17ab866c7502c74e5862
2024-10-09 10:14:26 -07:00
9a0dc20821
Move Newton Hessian memory allocation from stack to arena.
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PiperOrigin-RevId: 684054446
Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
2024-10-09 08:54:54 -07:00
b1941708dd
Add some arena-allocated attributes to compare in mjData pickle/unpickle test.
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PiperOrigin-RevId: 684025320
Change-Id: Ic3282eaae74e43a33c2ed5f1b25ad38884487829
2024-10-09 07:15:52 -07:00
b66da3d369
Add mjData.L, sparse Cholesky factor of Newton solver Hessian.
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PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
2024-10-08 10:13:08 -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
bce43b63ed
Merge pull request #2120 from hartikainen:fix-2118
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PiperOrigin-RevId: 683098606
Change-Id: Ib558bab7aca9042e318056de411ddf1a229d421d
2024-10-07 02:39:29 -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
7e9481fbeb
Merge pull request #2067 from abhihjoshi:documentation
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PiperOrigin-RevId: 682364758
Change-Id: I3a5000a2851a560018ae0e04a2b7ad13415cb7c6
2024-10-04 10:15:19 -07:00
3634bd5063
Fix python namespacing
2024-10-04 11:23:18 +03:00
5d46884efe
Rename MuJoCo (mjpython).app -> MuJoCo_(mjpython).app
2024-10-04 11:10:28 +03:00
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
befe4af8f0
Add missing includes necessary after changes in libc++ headers.
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Tested:
TAP train for global presubmit queue
http://test/OCL:680649491:BASE:680620735:1727746506750:fa29d104
PiperOrigin-RevId: 681090682
Change-Id: I3346ed996d9b6cd0fc7d600c02c41e0cd1b72400
2024-10-01 11:08:01 -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
25e4d75a07
Return attached body/frame in mjs_attachBody/Frame.
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PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
2024-09-27 08:34:00 -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
86ea1e498c
Update pillow dependency used in tests to 10.3.0.
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PiperOrigin-RevId: 679114607
Change-Id: I5729d5ce1baff02cdf1caa8124ef46b2b17b85b5
2024-09-26 05:53:41 -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
456dcc150c
Updating documentation for comments
2024-09-23 14:10:48 -04:00
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
476599f8b6
Update pybind11 to v2.13.6
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PiperOrigin-RevId: 675241879
Change-Id: Icaa0a957b7c7ac64daf5d29ccae1ab8bf89a8e1d
2024-09-16 12:09:02 -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
dde25d039b
Update Mujoco dependencies to latest versions.
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PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
2024-09-12 14:10:21 -07:00
8fa7fe7f5b
Add a tutorial section on multiple frames in the same scene. Fixes #1757 , #1356 .
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PiperOrigin-RevId: 672902542
Change-Id: Ie9fae2151354206b1418c129e2bd2ab016695ec3
2024-09-10 04:22:07 -07:00
56bb3ca5de
Merge pull request #1901 from abhihjoshi:usd-fixes
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PiperOrigin-RevId: 671815757
Change-Id: I8a08385b63401c743253545d89389ab8aaac91bc
2024-09-06 10:31:09 -07:00
fe1d6dad02
Using temp directory for usd exporter test
2024-09-04 18:18:37 -04:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
9a27fc14c2
Raise appropriate errors for mj_addBufferVFS in Python bindings.
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When loading models in the XML bindings, different issues with the asset dictionary were all reported as "assets dict is too big".
PiperOrigin-RevId: 670960339
Change-Id: I2e47d91a6b433fd90ebdf9960a9b5b47413af410
2024-09-04 07:20:25 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
fb38727303
Update zipp to 3.19.1 in make_sdist_requirements.txt
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PiperOrigin-RevId: 670486730
Change-Id: I1dfabb8d5206024595a49d2421f148a284a4eac7
2024-09-03 03:37:49 -07:00
c0dc787cee
Removing mujoco renderer dependency
2024-08-30 18:23:13 -04:00
5dc9c07fa6
Removing scipy dependency
2024-08-30 12:56:25 -04:00
1d2ee40c9b
Updating pillow hashes
2024-08-30 12:32:45 -04:00
f54380206c
Adding pillow dependency
2024-08-30 12:30:15 -04:00
4a8b54c7ec
Adding backslash char
2024-08-30 12:16:16 -04:00
83c8814149
Adding new usd-core hashes
2024-08-30 12:14:26 -04:00
e03f8f5f65
Merge branch 'main' into usd-fixes
2024-08-25 19:15:17 -04:00
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
85d19e189b
Adding usd-core optional dependency
2024-08-20 21:39:24 -05:00
2425358c3b
Merge pull request #1796 from google-deepmind:dependabot/pip/python/zipp-3.19.1
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PiperOrigin-RevId: 665308489
Change-Id: I2db78ac1445cd12a3a4c0ea5d8f4f4fa2403517f
2024-08-20 05:11:29 -07:00
Gabe Oppenheimer