d1d61925da
Do not delete the world child when doing spec.attach.
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PiperOrigin-RevId: 730976077
Change-Id: I9aa8133241b45883e605ec80d64ae28af2962680
2025-02-25 12:02:13 -08:00
441b5c6082
Change MjSpec.default from method to attribute.
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PiperOrigin-RevId: 730912407
Change-Id: I0147acbd257ecc8b72752a2992a7d4ea6e1b4c07
2025-02-25 09:17:45 -08:00
dc98ae978d
Publicize the rollout notebook, small improvements to plotting.
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PiperOrigin-RevId: 730841667
Change-Id: Id365f21cee078f28cb3fa797701c3c5a409607cd
2025-02-25 05:20:41 -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
cfc59164eb
rollout notebook: fixups to benchmarks, plots, text
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1. MJX benchmarks use jax.lax.scan and block_until_ready
2. Benchmark parameters updated to match RL use case
3. humanoid benchmarks are warmstarted by 2 seconds, humanoid100 by 4 seconds
4. benchmarks use skip_checks and preallocated threadpools
5. Improved advanced usage plots
6. Benchmark no longer includes model initialization in timed section
7. Update notebook text as needed
2025-02-25 03:25:51 -05:00
a0eb985532
rollout notebook: fix bugs due to cell reordering
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PiperOrigin-RevId: 729567659
Change-Id: I439da667317ed51370d7c8a9fbfc31d11140752c
2025-02-21 10:05:30 -08:00
f9bb6cb3db
Minor updates to rollout notebook:
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1. Move benchmarks below advanced usage.
2. Request A100 GPU
3. Minor cosmetic changes.
PiperOrigin-RevId: 729538515
Change-Id: I12709cd95f6865e53fd3932ea0b303ee8efc4028
2025-02-21 08:27:33 -08:00
ea2bbc1d14
Merge pull request #2439 from aftersomemath:rollout-size_t
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PiperOrigin-RevId: 729519951
Change-Id: Ic50b08960da84d2277820212d19fcbab9f2d67cf
2025-02-21 07:17:25 -08:00
a0971ef749
rollout fix cosmetics
2025-02-21 08:44:17 -05:00
aca4e5d6ae
rollout test for integer overflow in array size check
2025-02-20 21:12:52 -05:00
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
df71467eed
rollout use size_t for array size check and pointer arithmetic
2025-02-19 22:46:12 -05:00
19624aef9d
Add an example of a textured height field to mjSpec notebook.
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https://youtu.be/i6eXrzJNKeY
PiperOrigin-RevId: 728841769
Change-Id: I1aca838af69d8474aab13b06d8c1e5cf87fc6440
2025-02-19 15:34:21 -08:00
7a2ad8fd97
Merge pull request #2436 from aftersomemath:rollout-notebook-pr
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PiperOrigin-RevId: 728706864
Change-Id: I8f3a507234c4265564a4fee9df0ab8111ff7dd85
2025-02-19 09:42:08 -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
41a873b016
Notebook showcasing the Python rollout module
2025-02-18 10:57:03 -05:00
7f11a0df12
Add check for height fields size during compilation.
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Fixes #2427 .
PiperOrigin-RevId: 727805729
Change-Id: Idf3192e5fb238249faaeae6b4fb9de4c55755d96
2025-02-17 04:01:27 -08:00
37d7591ce0
Add support for user-defined figures in the MuJoCo viewer.
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PiperOrigin-RevId: 726983516
Change-Id: Ifb821f3cafb163d4f3077d76b0668037b4bc5a9c
2025-02-14 10:45:47 -08:00
5b924fec98
Add support for binding to arrays of mjs element.
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Fixes #2402 .
PiperOrigin-RevId: 726449592
Change-Id: I0cde44889837a71a222b20cf91fa56568b4af689
2025-02-13 06:01:30 -08:00
1b4258d274
Change set_default and default to classname in the bindings.
