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Author SHA1 Message Date
Yuval Tassa e39a5df06a mju_compressSparse(): add option to compress away small elements. 
PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
 2025-02-12 05:08:20 -08:00
Yuval Tassa faed1a1137 Clean up mj_jacSparse. 
PiperOrigin-RevId: 725994792
Change-Id: I928a6312a6910231bfeb96ef7a3f29f1d128565c
 2025-02-12 04:06:00 -08:00
Yuval Tassa 7af9bcbf00 mjSpec tutorial: Move humanoid and Menagerie imports to the cells that require them. 
PiperOrigin-RevId: 725945693
Change-Id: I3f0d4c867626ef61605815bb708a55c8e29d79e2
 2025-02-12 01:02:17 -08:00
Copybara-Service d830691f53 Merge pull request #2291 from AaronYoung5:main 
PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
 2025-02-12 00:16:10 -08:00
Yuval Tassa ef1ef8ef6a Fix Sphinx-Toolbox dependency issue in documentation. 
PiperOrigin-RevId: 725818375
Change-Id: I9f241f9575d4bebceeab62937caf682e455b3816
 2025-02-11 16:41:02 -08:00
Kyle Bayes e3b9538d92 Add saving the indices of mesh vertices with the support points in nativeccd. 
PiperOrigin-RevId: 725660975
Change-Id: I036882a5bde5d009bfa6e66b6a10f6cfb1a78292
 2025-02-11 09:28:49 -08:00
Google DeepMind ac2a324fbd Reduce "shadow acne" artifacts 
PiperOrigin-RevId: 725640931
Change-Id: I95df97d6076b99c12e291f69e8e54bbe70538293
 2025-02-11 08:28:12 -08:00
Alessio Quaglino cef5b31a3f Drop find_ prefix in Python MjSpec methods accessing elements by name. 
PiperOrigin-RevId: 725594833
Change-Id: Ibf8a9918e98b298751d0ef2e657714e28e5fa460
 2025-02-11 05:50:49 -08:00
Yuval Tassa a6dd5f086f Document element name lookup in MjSpec. 
PiperOrigin-RevId: 725258206
Change-Id: I5c9a85d25787eb38e9e8c3854eda2581700e188e
 2025-02-10 10:10:41 -08:00
Alessio Quaglino e54f3c222d Autogenerate mjSpec find_* methods. 
PiperOrigin-RevId: 725255440
Change-Id: Ia9112f6c582ea9bb0af38aa97a917e72a98a84f5
 2025-02-10 10:03:44 -08:00
Alessio Quaglino 94115ecf08 Fix qvel bind in MJX when using multiple joints. 
Reported by #2402.

PiperOrigin-RevId: 725237347
Change-Id: I279c73e5cf2b959086292b739972afe5f70ceffb
 2025-02-10 09:09:18 -08:00
Alessio Quaglino 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
Nimrod Gileadi 0e01b51590 Output a useful message when there's a mismatch between MJX data and MuJoCo data array sizes. 
PiperOrigin-RevId: 725151186
Change-Id: I71f81bb82e2b8667880a31db5913e98f7885e677
 2025-02-10 03:51:31 -08:00
Copybara-Service 694eb6bb1d Merge pull request #2409 from maximevtush:main 
PiperOrigin-RevId: 724879879
Change-Id: I5e65c1892d7160690f6f1d5ae7ddab5f7d46d02b
 2025-02-09 03:37:37 -08:00
Yuval Tassa f73f0e1d0d Fix aspect ratios of embedded videos in docs. 
Note that small videos, for some reason, need an aspect ratio that is different  from the actual aspect ratio.

