41968f1527
Support body.find_all("joint") in bindings.
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PiperOrigin-RevId: 703071822
Change-Id: I6457ca0561c794447cc06aab29dcd0aac82c49a0
2024-12-05 04:54:42 -08:00
a729acb4fa
Add spec find_sensor, find_actuator functions.
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PiperOrigin-RevId: 703054696
Change-Id: Ie384f1a31de3ecd9b22b7f4be43234d452e7bb88
2024-12-05 03:42:26 -08:00
503e5e1815
Change site.attach to accept a spec instead of a body.
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Add site.attach_body for attaching a body to a site.
PiperOrigin-RevId: 703047770
Change-Id: Ibc1f916f8741872135220461cda7cebc4b418913
2024-12-05 03:10:17 -08:00
a3b9f986c0
Add spec.find_site().
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PiperOrigin-RevId: 702733068
Change-Id: I4cc7fd2b9b59185a4458fdac8537f8287af1f295
2024-12-04 08:20:57 -08:00
d1b02556ef
Allow keyword arguments in attach.
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PiperOrigin-RevId: 702718597
Change-Id: I1f1a5e9c88c8e102d5cbe5984511e7923ec7be3e
2024-12-04 07:32:31 -08:00
f909d63cdf
Enable to attach a spec to a frame.
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PiperOrigin-RevId: 699703988
Change-Id: Idbddcbce1e68286248458eb0bd24d5080451a58a
2024-11-24 07:35:14 -08:00
3a12db9ad2
Remove id attribute from mjSpec objects in Python bindings.
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Using ids is error prone in scenarios of repeated attachment and detachment. Python users are encouraged to use names for unique identification of model elements.
PiperOrigin-RevId: 699227286
Change-Id: Ifd83e6d85d36ff72ea43caf8b82eab9e4d552440
2024-11-22 11:05:14 -08:00
ebe60b9ad5
Add const to mjsDefault when used as function argument.
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Fixes #2197 .
PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
2024-11-01 18:18:42 -07:00
e835f139c8
Add sibling traversal for tree elements.
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PiperOrigin-RevId: 691057957
Change-Id: I3f30cf175b5ad0842f3fbbf7fdb42ba7a2212682
2024-10-29 09:55:08 -07:00
ca45041049
MjSpecs.copy should return an MjSpec rather than a raw::MjSpec*
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raw::MjSpec* is not a good python object.
PiperOrigin-RevId: 690564198
Change-Id: I3a5dd525a3a9acc67bb0e598dd508572dc4c687f
2024-10-28 04:55:38 -07:00
bebec52869
Add find_all with string input.
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PiperOrigin-RevId: 689487165
Change-Id: I48511aec1610b2112f9456e8f410d077c57c7a95
2024-10-24 13:01:49 -07:00
159f23e6b4
Remember compiler options during attach.
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Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
2024-10-24 08:31:15 -07:00
dcf2816543
Remove copy_back from Python bindings and mj_copyBack from the C API.
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PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
2024-10-18 11:55:04 -07:00
766cd20273
Add mjs_bodyToFrame() to convert a body to a frame.
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Also add test for attaching the world body.
PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
2024-10-14 00:39:20 -07:00
cdb167f275
Add mjs_attachToSite for attaching a body to a site.
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PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
2024-10-10 07:12:49 -07:00
6e66cafe76
Capture mjs_attach error message in the Python bindings.
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PiperOrigin-RevId: 682409212
Change-Id: I391ee48626e7dcd985f65a231370ef5ec16124d7
2024-10-04 12:19:42 -07:00
e973dc74dd
Yield ownership of char[], vector<string>, and vector<byte> to mjSpec in Python bindings.
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PiperOrigin-RevId: 681522091
Change-Id: Icb3788d9ef6e914a307531e39ad8171c24f590af
2024-10-02 11:14:48 -07:00
89aea5e217
Add body.find_all() to Python bindings.
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This enables to generate a list of all body children of a given type.
Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112 .
PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
2024-10-01 08:57:25 -07:00
8a825e6050
Add auto-generated tree element lists to Python bindings.
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PiperOrigin-RevId: 680973047
Change-Id: I948151260cba330c6b7218cecf13aae2c7ae92c7
2024-10-01 05:23:03 -07:00
25e4d75a07
Return attached body/frame in mjs_attachBody/Frame.
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PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
2024-09-27 08:34:00 -07:00
6a415da267
Make from_file() and from_string() classmethod functions.
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This prevents the user from modifying an mjSpec and then calling the functions to load it from string/file.
PiperOrigin-RevId: 679311284
Change-Id: I4f1ae3cc8f15bece245f624303470d538deec410
2024-09-26 15:16:10 -07:00
5bca7876c4
Update spec.from_string() and spec.from_file() to match the respective mjModel functions.
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PiperOrigin-RevId: 678230403
Change-Id: I7f3d8c5fd44d30b5695eee1f8513cc27f4158d94
2024-09-24 06:57:20 -07:00
b5bcc91a03
Add bindings generation for mjOption, mjVisual, and mjStatistic.
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Fixes #2076 .
PiperOrigin-RevId: 677789263
Change-Id: Ie1bda40af62c5ac9bbba541668a50adfc59d3f7c
2024-09-23 07:43:09 -07:00
0ba11b9623
Add plugins list to mjSpec Python API.
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Fixes #2061 .
PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
2024-09-23 06:13:42 -07:00
6c7e1095c5
Add mjsPlugin and mjsOrientation related keyword argument support for mjSpec Python bindings.
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PiperOrigin-RevId: 676412967
Change-Id: I8cc1bfcc443327fde33246981400b375f8d4ff3d
2024-09-19 07:55:31 -07:00
bfda9f4ace
Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors.
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PiperOrigin-RevId: 675929024
Change-Id: Idd8c584276d8f585b79585230f5167f79760eaef
2024-09-18 04:02:10 -07:00
b0c7101f1c
Add optional kwarg inputs to mjSpec Python bindings for mjsBody add constructors.
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PiperOrigin-RevId: 675141078
Change-Id: I8d735ae7d0a018ce7cd1aca56c899d1455586015
2024-09-16 07:32:55 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
e0e134ca63
Add plugin tests for mjSpec.
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Fixes #1903 .
PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
2024-08-15 10:19:53 -07:00
b341bd391d
Fix a bug with mjs_delete functions.
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PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
2024-07-30 09:13:57 -07:00
70ac76bb4b
Add assets to MjSpec.compile()
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PiperOrigin-RevId: 653965318
Change-Id: Ib9ec1c70a7241f7ee547b799a08cc58e7d4bace7
2024-07-19 04:34:38 -07:00
47d25bc4ac
Add missing id attributes in Python bindings of mjsElements.
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PiperOrigin-RevId: 649435098
Change-Id: I16383958c25cb8fdc16a107d5abef8626a675632
2024-07-04 09:32:33 -07:00
118b6810b3
Make "id" a property rather than a method of mjsElements in Python bindings.
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PiperOrigin-RevId: 649424035
Change-Id: I8226b3040aa2001ae9748399257e36ac263b7c8b
2024-07-04 08:35:37 -07:00
a0945e4b5a
Add non-tree element lists to python bindings.
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Fixes #1752 .
PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
2024-07-04 07:24:02 -07:00
9107d3b507
Add mjs_findKeyframe.
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PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
2024-07-03 05:17:41 -07:00
9106f40e2b
Add mjSpec bindings.
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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
2024-07-01 12:05:50 -07:00
Alessio Quaglino