ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
...
PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -07:00
828b900358
Update dependency versions.
...
PiperOrigin-RevId: 659624959
Change-Id: I21bb1f352107ed399a1029aa1d7f5b6ed29ab3cf
2024-08-05 11:37:14 -07:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
...
PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -07:00
b341bd391d
Fix a bug with mjs_delete functions.
...
PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
2024-07-30 09:13:57 -07:00
5ac5cfb618
Support directories in VFS via mj_addBufferVFS.
...
PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
2024-07-23 13:39:18 -07:00
db1d51a1f5
Add more fields to mjx.Option and mjx.Statistic for MuJoCo compatibility.
...
Also add metadata fields to the Python bindings of mjModel and mjOption,
and fix dtype of a number of fields.
PiperOrigin-RevId: 654138876
Change-Id: If2bbe41bf3dfdb350d60b5289afc65fffb397ce9
2024-07-19 15:13:01 -07:00
796173170c
Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.
...
PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
2024-07-19 09:29:22 -07:00
e92af73cbf
Add mjmodel support for textures with different number of channels.
...
PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:22:19 -07:00
70ac76bb4b
Add assets to MjSpec.compile()
...
PiperOrigin-RevId: 653965318
Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
2024-07-19 04:34:38 -07:00
384ed8097a
Various fixes in mujoco/usd
...
PiperOrigin-RevId: 653610253
Change-Id: Ibe57c19c6a7326266f51c5cda39cd564bd456c54
2024-07-18 07:20:28 -07:00
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
...
PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
cb4cb7d09b
Update version hashes in MuJoCo CMake files ahead of the 3.2.0 release.
...
PiperOrigin-RevId: 652555501
Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
2024-07-15 12:00:25 -07:00
5d51b4cd5f
Check that element is a nullptr before casting.
...
The bug was caused by the fact that the `mjs_as*` functions would return a pointer to a `mjC*` object, even if the input `mjsElement` pointer was null. This would cause a segfault.
PiperOrigin-RevId: 651802736
Change-Id: Ibec00d269a4befadff8a68e0513fd381c7e38a2a
2024-07-12 09:46:16 -07:00
a0df72f43f
Raise memory limit so test passes with dynamic linking
...
The memory leak test fails with `RAW: mmap error: 12` when dynamic
linking is enabled. This is probabably because
of the additional memory overhead dynamic linking incurs. Raising it slightly
appears to satisfy the test.
Tested:
TAP --sample ran all affected tests and none failed
http://test/OCL:650692833:BASE:650634362:1720548680801:c55c6a68
PiperOrigin-RevId: 651750900
Change-Id: Ia63d153b326ff7451391789e2d7cae50a62be723
2024-07-12 06:10:37 -07:00
e7301edd20
Copy arena contents in mj_copyData.
...
Fixes #1710 .
PiperOrigin-RevId: 651351384
Change-Id: I56e3204b30bb18f48278117e85e90464177da973
2024-07-11 03:54:44 -07:00
60afda949c
Merge pull request #1714 from abhihjoshi:tendons
...
PiperOrigin-RevId: 651048034
Change-Id: If5b7cb55ff0007c3c6f932e62f068d1168778a33
2024-07-10 09:26:54 -07:00
9d0812911c
Add a test for type attribute.
...
PiperOrigin-RevId: 649635359
Change-Id: Ibe5d9fcb5f14371e5f154d645b838a9d012331d5
2024-07-05 06:16:46 -07:00
e734527e7b
Fixing formatting for USD scripts
2024-07-04 16:25:44 -05:00
fcb247e35b
Merge remote-tracking branch 'upstream/main' into tendons
2024-07-04 15:10:29 -05:00
c79ae6f242
fixing frame rate bug in demo file
2024-07-04 15:06:25 -05:00
d029e4ff99
Get rid of unnecessary return value policy specification.
...
PiperOrigin-RevId: 649437250
Change-Id: I61f8db0af526ebf667244124fcd4984881c6ef13
2024-07-04 09:45:22 -07:00
47d25bc4ac
Add missing id attributes in Python bindings of mjsElements.
...
