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259 Commits

Author SHA1 Message Date
Yuval Tassa 34e537e557 Updates to minimize.least_squares. Fixes #1585 
- Residual callable is vectorized for easy multithreading by the user. Internally all vectors are now explicitly column vectors.
- Removed central findiff option, it wasn't applicable at the bounds anyway and just complicated the code.
- Added optional user-provided norm function for non-quadratic (robust) norms.
- Added an iter_callback callable for user convenience.
- Added option to internally check user-provided Jacobian and norm against finite differences.
- Updated the notebook accordingly.

PiperOrigin-RevId: 631205889
Change-Id: I3b9f8893756e329640de464e6f2e26a39e7dbd9e
 2024-05-06 15:36:01 -07:00
Yuval Tassa caf215e342 Add metallic and roughness scalar attributes to materials. 
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
Google DeepMind d2392efe6c Allow gl_context.GLContext to be None. 
PiperOrigin-RevId: 625927487
Change-Id: I85d5658c8ea529716aaac12b17957c59319367cc
 2024-04-17 23:38:06 -07:00
Yuval Tassa 2b4975811b Fix bug in Python binding of mj_saveModel 
PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
 2024-04-17 05:58:50 -07:00
Gabe Oppenheimer 225619c964 Update MuJoCo internal version to be the external version +1 
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
 2024-04-10 14:32:54 -07:00
Yuval Tassa 5a365603f8 Add mju_euler2Quat. 
PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
 2024-04-10 06:02:50 -07:00
Gabe Oppenheimer 930d7b0487 Update MuJoCo Cmake dependency on PyBind11 to the latest release 
PiperOrigin-RevId: 622853925
Change-Id: Ic2009c8ffd5441fbb87034915f6dd850a9836660
 2024-04-08 08:32:25 -07:00
Yuval Tassa 5d26b50fce Remove native sensor noise sampling. 
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
 2024-03-28 15:33:03 -07:00
Copybara-Service f0ad80f268 Merge pull request #1534 from aftersomemath:simulate-clear-load-error 
PiperOrigin-RevId: 618005670
Change-Id: Id2d33463e01dfb4193c1b22155d42c792d5d4f7d
 2024-03-21 17:06:47 -07:00
Levi Burner 848e014020 Copybara import of the project: 
--
40996ab1a05f328c2b5d1b940abb189d43f646de by Levi Burner <leviburner@gmail.com>:

[Python Viewer] load mjb files, fixes #1421

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1535 from aftersomemath:simulate-load-mjb 40996ab1a05f328c2b5d1b940abb189d43f646de
PiperOrigin-RevId: 617913250
Change-Id: I09e858495784122c29e0a3895ce43b95010003bc
 2024-03-21 11:40:40 -07:00
Levi Burner af38845280 [Python Viewer] clear load error on successful reload, fixes #1116 2024-03-21 12:52:23 -04:00
Copybara-Service 67982c4961 Merge pull request #1509 from awesome-aj0123:camera-bug-fixes 
PiperOrigin-RevId: 617864822
Change-Id: If8bca106ecf725f9a7103eb3e009af901d6495a4
 2024-03-21 09:18:04 -07:00
Matthew Bennice 20c8e3e43b Implement basic USD test 
PiperOrigin-RevId: 617302442
Change-Id: Ic598df9757288640b5f35c4e740958884b1b4698
 2024-03-19 14:53:18 -07:00
Abhishek Joshi 7013c288bd bug fix for no camera; changed objid argument to obj_name 2024-03-14 09:02:34 -05:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -08:00
Meghha Dhoke e2c14188ad Updated abseil for release version v3.1.3 
PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
 2024-03-05 12:57:23 -08:00
Copybara-Service 827cdfd7d5 Merge pull request #1413 from awesome-aj0123:usd-integration 
PiperOrigin-RevId: 612933036
Change-Id: Ia29230b1d91508dbc8b1cf7c76ff48c17448bf89
 2024-03-05 12:33:58 -08:00
Meghha Dhoke 7e87c6ac44 Updated Eigen3 hash in below files for Mujoco release version v3.1.3 
- CMakeLists.txt
- MujocoDependencies.cmake

PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
 2024-03-05 11:26:16 -08:00
Copybara-Service 6b7d714291 Merge pull request #1450 from v-r-a:angmomMat 
PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
 2024-03-05 07:35:15 -08:00
Yuval Tassa 982760a63b Improve bindings for mjd_subQuat. 
- Accept `None` for optional arguments.
- Accept 3x3 matrices for matrix arguments.

PiperOrigin-RevId: 611000820
Change-Id: Id28cdb2ae574f372ff251f94ab4557d9d2eaa80b
 2024-02-27 23:55:19 -08:00
Abhishek Joshi e1531f6e15 removing usd import from __init__.py 2024-02-26 10:59:33 -06:00
Yuval Tassa 03a8fa9ca9 Improvements to minimize.least_squares: 
- Added central differencing option.
- Changed `mu` semantics from log10 to actual values.
- `mu` control is now more aggressive, saves a few iterations.
- Use Armijo sufficient reduction criterion.
- Added some checks for float64 and NaNs.
- Added log of final result to trace.
- Removed unhelpful QP timing.

