da1850760a
Prepare for v3.3.1 release.
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PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02
2025-04-09 08:40:30 -07:00
5c12ea871f
Split MjSpec out into header to allow use by other pybind modules.
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This should enable other pybind modules to accept arguments of type MjSpec.
PiperOrigin-RevId: 745580987
Change-Id: I435a8d264149369e3fbee14c5d2c628ef74b2541
2025-04-09 07:31:23 -07:00
5031f88158
In minimize.least_squares, compute values at the solution at full verbosity.
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PiperOrigin-RevId: 745301888
Change-Id: Ibd8e35e405bb2cebc7ac59a6dfc77118a6e6ba9f
2025-04-08 14:55:53 -07:00
699ad13a72
Merge pull request #2503 from Andrew-Luo1:rscope
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PiperOrigin-RevId: 745266549
Change-Id: I15d2eb992aae643ac096650693cc0750421f14c6
2025-04-08 13:21:47 -07:00
55e3ca3acf
Improvements to minimize.least_squares.
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All changes make functionality more similar to SciPy least squares:
- Use adaptive findiff epsilon.
- Make termination on step size relative to norm(x).
- Add termination on gradient norm.
- Make default tolerances like SciPy's.
PiperOrigin-RevId: 745221614
Change-Id: Iee93256651fca8154c97fa3bdaa9c67ede28e573
2025-04-08 11:23:24 -07:00
fc516ee3c1
revert import order
2025-04-08 14:06:17 -04:00
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
93251f07d9
Install timers by default in Python bindings
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PiperOrigin-RevId: 744663306
Change-Id: Ia322ace94d1f269ff9b0275567b2e453acc94843
2025-04-07 03:54:24 -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
b839fe79e1
Allow to attach an entire mjSpec in mjs_attach.
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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
2025-04-01 09:51:52 -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
305b68ecbf
Add tests for body.find_all() of joints and geoms, fix error message.
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Fixes #2525
PiperOrigin-RevId: 742685596
Change-Id: I5f0969967f2490d32e5691983e8d0c363d48a6bd
2025-04-01 07:14:59 -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
ebd30493c8
Allow nameless bind in MJX.
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PiperOrigin-RevId: 742592221
Change-Id: I9490aebd64e3a31219c552d5b6eb55236680f10d
2025-04-01 01:45:44 -07:00
65500cfbdc
improve variable and function names
2025-03-30 22:19:55 -04:00
97092facd6
resolve PR comments
2025-03-27 19:35:36 -04:00
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
da04688071
Automatically compile mjSpec in to_xml().
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Also, move mj_compile from MjModelWrapper to MjSpec.
PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
2025-03-17 09:21:10 -07:00
faff1224ba
fix memory leak
2025-03-17 10:42:11 -04:00
86fd31b9b8
run pyink and isort
2025-03-16 17:44:24 -04:00
f02fdfe2d1
add handles for text and image overlays
2025-03-14 21:41:28 -04:00
f480a9e985
Add MjSpec.from_zip() constructor.
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PiperOrigin-RevId: 736871864
Change-Id: Ib6cc189d5912a57e5c505c744a4a1d6ad61d1c84
2025-03-14 08:31:14 -07:00
a7a8a68be5
Merge pull request #2496 from jjyyxx:patch-1
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PiperOrigin-RevId: 736457846
Change-Id: I3b4b1554dd15e9ca73abee5c31d4758f694f5b44
2025-03-13 04:33:45 -07:00
3884c86a14
Fix broken model.vis repr
2025-03-12 00:28:38 +08:00
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
51f6aa8b43
Store assets by address instead of value in MjSpec.
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PiperOrigin-RevId: 733343350
Change-Id: I42ee2a184ebff37a080dace0422bb61e1ba53527
2025-03-04 08:43:27 -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
06e217df7e
[MJ3.3.1] Bumping internal version number.
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PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
2025-02-27 14:53:28 -08:00
8de9b4e4e3
Merge pull request #2462 from jjyyxx:main
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PiperOrigin-RevId: 731710330
Change-Id: If87dd2c06123bd9ddfc62b63370c8fedf320e721
2025-02-27 06:58:24 -08:00
e1f18a747e
Update dependencies and the changelog ahead of the 3.3.0 release.
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PiperOrigin-RevId: 731406295
Change-Id: I05027722a9681f71549b7e022dfe13fc381b8564
2025-02-26 12:07:55 -08:00
9996500de9
update the version number to 3.3.0 instead of 3.2.8
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PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
2025-02-26 11:42:55 -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
2039629457
Expose MjSpec raw pointer via _address
2025-02-26 10:25:55 +08:00
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
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
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
Gabe Oppenheimer