chenlin/Mujoco_WASM
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c2024ef6d1f7658698165abf212c9cd5b78f28df
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386 Commits

Author SHA1 Message Date
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Google DeepMind d1e004aa97 Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release. 
PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
 2024-10-15 13:03:13 -07:00
Yuval Tassa ee7b994021 Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369. 
PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
 2024-10-14 09:07:22 -07:00
Alessio Quaglino 766cd20273 Add mjs_bodyToFrame() to convert a body to a frame. 
Also add test for attaching the world body.

PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
 2024-10-14 00:39:20 -07:00
Alessio Quaglino cdb167f275 Add mjs_attachToSite for attaching a body to a site. 
PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
 2024-10-10 07:12:49 -07:00
Yuval Tassa 5dcc31a6aa Fix read-from-uninitialized-memory in bindings_test.py 
PiperOrigin-RevId: 684082155
Change-Id: I6f3030559ebda4eda28c17ab866c7502c74e5862
 2024-10-09 10:14:26 -07:00
Yuval Tassa 9a0dc20821 Move Newton Hessian memory allocation from stack to arena. 
PiperOrigin-RevId: 684054446
Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
 2024-10-09 08:54:54 -07:00
Yuval Tassa b1941708dd Add some arena-allocated attributes to compare in mjData pickle/unpickle test. 
PiperOrigin-RevId: 684025320
Change-Id: Ic3282eaae74e43a33c2ed5f1b25ad38884487829
 2024-10-09 07:15:52 -07:00
Yuval Tassa b66da3d369 Add mjData.L, sparse Cholesky factor of Newton solver Hessian. 
PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
 2024-10-08 10:13:08 -07:00
Alessio Quaglino 1f9dca8bc4 Do not expose plugin_slot. 
PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
 2024-10-07 09:38:01 -07:00
Alessio Quaglino 66faba9aa5 Avoid changing semantics of mjsPlugin.name across XML sections. 
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
Copybara-Service bce43b63ed Merge pull request #2120 from hartikainen:fix-2118 
PiperOrigin-RevId: 683098606
Change-Id: Ib558bab7aca9042e318056de411ddf1a229d421d
 2024-10-07 02:39:29 -07:00
Alessio Quaglino 6e66cafe76 Capture mjs_attach error message in the Python bindings. 
PiperOrigin-RevId: 682409212
Change-Id: I391ee48626e7dcd985f65a231370ef5ec16124d7
 2024-10-04 12:19:42 -07:00
Copybara-Service 7e9481fbeb Merge pull request #2067 from abhihjoshi:documentation 
PiperOrigin-RevId: 682364758
Change-Id: I3a5000a2851a560018ae0e04a2b7ad13415cb7c6
 2024-10-04 10:15:19 -07:00
Kristian Hartikainen 3634bd5063 Fix python namespacing 2024-10-04 11:23:18 +03:00
Kristian Hartikainen 5d46884efe Rename MuJoCo (mjpython).app -> MuJoCo_(mjpython).app 2024-10-04 11:10:28 +03:00
Alessio Quaglino e973dc74dd Yield ownership of char[], vector<string>, and vector<byte> to mjSpec in Python bindings. 
PiperOrigin-RevId: 681522091
Change-Id: Icb3788d9ef6e914a307531e39ad8171c24f590af
 2024-10-02 11:14:48 -07:00
Google DeepMind befe4af8f0 Add missing includes necessary after changes in libc++ headers. 
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
Alessio Quaglino 89aea5e217 Add body.find_all() to Python bindings. 
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
Alessio Quaglino 8a825e6050 Add auto-generated tree element lists to Python bindings. 
PiperOrigin-RevId: 680973047
Change-Id: I948151260cba330c6b7218cecf13aae2c7ae92c7
 2024-10-01 05:23:03 -07:00
Alessio Quaglino 25e4d75a07 Return attached body/frame in mjs_attachBody/Frame. 
PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
 2024-09-27 08:34:00 -07:00
Alessio Quaglino 6a415da267 Make from_file() and from_string() classmethod functions. 
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
Alessio Quaglino 5bca7876c4 Update spec.from_string() and spec.from_file() to match the respective mjModel functions. 
PiperOrigin-RevId: 678230403
Change-Id: I7f3d8c5fd44d30b5695eee1f8513cc27f4158d94
 2024-09-24 06:57:20 -07:00
Abhishek Joshi 456dcc150c Updating documentation for comments 2024-09-23 14:10:48 -04:00
Alessio Quaglino b5bcc91a03 Add bindings generation for mjOption, mjVisual, and mjStatistic. 
Fixes #2076.