PiperOrigin-RevId: 724879307
Change-Id: I681f071baf4eb09cfda41edeca0d1ee16be4181a
 2025-02-09 03:33:10 -08:00
Maxim Evtush 5874c8a8df Update xml_native_writer_test.cc 2025-02-08 22:14:32 +01:00
Maxim Evtush 1025335c0c Update MjXmlModifiers.cs 2025-02-08 22:14:03 +01:00
Yuval Tassa 73aba91297 Add simple procedural tree example to model editing tutorial. 
https://youtu.be/7VJG61AapEc

PiperOrigin-RevId: 724729966
Change-Id: I48c288de8e01baa3cd8f40700bc7137744de37a0
 2025-02-08 13:02:11 -08:00
Yuval Tassa 5ee0654830 Roll back recent change to mjData.qLD until some issues are resolved. 
PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
 2025-02-07 10:21:42 -08:00
Alessio Quaglino 06758e35ab Fix mjSpec colab after changing the default behavior of attach to be a shallow copy. 
PiperOrigin-RevId: 724375710
Change-Id: I5fac7d24c1d0b1ad4d427c021022c47620accf53
 2025-02-07 09:41:03 -08:00
Alessio Quaglino c1ecc50081 Store joint damping and stiffness in the private spec when springdamper is used in the public spec. 
PiperOrigin-RevId: 724288204
Change-Id: I7341d5d804e1ea73ded48b8b447addd4e124ab97
 2025-02-07 03:55:24 -08:00
Yuval Tassa c27d3758c2 Convert qLD to CSR format. 
PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
 2025-02-06 08:59:35 -08:00
Copybara-Service cb1696eb34 Merge pull request #2390 from talregev:TalR/mesh 
PiperOrigin-RevId: 723916727
Change-Id: I0abb0a12121c9eb291ccbc6afa0b4117bd389956
 2025-02-06 06:46:40 -08:00
Alessio Quaglino dec7b661c1 Add mujoco.MjSpec.MjStruct type. 
PiperOrigin-RevId: 723552214
Change-Id: I8ecb43b4025b532ba8b48e15c9c6a2b350293d20
 2025-02-05 10:01:35 -08:00
Alessio Quaglino fe16c27555 Always compute the convex hull if the mesh inertia is set to convex. 
PiperOrigin-RevId: 723477903
Change-Id: Ibc50d62741f47a5b96a648efd8fb244810664c17
 2025-02-05 05:52:10 -08:00
Yuval Tassa 49d07c6100 Fix text edit buffer underrun. 
PiperOrigin-RevId: 723474334
Change-Id: Ibff6d83d67275e6c6333a00cabe33967913dceb1
 2025-02-05 05:36:32 -08:00
Alessio Quaglino 0d4bc1de00 Do not use flexedge_length if trilinear interpolation is used. 
PiperOrigin-RevId: 723452451
Change-Id: I5a67fb74c13e80ae6d390694dd0c9f8c5e4d5213
 2025-02-05 04:09:32 -08:00
Kyle Bayes 3235f69afc Make polytope2 and polytope4 more numerically robust in nativeccd. 
PiperOrigin-RevId: 723412555
Change-Id: Id262a3c19bcd30b74b1495591bdc95f951bfca50
 2025-02-05 01:40:41 -08:00
Alessio Quaglino 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
Alessio Quaglino 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
Alessio Quaglino 709b8d6b83 Add support for vector-valued joints in MJX bind. 
PiperOrigin-RevId: 721743855
Change-Id: I68d7f6220ade89a5c0c507ea955e45657541d4eb
 2025-01-31 05:53:04 -08:00
Tom Power 3d9946cff3 Improve mesh processing readability 
PiperOrigin-RevId: 721524528
Change-Id: I3af4e25815cbc7517b772826af7d929ea93f8164
 2025-01-30 14:41:21 -08:00
Yuval Tassa 767be23207 Fix pretty printing in mjspec notebook. 
PiperOrigin-RevId: 721367994
Change-Id: Ia1c4ee5b64540ff2f9c08a1953295ff366e0c72b
 2025-01-30 06:32:35 -08:00
Copybara-Service 2680bd3e8b Merge pull request #2395 from hartikainen:main 
PiperOrigin-RevId: 721367039
Change-Id: Icb79cb50c2a07e5f10fdece3edc52b40cdcdfbac
 2025-01-30 06:28:44 -08:00
Alessio Quaglino 904b49848f Add worldbody assertions in attach tests. 
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
Baruch Tabanpour e0664b1bb8 Fix bug with box-box #2356. 
PiperOrigin-RevId: 721138760
Change-Id: Ib9548b0bc505a9856176188c91858cff7c9accdf
 2025-01-29 16:00:29 -08:00
Yuval Tassa 5b245e5d02 Fix handling of _full_compat argument in put_data. 
PiperOrigin-RevId: 721128021
Change-Id: Ic1cce42fbb38799228d6433ef0c761b1f9b81c4b
 2025-01-29 15:27:14 -08:00
Kristian Hartikainen 0fda5344c2 Fix typos 2025-01-29 15:31:39 -05:00
Erik Frey 7232a91617 Add keyframe fields to mjx.Model. 
PiperOrigin-RevId: 721060807
Change-Id: Iae6aa8773e0e9802b0bd1de9a14d83987cd56936
 2025-01-29 12:02:48 -08:00
Alessio Quaglino 7cdf180641 Introduce trilinear flex parametrization. 
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.