PiperOrigin-RevId: 610096950
Change-Id: Idf1a7c3155ce8e82fc2d5fe0f2da2f16636ff63d
 2024-02-24 20:42:45 -08:00
Kyle Bayes 109f2d7119 Replace mj_makeEmptyFileVFS in Python bindings with mj_addBufferVFS. 
PiperOrigin-RevId: 609383859
Change-Id: Ib23ee49e803630a2895a471e9a3ed8b33551cbb9
 2024-02-22 08:36:42 -08:00
Abhishek Joshi 7ffd43b55c addressing PR comments 2024-02-21 10:18:13 -06:00
Abhishek Joshi f721d3900d Merge branch 'google-deepmind:main' into usd-integration 2024-02-21 07:03:55 -08:00
Saran Tunyasuvunakool abf6d41b7f Fix incorrect data types in Python bindings of certain arrays. 
The mismatch between the `py::array_t` template argument and the type of the MuJoCo struct member being wrapped caused the `py::array_t` to be constructed via an unintended constructor overload, which in turn triggered `use-after-poison` under asan.

This bug affected the `geom`, `flex`, `elem`, and `vert` arrays in `mjContact`, and all array members in `mjrContext`.

PiperOrigin-RevId: 608632860
Change-Id: Ic227f691041b004a0fcf0cb6fa3d62c44861d9aa
 2024-02-20 09:26:19 -08:00
Yuval Tassa b56d4bf8a5 Add mujoco.minimize module. 
PiperOrigin-RevId: 608443678
Change-Id: Ib5dc78fe4523488b6c4e824f226591cf6a8a6216
 2024-02-19 18:58:42 -08:00
Abhishek Joshi a50f002bed changing to exporter file name 2024-02-15 09:34:39 -06:00
Abhishek Joshi e7a493bcca changing name to exporter 2024-02-15 09:34:11 -06:00
Abhishek Joshi 18edadb975 Merge branch 'google-deepmind:main' into usd-integration 2024-02-12 06:04:57 -08:00
Meghha Dhoke f763254a00 Updating Mujoco Release version number to v3.1.3 
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
 2024-02-05 15:59:20 -08:00
Meghha Dhoke f75923a48d Updated version numbers to cmake files
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PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
 2024-02-05 12:55:30 -08:00
Abhishek Joshi ff6581df1c Merge branch 'usd-integration' of github.com:awesome-aj0123/mujoco into usd-integration 2024-02-01 02:48:17 -06:00
Abhishek Joshi 75c0647bcc adding mujoco uds bridge 2024-02-01 02:47:45 -06:00
Yuval Tassa aceb52bd09 Improvements to mujoco.rollout: 
- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time.
- User-defined control spec.
- Stop squeezing: outputs always have dim=3.

PiperOrigin-RevId: 600445256
Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
 2024-01-22 07:01:53 -08:00
Yuval Tassa a23a368778 clean up rollout.cc 
PiperOrigin-RevId: 599849967
Change-Id: I899b28bf78bf0414b07314c24cfe6e24441eba30
 2024-01-19 09:03:10 -08:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Abhishek Joshi 8f247d5ed6 Merge branch 'google-deepmind:main' into usd-integration 2024-01-15 15:10:49 -05:00
Nimrod Gileadi ca023a6f28 Update EGL init code for Python 3.12. 
Fixes google-deepmind/mujoco#1299.

PiperOrigin-RevId: 595982512
Change-Id: Ib0261483a7f6cb8addf04f5010f09d3554c8bf45
 2024-01-05 06:50:55 -08:00
Kevin Zakka 1c7809e542 Free MjrContext in Renderer destructor. Fixes #1186. 
PiperOrigin-RevId: 595125644
Change-Id: I5dadc3508ec296ba8844fed2a8f5d2de7e53221d
 2024-01-02 08:38:46 -08:00
Yuval Tassa 4c066a26b5 Change mjVISSTRING of connect and weld equality constraints from "Constraint" to "Equality". This is more consistent with the 'E' shortcut key and with mjDISABLESTRING ("constraint" means all constraints, "equality" means bilateral constraints). 
Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.

PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
 2023-12-24 12:06:59 -08:00
Google DeepMind 7fb448613f Post release version update: Update to V3.1.2 
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
 2023-12-18 15:03:37 -08:00
Yuval Tassa 38fa756a20 Add mjGEOM_LINEBOX, used in visualization of collision trees. 
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
 2023-12-15 05:36:35 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Baruch Tabanpour 0d37670698 Fix eigen3 commit hash. 
PiperOrigin-RevId: 590335535
Change-Id: I90819d420e5ef54dfc5b202ce0407e1ea833a8a4
 2023-12-12 14:22:45 -08:00
Google DeepMind 0df1c9c733 Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0 
PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
 2023-12-12 13:17:35 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00
Kevin Zakka 53883ce86a Add a close() method to mujoco.Renderer which explicitly frees the gl context. 
PiperOrigin-RevId: 590221484
Change-Id: I07392f9c53f662a37a57ab23acfef9aa5a98a49b
 2023-12-12 08:59:46 -08:00
Yuval Tassa 822b03446c Improve pipeline documentation, expose mj_implicit function to public header. 
PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
 2023-11-29 10:18:57 -08:00
Copybara-Service 20eeb75086 Merge pull request #1187 from tmplt:ref/cmake-system-pybind 
PiperOrigin-RevId: 584560576
Change-Id: I1c16fbf80e3ba7175cf4d1d89a459e817100e1f8
 2023-11-22 02:20:02 -08:00