d6553ed192
Update contype and conaffinity if fusestatic is true. Fixes #1577 .
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PiperOrigin-RevId: 628073529
Change-Id: I2fe88736d12ec16d72bbd4dce5d349b930147b50
2024-04-25 07:46:00 -07:00
027c26a153
Improve error reporting of sensorized objects.
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Also remove duplication of element name and id from most error messages.
PiperOrigin-RevId: 628065116
Change-Id: Idd962fbab7aeba09e3a70c6c9d044b23db94cf23
2024-04-25 07:13:54 -07:00
cbb048ff00
Allow parent targeting for cameras and lights.
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PiperOrigin-RevId: 628002614
Change-Id: I047dd3d62cfbc6432a3ec53fe6465afc52ca615b
2024-04-25 02:10:35 -07:00
e9709900b4
Add gravcomp.
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PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
2024-04-24 11:19:34 -07:00
68e33f4c4e
Merge pull request #1601 from Andrew-Luo1:main
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PiperOrigin-RevId: 627779916
Change-Id: I656984b53556360b1ba88ca6adc8ea1cf2e9d215
2024-04-24 10:49:13 -07:00
0a60d555c6
Fix small bug in testspeed.
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PiperOrigin-RevId: 627773755
Change-Id: Iebbcaa41cfdde126312e388d368843a4754abfb8
2024-04-24 10:30:45 -07:00
1c8ff66cc9
Remove const from argv argument in sample.cc
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PiperOrigin-RevId: 627746353
Change-Id: Ib27f9e911a74565d99a7bf0a173085c513047878
2024-04-24 09:01:45 -07:00
b56d7d6e30
Add more info to doc about static fields. Fixes #1615 .
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PiperOrigin-RevId: 627528282
Change-Id: I88aa1ece0e530a53a3ae18c8dc935d3ea9c56c09
2024-04-23 15:47:49 -07:00
80810391ab
Add defaults to attach tests.
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PiperOrigin-RevId: 627526669
Change-Id: I5fc7955bacc459c637fce8e88e9da7bbfd7fb011
2024-04-23 15:40:54 -07:00
d15db54537
Add support functions for id2name and name2id.
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PiperOrigin-RevId: 627525330
Change-Id: Ic8069f64c94ef4b8f96f62b88ece62a8b296d870
2024-04-23 15:35:59 -07:00
cf433a4ad9
Use enum instead of NaNs for alternative orientation specification.
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PiperOrigin-RevId: 627413508
Change-Id: I9f1a682a1533e1a3fa3cac0a462f28ce9b0fa192
2024-04-23 09:32:51 -07:00
f457789de1
Improve full inertia user API.
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PiperOrigin-RevId: 627399310
Change-Id: Ie2bdc6778e80b2b8127b52c73a3cc4b4755d8e0a
2024-04-23 08:40:01 -07:00
554771f6b3
Merge branch 'main' of https://github.com/Andrew-Luo1/mujoco_apg_tutorial into main
2024-04-23 13:50:08 +02:00
9530aa11e3
add a reference
2024-04-23 13:50:00 +02:00
a8aa15af4d
clean up text
2024-04-23 08:16:38 +02:00
938a62f476
update apg diagram
2024-04-23 08:10:11 +02:00
a1d53711bc
revert pyproject
2024-04-23 06:17:47 +02:00
e6b95f3cfc
Merge branch 'google-deepmind:main' into main
2024-04-23 06:12:20 +02:00
c6ab354bd7
Remove type annotations unavailable in python < 3.10. Fixes #1590
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PiperOrigin-RevId: 627188913
Change-Id: I9adc627349a4001291ac6d05080b761fee155ab0
2024-04-22 16:22:36 -07:00
71333938ec
Add support for condim to MJX.
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PiperOrigin-RevId: 627136131
Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
2024-04-22 13:20:57 -07:00
3ddf1b492a
Fix control reaches end of non-void function in engine_forward.c
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PiperOrigin-RevId: 627104708
Change-Id: I790b2bd22fd83ed616605a35f3e7268e28c73aa6
2024-04-22 11:36:39 -07:00
8ebc9ed2c8
Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.
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PiperOrigin-RevId: 627087335
Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
2024-04-22 10:45:43 -07:00
546a27ca72
Fix memory allocation error when memory size is larger than 2G. Fixes #1606
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PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
2024-04-22 09:15:46 -07:00
6540289eb1
Change schema order in the docs: move option to the top, move visual down.
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PiperOrigin-RevId: 627036617
Change-Id: Icb18a4afab7d549baee8ed0df89e98dfac4d6e6c
2024-04-22 07:56:26 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
c2d0c5dd1b
Add cylinder collisions using SDFs.