PiperOrigin-RevId: 677789263
Change-Id: Ie1bda40af62c5ac9bbba541668a50adfc59d3f7c
 2024-09-23 07:43:09 -07:00
Alessio Quaglino 0ba11b9623 Add plugins list to mjSpec Python API. 
Fixes #2061.

PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
 2024-09-23 06:13:42 -07:00
Taylor Howell 6c7e1095c5 Add mjsPlugin and mjsOrientation related keyword argument support for mjSpec Python bindings. 
PiperOrigin-RevId: 676412967
Change-Id: I8cc1bfcc443327fde33246981400b375f8d4ff3d
 2024-09-19 07:55:31 -07:00
Taylor Howell bfda9f4ace Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors. 
PiperOrigin-RevId: 675929024
Change-Id: Idd8c584276d8f585b79585230f5167f79760eaef
 2024-09-18 04:02:10 -07:00
Google DeepMind 476599f8b6 Update pybind11 to v2.13.6 
PiperOrigin-RevId: 675241879
Change-Id: Icaa0a957b7c7ac64daf5d29ccae1ab8bf89a8e1d
 2024-09-16 12:09:02 -07:00
Taylor Howell b0c7101f1c Add optional kwarg inputs to mjSpec Python bindings for mjsBody add constructors. 
PiperOrigin-RevId: 675141078
Change-Id: I8d735ae7d0a018ce7cd1aca56c899d1455586015
 2024-09-16 07:32:55 -07:00
Google DeepMind dde25d039b Update Mujoco dependencies to latest versions. 
PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
 2024-09-12 14:10:21 -07:00
Copybara-Service 56bb3ca5de Merge pull request #1901 from abhihjoshi:usd-fixes 
PiperOrigin-RevId: 671815757
Change-Id: I8a08385b63401c743253545d89389ab8aaac91bc
 2024-09-06 10:31:09 -07:00
Abhishek Joshi fe1d6dad02 Using temp directory for usd exporter test 2024-09-04 18:18:37 -04:00
Alessio Quaglino d3dfa6f970 Add mjs_findElement() to find any element in a spec by name. 
Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
 2024-09-04 08:24:22 -07:00
Nimrod Gileadi 9a27fc14c2 Raise appropriate errors for mj_addBufferVFS in Python bindings. 
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
Yuval Tassa 2d3d5415b7 Add mj_jacDot: Time derivative of kinematic Jacobian. 
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
 2024-09-03 04:49:47 -07:00
Abhishek Joshi c0dc787cee Removing mujoco renderer dependency 2024-08-30 18:23:13 -04:00
Abhishek Joshi 5dc9c07fa6 Removing scipy dependency 2024-08-30 12:56:25 -04:00
Abhishek Joshi e03f8f5f65 Merge branch 'main' into usd-fixes 2024-08-25 19:15:17 -04:00
Alessio Quaglino 505d01a1c1 Add error handling to mj_recompile. 
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
Yuval Tassa 5d91231d31 Rename mjBuffer to mjByteVec. 
PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
 2024-08-19 10:40:26 -07:00
Abhishek Joshi f358cf664b Removing unused logging import 2024-08-19 11:23:43 -05:00
Abhishek Joshi 69eac7a43f Merge branch 'usd-fixes' of github.com:abhihjoshi/mujoco into usd-fixes 2024-08-19 11:20:39 -05:00
Abhishek Joshi 492cb7d078 Remove try catch in exporter test 2024-08-19 11:19:18 -05:00
Abhishek Joshi 1a66c5cca7 Merge branch 'google-deepmind:main' into usd-fixes 2024-08-17 11:13:36 -05:00
Kyle Bayes 0bffd744f9 Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd. 
PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
 2024-08-16 14:08:35 -07:00
Abhishek Joshi 9dd0042887 Merge branch 'google-deepmind:main' into usd-fixes 2024-08-16 15:47:16 -05:00
Abhishek Joshi 39cbe5d5b0 Updating USD golden file and exporter_test.py 2024-08-16 12:06:25 -05:00
Alessio Quaglino e0e134ca63 Add plugin tests for mjSpec. 
Fixes #1903.

PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
 2024-08-15 10:19:53 -07:00
Abhishek Joshi 58dc62c4ec Fixing USD pipeline after copybara changes 2024-08-13 11:09:02 -07:00