07e7417d26
Add prefix to asset paths when appending specs.
...
PiperOrigin-RevId: 794966246
Change-Id: I4825a11cc3234e6f403340dd997742cea0e2183b
2025-08-14 03:48:56 -07:00
eff4dda189
Suffix asset names when attaching specs.
...
PiperOrigin-RevId: 794717786
Change-Id: I02abe06ca3c43138e91e61f4acf87a26b3faf7fc
2025-08-13 13:43:16 -07:00
784c7a419b
Improve builtin hemisphere docs
...
PiperOrigin-RevId: 791271829
Change-Id: I391215b5388f4e9e2a17198dbcdbd0c605fda4b4
2025-08-05 10:25:45 -07:00
705ec6d7fb
Adds built-in superellipsoid mesh.
...
PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:02:52 -07:00
a5d4d1000e
Add built-in supertoroid mesh.
...
PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
2025-08-05 06:06:43 -07:00
996f0040fd
Add built-in sphere mesh.
...
PiperOrigin-RevId: 791162850
Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
2025-08-05 05:05:05 -07:00
5220767457
Add built-in hemisphere mesh.
...
PiperOrigin-RevId: 791148546
Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
2025-08-05 04:16:24 -07:00
a5a6379f83
Add built-in cone mesh type.
...
Also delete `prism` type since it is subsumed by cone.
PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
2025-08-04 19:35:32 -07:00
51babec9c5
Move tactile sensor to the engine.
...
PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
...
PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
46dc67b7eb
Add function mjs_sensorDim to user API.
...
Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
2025-07-29 10:20:27 -07:00
fc13995dd4
Yield ownership of vector<double>, vector<float>, and vector<int> to mjSpec in Python bindings.
...
Fixes #2756
PiperOrigin-RevId: 785417251
Change-Id: Ib399c46ee59585258ace7d9583c68b7d06d0a9e4
2025-07-21 06:44:17 -07:00
594e17074a
Replace name attribute with setters and getters in the C API of mjSpec.
...
PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
2025-07-03 02:30:56 -07:00
a2acd2d4ed
Rename detach_default and detach_body to delete in the mjSpec bindings.
...
PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
2025-06-20 06:23:30 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
...
In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
2025-06-20 04:12:27 -07:00
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
...
PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
1fbbfd8079
Correct frame property in MjsBody from method to read-only attribute.
...
PiperOrigin-RevId: 764188923
Change-Id: I7c753f7f431b79aa320681c45b7614f68b63852c
2025-05-28 03:48:07 -07:00
7a5b55f57e
Expose mjs_resolveOrientation to the Python API.
...
PiperOrigin-RevId: 762571376
Change-Id: I08d8394b24670c7f102356da4234b17f1ba4e05f
2025-05-23 14:36:47 -07:00
e389872c7d
Add frame property to python bindings.
...
PiperOrigin-RevId: 762452877
Change-Id: I555cec650d04700f6718b4d77a866c821b90685c
2025-05-23 09:24:24 -07:00
3e9d130092
Add mjs_getPluginAttributes.
...
PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
2025-04-29 05:19:09 -07:00
ec186430ef
Add setting plugin config properties via Python bindings.
...
PiperOrigin-RevId: 747421357
Change-Id: Ie80f1a889f2f6ec457c1e16193fa0694e07d3fe9
2025-04-14 08:07:14 -07:00
a209134315
Enable procedural plugin activation in Python bindings.
...
PiperOrigin-RevId: 746055614
Change-Id: Idcc2f62fdfeccdca356e3d1acadf168b46a98881
2025-04-10 09:13:21 -07:00
5c12ea871f
Split MjSpec out into header to allow use by other pybind modules.
...
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
b839fe79e1
Allow to attach an entire mjSpec in mjs_attach.
...
PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
2025-04-01 09:51:52 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
...
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.
...
Fixes #2525
PiperOrigin-RevId: 742685596
Change-Id: I5f0969967f2490d32e5691983e8d0c363d48a6bd
2025-04-01 07:14:59 -07:00
86c970bc23
Add error checking in mjs_setFrame.
...
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
be64747166
add mjs_detachDefault to delete a default class from mjSpec
...
PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
1bf24e9f67
Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site.
...
PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
2025-03-17 10:21:38 -07:00
da04688071
Automatically compile mjSpec in to_xml().
...
Also, move mj_compile from MjModelWrapper to MjSpec.
PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
2025-03-17 09:21:10 -07:00
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.
...
PiperOrigin-RevId: 730976077
Change-Id: I9aa8133241b45883e605ec80d64ae28af2962680
2025-02-25 12:02:13 -08:00
441b5c6082
Change MjSpec.default from method to attribute.
...
PiperOrigin-RevId: 730912407
Change-Id: I0147acbd257ecc8b72752a2992a7d4ea6e1b4c07
2025-02-25 09:17:45 -08:00
1b4258d274
Change set_default and default to classname in the bindings.
...
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
d830691f53
Merge pull request #2291 from AaronYoung5:main
...
PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
2025-02-12 00:16:10 -08:00
e54f3c222d
Autogenerate mjSpec find_* methods.
...
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.
...
Fixes #2415 .
PiperOrigin-RevId: 725161617
Change-Id: I6c374cc7f7cb3f1da1cc0da531dd7e5be5d62b6a
2025-02-10 04:33:14 -08:00
6bd88711a8
Add parent to MjSpec wrapper in Python bindings.
...
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
...
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
0643017346
Add asset argument to MjSpec constructors.
...
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.
...
PiperOrigin-RevId: 720611881
Change-Id: I92f5e72cece8d3223bc552ea4f2ef742c47cb8c9
2025-01-28 09:55:48 -08:00
6a7a7a5f80
Add the override_assets attribute to MjSpec.
...
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().
...
PiperOrigin-RevId: 717939728
Change-Id: I54f8ac87062cf19f55a16af37b777701545ed865
2025-01-21 08:57:09 -08:00
4bb6aeb19f
Change site and frame attach API.
...
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
699a6765e3
Add find functions for joints, lights, and cameras to mjSpec bindings.
...
PiperOrigin-RevId: 717578768
Change-Id: I2087ccbb9cf8b3b8ec03e9eb2edb0707d4a4cac1
2025-01-20 11:02:34 -08:00
4903d5321c
add find_geom property to mjSpec
...
PiperOrigin-RevId: 716225290
Change-Id: Ie6e229b0e802e7df06148f994d598334592e8ad1
2025-01-16 07:20:19 -08:00
c2138c3fb0
Do not copy the spec during attach.
...
Use a reference count for managing the memory.
PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
2025-01-16 03:53:17 -08:00
05d4c3d670
Add mjs_getParent to retrieve the parent body of an object.
...
PiperOrigin-RevId: 715794859
Change-Id: Ib9792787cdb966f579938dde3f94ebabca8ef1fc
2025-01-15 07:42:43 -08:00
10c7207cea
Process asset path before adding VFS buffer.
...
Also, handle VFS errors.
PiperOrigin-RevId: 715755127
Change-Id: Iaf455d448f16e37ab89ceaa5797319135acd73c9
2025-01-15 05:10:00 -08:00
ba183adb67
Add assets to MjSpec wrapper.
...
This enables associating assets with a spec object.
Also, remove `spec.compile(assets)` and replace it with the `spec.assets` attribute, which must be be set before compile if assets are present.
PiperOrigin-RevId: 714981385
Change-Id: Ic3a33c3b75d3a7e14868622aadb57b2a8461a649
2025-01-13 08:41:51 -08:00
Alessio Quaglino