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PiperOrigin-RevId: 626998709
Change-Id: I669a639b1cabf5ed522c73a07e54684d675fa396
2024-04-22 05:07:43 -07:00
9aa885aa63
Fix attribute order in mjsDefault.
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PiperOrigin-RevId: 626992244
Change-Id: I0755745d2d4a55fbf6c685ad383a5be0842e7984
2024-04-22 04:36:56 -07:00
cc78db41f4
Add mjs_detachBody to C API.
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PiperOrigin-RevId: 626947850
Change-Id: I7c897048098ecd4f2247725ef2d378dbd00ef4a0
2024-04-22 01:11:13 -07:00
001d2dfa85
comments
2024-04-21 22:29:58 +02:00
eb6624bd86
further clean up text, add comments, remove irrelevant observations in get_obs, regenerate apg outputs
2024-04-21 22:06:36 +02:00
f3a9d7790a
Merge branch 'google-deepmind:main' into main
2024-04-21 17:15:31 +02:00
34a61ae42f
Fix image link in model documentation.
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PiperOrigin-RevId: 626498569
Change-Id: I589257346d48e5424a6eb7d43d28561ff8c0e2d0
2024-04-19 16:32:05 -07:00
718e079cba
Fix bad changelog formatting.
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PiperOrigin-RevId: 626497821
Change-Id: I705b691b5ad985889a9b05da8c775df42b3811d6
2024-04-19 16:28:43 -07:00
3b64217b96
Remove deprecated mjx.device_* functions. They are not suited to upcoming condim support.
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PiperOrigin-RevId: 626486447
Change-Id: Ibd41874bb3903123567168ebbac563399788d2f2
2024-04-19 15:34:28 -07:00
e98a95821d
Add fruit fly model.
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PiperOrigin-RevId: 626447823
Change-Id: I2e13312364c42cf2fccf0a843f8f2661b1b2f6a1
2024-04-19 13:03:26 -07:00
ab7d8fe167
update comments
2024-04-19 06:44:59 +02:00
3e12452bc9
git clone mujoco menagerie rather than import anymal_c locally
2024-04-19 06:30:57 +02:00
a4df912018
Prepare MJX for condim.
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This is a refactor of collision_driver and some of its surrounding code in order to prepare for condim in MJX. In this change we reify types that are needed for condim: dim, efc_address, efc_type. We make explicit the way contacts are organized and grouped to guarantee that dim and efc_type are statically defined.
This change simplifies the way meshes are organized on device and slightly speeds up mesh collisions for cases where a single mesh is instanced across many geoms.
PiperOrigin-RevId: 626119500
Change-Id: Ic0c8599bcda2326f2e19cd3246a673e56097886b
2024-04-18 12:43:36 -07:00
8b7f1094f1
Fix jax deprecation warning for jax.tree_map.
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PiperOrigin-RevId: 626092308
Change-Id: I78145efe62ae118726c1755856d7cb9b1abd988a
2024-04-18 11:13:35 -07:00
4b7b40d329
Add test for saving and loading binary models.
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PiperOrigin-RevId: 626019520
Change-Id: I1e349921b3408bee288c52d9e52b29006ff3fda4
2024-04-18 06:55:07 -07:00
c331d18a6e
Support nested frames in mjs_attachFrame.
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PiperOrigin-RevId: 626001651
Change-Id: I3dc52baa6aad875504dd4c7d969a4091f52c4c16
2024-04-18 05:37:12 -07:00
d2392efe6c
Allow gl_context.GLContext to be None.
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PiperOrigin-RevId: 625927487
Change-Id: I85d5658c8ea529716aaac12b17957c59319367cc
2024-04-17 23:38:06 -07:00
5d2986f9c7
change default option on brax apg
2024-04-18 05:05:28 +02:00
568e1f2d59
refine text
2024-04-18 04:50:21 +02:00
4a76496533
Compile frames during compilation instead of parsing.
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PiperOrigin-RevId: 625717564
Change-Id: Ib82230f6cb423bb3091efd04a7fa0b1411e7cdf1
2024-04-17 09:56:24 -07:00
a4c31c09a8
Clean up user_api.h
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PiperOrigin-RevId: 625693719
Change-Id: I8e75abb9a38bd45ba7a81938eda3baf68b878d4a
2024-04-17 08:35:37 -07:00
2b4975811b
Fix bug in Python binding of mj_saveModel
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PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
2024-04-17 05:58:50 -07:00
81feadad5c
Add mjs_attachFrame to user_api.
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PiperOrigin-RevId: 625648309
Change-Id: I4d6dfc4d38ad6ce688df83eb7cc2c34676076193
2024-04-17 05:25:16 -07:00
bfad82d475
fix typos
2024-04-17 14:23:10 +02:00
b2a8ff9b24
Merge branch 'google-deepmind:main' into main
2024-04-17 14:08:51 +02:00
Alessio Quaglino