On an 8x8x8 cube, the performance using DOFs at all vertices is

```
 Simulation time      : 18.74 s
 Steps per second     : 533
 Realtime factor      : 0.53 x
 Time per step        : 1874.4 µs

 Contacts per step    : 114.88
 Constraints per step : 3322.51
 Degrees of freedom   : 1536
```

With the new implementation, it is the following:

```
 Simulation time      : 1.82 s
 Steps per second     : 5507
 Realtime factor      : 5.51 x
 Time per step        : 181.6 µs

 Contacts per step    : 38.84
 Constraints per step : 155.36
 Degrees of freedom   : 24
```

PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
 2025-01-29 09:38:22 -08:00
Kevin Zakka 1a4b821b6b [doc] Tweak language in asset dict paragraph. 
PiperOrigin-RevId: 720994183
Change-Id: Ib99cc3fdd02eefdb2d78d7ac5adf36293c001062
 2025-01-29 08:51:26 -08:00
Kevin Zakka f61973601e [docs] Mention asset lookup in MjSpec construction. 
PiperOrigin-RevId: 720671094
Change-Id: I6ba343b37893620ba4f3477e57daa4876805156c
 2025-01-28 12:33:55 -08:00
Alessio Quaglino 0643017346 Add asset argument to MjSpec constructors. 
PiperOrigin-RevId: 720628689
Change-Id: I189aa34973e58b9fb87951e34cb923d94e081a55
 2025-01-28 10:39:27 -08:00
Alessio Quaglino 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
Taylor Howell f4096bcab9 Add sphere and cylinder internal wrapping for spatial tendons to MJX. 
PiperOrigin-RevId: 720507688
Change-Id: I49fda2839e68623ff5e1f3c46bdc3d77acfc36ef
 2025-01-28 03:22:14 -08:00
Tal Regev fd568d68d4 Generalize mesh object to be the type of tiny_obj_loader. 2025-01-28 11:33:29 +02:00
Yuval Tassa 6a23841aad manually inline mju_combineSparse 
PiperOrigin-RevId: 720326669
Change-Id: I03727291f133e3d481e73ad88735e54af8f62f1f
 2025-01-27 15:22:18 -08:00
Alessio Quaglino 3dcfad3293 Add qpos to MJX bindings. 
PiperOrigin-RevId: 720311208
Change-Id: Iaf5f905e206256f38cd71949bbebd5151b2a2041
 2025-01-27 14:36:42 -08:00
Yuval Tassa 8c22181156 Fix documentation typos. 
PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
 2025-01-27 10:58:22 -08:00
Yuval Tassa 9605990648 Replace custom sort of sparse fixed tendons with mju_combineSparse. 
PiperOrigin-RevId: 720219887
Change-Id: I0491b3cb8987c119c3864fc0b5c38ca303d8f7f0
 2025-01-27 10:24:58 -08:00