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Having defaults in the names of the attribute or function names is confusing for the users since the defaults are not re-applied but are only used for writing to XML. The alternative would be to change mjs_setDefault to re-apply them, but this would overwrite any other attribute set by the user so far.
PiperOrigin-RevId: 726431090
Change-Id: I41f4a23e1722e278b0ecc0a00b07db9b384fe994
2025-02-13 04:52:02 -08:00
7af9bcbf00
mjSpec tutorial: Move humanoid and Menagerie imports to the cells that require them.
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PiperOrigin-RevId: 725945693
Change-Id: I3f0d4c867626ef61605815bb708a55c8e29d79e2
2025-02-12 01:02:17 -08:00
d830691f53
Merge pull request #2291 from AaronYoung5:main
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PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
2025-02-12 00:16:10 -08:00
cef5b31a3f
Drop find_ prefix in Python MjSpec methods accessing elements by name.
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PiperOrigin-RevId: 725594833
Change-Id: Ibf8a9918e98b298751d0ef2e657714e28e5fa460
2025-02-11 05:50:49 -08:00
e54f3c222d
Autogenerate mjSpec find_* methods.
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PiperOrigin-RevId: 725255440
Change-Id: Ia9112f6c582ea9bb0af38aa97a917e72a98a84f5
2025-02-10 10:03:44 -08:00
4156350708
Add to_file function to save the Spec to a file.
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Fixes #2415 .
PiperOrigin-RevId: 725161617
Change-Id: I6c374cc7f7cb3f1da1cc0da531dd7e5be5d62b6a
2025-02-10 04:33:14 -08:00
73aba91297
Add simple procedural tree example to model editing tutorial.
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https://youtu.be/7VJG61AapEc
PiperOrigin-RevId: 724729966
Change-Id: I48c288de8e01baa3cd8f40700bc7137744de37a0
2025-02-08 13:02:11 -08:00
06758e35ab
Fix mjSpec colab after changing the default behavior of attach to be a shallow copy.
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PiperOrigin-RevId: 724375710
Change-Id: I5fac7d24c1d0b1ad4d427c021022c47620accf53
2025-02-07 09:41:03 -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
6bd88711a8
Add parent to MjSpec wrapper in Python bindings.
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This keeps track of specs attached with the full attach function `attach`. It does not track fine-grained attach via `attach_body` and `attach_frame`.
PiperOrigin-RevId: 722597081
Change-Id: I56188f1718592128b7033538acc9a40553cbbed2
2025-02-03 04:04:11 -08:00
86ace5e562
Remove body.spec() function from the Python API
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We can only use the MjSpec wrapper, not the raw::MjSpec struct in the API.
PiperOrigin-RevId: 722589064
Change-Id: I007150f92738487f27211d7435e328cab86214f7
2025-02-03 03:31:35 -08:00
767be23207
Fix pretty printing in mjspec notebook.
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PiperOrigin-RevId: 721367994
Change-Id: Ia1c4ee5b64540ff2f9c08a1953295ff366e0c72b
2025-01-30 06:32:35 -08:00
904b49848f
Add worldbody assertions in attach tests.
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This clarifies the difference between attaching a full spec, which converts the worldbody to a frame, and attaching a specific body (or frame).
PiperOrigin-RevId: 721297010
Change-Id: Iff87fe99b81746e6ab3a189a3057b274d3c9a939
2025-01-30 01:35:55 -08:00
0643017346
Add asset argument to MjSpec constructors.
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PiperOrigin-RevId: 720628689
Change-Id: I189aa34973e58b9fb87951e34cb923d94e081a55
2025-01-28 10:39:27 -08:00
5b330ca19c
Change keyword argument asset to include in spec.from_file and spec.from_string.