PiperOrigin-RevId: 649435098
Change-Id: I16383958c25cb8fdc16a107d5abef8626a675632
2024-07-04 09:32:33 -07:00
57e6760ec9
Re-implement VFS internals in C++, removing the constraints of the previous implementation.
...
PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
2024-07-04 09:22:23 -07:00
118b6810b3
Make "id" a property rather than a method of mjsElements in Python bindings.
...
PiperOrigin-RevId: 649424035
Change-Id: I8226b3040aa2001ae9748399257e36ac263b7c8b
2024-07-04 08:35:37 -07:00
a0945e4b5a
Add non-tree element lists to python bindings.
...
Fixes #1752 .
PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
2024-07-04 07:24:02 -07:00
59303bb161
Fixing formatting for usd files and adding pylint configuration
2024-07-03 18:32:59 -05:00
9107d3b507
Add mjs_findKeyframe.
...
PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
2024-07-03 05:17:41 -07:00
8f16b72f44
Rename mjSpec.euler to eulerseq to match MJCF.
...
PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
2024-07-03 03:10:02 -07:00
df7ea3ed33
Add support for multiple textures in one material (mjModel).
...
PiperOrigin-RevId: 648732764
Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b
2024-07-02 08:50:23 -07:00
3b73dfe33b
Add textured materials to render context, and refactor mjvGeom to refer to those textures.
...
PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
2024-07-02 08:01:40 -07:00
9106f40e2b
Add mjSpec bindings.
...
Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
2024-07-01 12:05:50 -07:00
62e2842116
Skip deprecated mju_rotVecMat and mju_rotVecMatT in Python bindings.
...
PiperOrigin-RevId: 647275284
Change-Id: I371236182b22eb399041959901085bb82af3f670
2024-06-27 05:06:01 -07:00
2188cba4cd
Fix a memory leak when copy.deepcopy(data) is called.
...
In MjDataWrapper.__deepcopy__ use the Python implementation of MjModelWrapper.__deepcopy__ to make an object that Python knows about and can release later.
Fixes google-deepmind/mujoco#1572 .
PiperOrigin-RevId: 644967999
Change-Id: I95d093c672e136122e1939f69463a4d29dad82e8
2024-06-20 03:46:16 -07:00
c8cc2d51b0
Allow the viewer handle to return the mjModel/mjData objects from the simulation.
...
PiperOrigin-RevId: 643982026
Change-Id: Ida5ccb851c46f7352e724798738006be6badad0a
2024-06-17 06:12:22 -07:00
09b00cec5d
updating rotation matrix function for shapes
2024-06-17 12:37:10 +05:30
ea128c15de
Merge branch 'google-deepmind:main' into tendons
2024-06-16 23:40:10 -05:00
6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
...
These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
2024-06-16 10:02:36 -07:00
64b64f4169
clearing init file
2024-06-13 19:50:35 +05:30
c9bcf8371e
Add mj_setKeyframe function to save current state in k-th model keyframe.
...
Fixes #1719 .
Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.
PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
2024-06-12 09:22:52 -07:00
07fc95ca9a
Add orthographic cameras.
...
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
2024-06-11 09:23:18 -07:00
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
...
PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
428ec9caaf
fixing imports
2024-06-03 11:38:13 -05:00
0cfdc89c5b
Merge branch 'google-deepmind:main' into tendons
2024-06-03 11:14:21 -05:00
ee82810ad3
removing temp.py
2024-06-02 21:17:23 -05:00
ba842fc0d1
decoupling tendons to subcomponents and fixing tendon scaling issue
2024-06-02 21:16:58 -05:00
1bbf44c99a
adding resolution parameter
2024-05-27 10:26:17 -05:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
...
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
bb2c7ae556
adding initial tendon logic
2024-05-09 08:42:29 -05:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
...
PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
efbcd86e29
Update abseil to LTS 20240116.2.
...
This is a minor update to the previous version, LTS 20240116.1. The only change is a fix for a bug in the `absl::StrFormat` function.
PiperOrigin-RevId: 631495397
Change-Id: I28aec52fb526a2168900a4ee93ffc6e11650a3be
2024-05-07 11:40:44 -07:00
Gabe Oppenheimer