3e9d130092
Add mjs_getPluginAttributes.
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PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
2025-04-29 05:19:09 -07:00
8f768be2da
Remove solver_nisland field from mjData.
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PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
2025-04-23 03:27:41 -07:00
71a7004057
Fix array extent parsing logic for introspect.
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Also fix the mjxmacro_test to correctly assert that all array extents defined in the X macros can be correctly parsed from field comments.
PiperOrigin-RevId: 747808525
Change-Id: I0b08dc263f8a46118a07200ae044d6c491207245
2025-04-15 04:03:04 -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
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
f96f3e1c22
Add XML compiler/saveinertial flag. Fixes #2405
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PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
2025-04-03 10:12:42 -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
c0a7ea1edb
Added the element type mjOBJ_SPEC for mjSpec.
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PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
2025-04-01 06:51:49 -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
157b074116
Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.
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PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:37:49 -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
209d2bd2c5
Added functionality for user payload data in mjSpec.
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PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
2025-03-19 04:36:00 -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
bd9d30adc7
Improve documentation of mj_saveLastXML fixes #2075
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PiperOrigin-RevId: 735672207
Change-Id: I951b8be9cf12a2a4965a40bb8db4de4ddda18570
2025-03-11 01:57:46 -07:00
e04e0e5c3d
Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency.
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PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b
2025-03-06 08:28:36 -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
7651cb1b33
Copy texture coordinates from OBJ into flex. Fixes #2464 .
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PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
2025-02-28 06:04:19 -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
ce82b63155
Add mjs_attachFrameToSite.
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This is required in preparation of changing the spec.attach behavior in the Python bindings.
PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
2025-02-25 03:21:05 -08:00
7efaf5c549
Improve docstring of mjxmacro.py
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PiperOrigin-RevId: 729058910
Change-Id: I3ae9c7c50facca3bfb08a317c2267b9d8672f207
2025-02-20 04:43:26 -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
b0e9d08673
Move introspect to python/introspect
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PiperOrigin-RevId: 728695024
Change-Id: I96433e1e9ee509704d66bd4c1be1906732e4cc55
2025-02-19 09:01:21 -08:00
Alessio Quaglino