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PiperOrigin-RevId: 720611881
Change-Id: I92f5e72cece8d3223bc552ea4f2ef742c47cb8c9
2025-01-28 09:55:48 -08:00
2546fcefa0
Add mujoco.MjSpec.to_zip()
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PiperOrigin-RevId: 719003836
Change-Id: I310ac96b0080b3313c325cee76d3bf7f81fa9df0
2025-01-23 14:01:06 -08:00
f9fd2e4ba4
Add a test showing how to implement scipy's 'soft_l1' loss in minimize.least_squares
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PiperOrigin-RevId: 718649580
Change-Id: I5cec0e2850c805301407c9eb543ab3ba69d42e79
2025-01-22 18:25:44 -08:00
0090e1e908
Rename rollout variable nroll to nbatch.
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PiperOrigin-RevId: 718196100
Change-Id: Ic36b1a96ea1af2de351539115d4eee051d195aaf
2025-01-21 21:04:15 -08:00
ac76540eb8
Merge pull request #2377 from aftersomemath:rollout-fix-ndata-check
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PiperOrigin-RevId: 718181763
Change-Id: Ie88bf1d26c77478ce3a5ca8fdf29ae90e54b5834
2025-01-21 20:11:33 -08:00
6a7a7a5f80
Add the override_assets attribute to MjSpec.
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When specified, child asset with repeated names will override parent's, rather than throw an error. Default behavior is to override.
PiperOrigin-RevId: 717979621
Change-Id: I18022dc266619b4ba1a8636d1c60f85b0eb5f862
2025-01-21 10:39:02 -08:00
1412a29dac
Merge child asset dictionary into parent spec during attach().
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PiperOrigin-RevId: 717939728
Change-Id: I54f8ac87062cf19f55a16af37b777701545ed865
2025-01-21 08:57:09 -08:00
4bb6aeb19f
Change site and frame attach API.
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Old API:
```
site.attach(child_spec)
frame.attach(child_spec)
```
New API:
```
parent_spec.attach(child_spec, frame=frame_name_or_object)
parent_spec.attach(site_spec, site=site_name_or_object)
```
This enables accessing the parent object during attach, which will be used in a follow-up CL to automatically append the child assets to the parent.
PiperOrigin-RevId: 717908589
Change-Id: I0fb27e99694c954cb8ba8a8c98484ffd53a4d6db
2025-01-21 07:29:27 -08:00
cee122116e
rollout: fix bugs in checking list lengths, add tests
2025-01-21 00:36:52 -05:00
baf1c43b3c
Fix more misleading line for creating list of models in rollout_test.py
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PiperOrigin-RevId: 717628943
Change-Id: I83a314565ce4ec683afeea18c8c8ce9e23d5452e
2025-01-20 14:27:31 -08:00
ff4783482c
Fix misleading line for creating list of models in rollout_test.py
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PiperOrigin-RevId: 717582208
Change-Id: I1b4e40fc5ccbfe68fb7dc240715c704f1f68d9fe
2025-01-20 11:13:21 -08:00
699a6765e3
Add find functions for joints, lights, and cameras to mjSpec bindings.
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PiperOrigin-RevId: 717578768
Change-Id: I2087ccbb9cf8b3b8ec03e9eb2edb0707d4a4cac1
2025-01-20 11:02:34 -08:00
4903d5321c
add find_geom property to mjSpec
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PiperOrigin-RevId: 716225290
Change-Id: Ie6e229b0e802e7df06148f994d598334592e8ad1
2025-01-16 07:20:19 -08:00
c2138c3fb0
Do not copy the spec during attach.
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Use a reference count for managing the memory.
PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
2025-01-16 03:53:17 -08:00
6436055c6c
Update the version number to 3.2.8 following the 3.2.7 release.
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PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
2025-01-15 11:13:27 -08:00
05d4c3d670
Add mjs_getParent to retrieve the parent body of an object.
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PiperOrigin-RevId: 715794859
Change-Id: Ib9792787cdb966f579938dde3f94ebabca8ef1fc
2025-01-15 07:42:43 -08:00
Alessio Quaglino