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Author	SHA1	Message	Date
Yuval Tassa	f9bb6cb3db	Minor updates to rollout notebook: ... 1. Move benchmarks below advanced usage. 2. Request A100 GPU 3. Minor cosmetic changes. PiperOrigin-RevId: 729538515 Change-Id: I12709cd95f6865e53fd3932ea0b303ee8efc4028	2025-02-21 08:27:33 -08:00
Copybara-Service	ea2bbc1d14	Merge pull request #2439 from aftersomemath:rollout-size_t ... PiperOrigin-RevId: 729519951 Change-Id: Ic50b08960da84d2277820212d19fcbab9f2d67cf	2025-02-21 07:17:25 -08:00
Levi Burner	a0971ef749	rollout fix cosmetics	2025-02-21 08:44:17 -05:00
Alessio Quaglino	6aabbc1892	Fixes an issue when self-attaching a model with pulley in tendons. ... The decision to attach a tendon is taken by looking at whether any of the elements in its path exist when the namespace is added to them. This does not work when pulleys are present so we need to ignore them in the count of unreferenced element. PiperOrigin-RevId: 729484365 Change-Id: I561a3a2eaa975a17421c8abe3ebfec8d4dd88951	2025-02-21 04:54:31 -08:00
Levi Burner	aca4e5d6ae	rollout test for integer overflow in array size check	2025-02-20 21:12:52 -05:00
Yuval Tassa	7efaf5c549	Improve docstring of mjxmacro.py ... PiperOrigin-RevId: 729058910 Change-Id: I3ae9c7c50facca3bfb08a317c2267b9d8672f207	2025-02-20 04:43:26 -08:00
Yuval Tassa	fe9fcae5dc	Clean up mj_tendon. ... PiperOrigin-RevId: 729042293 Change-Id: Id0d8483b71b9dbb99e19a67323034f3762e26346	2025-02-20 03:44:39 -08:00
Alessio Quaglino	41c2918819	Add batch support to MJX data bind. ... PiperOrigin-RevId: 729033713 Change-Id: I331317a54a7882dc67bf329da8aeaff7246754e4	2025-02-20 03:10:30 -08:00
Levi Burner	df71467eed	rollout use size_t for array size check and pointer arithmetic	2025-02-19 22:46:12 -05:00
Yuval Tassa	19624aef9d	Add an example of a textured height field to mjSpec notebook. ... https://youtu.be/i6eXrzJNKeY PiperOrigin-RevId: 728841769 Change-Id: I1aca838af69d8474aab13b06d8c1e5cf87fc6440	2025-02-19 15:34:21 -08:00
Copybara-Service	7a2ad8fd97	Merge pull request #2436 from aftersomemath:rollout-notebook-pr ... PiperOrigin-RevId: 728706864 Change-Id: I8f3a507234c4265564a4fee9df0ab8111ff7dd85	2025-02-19 09:42:08 -08:00
Alessio Quaglino	b0e9d08673	Move introspect to python/introspect ... PiperOrigin-RevId: 728695024 Change-Id: I96433e1e9ee509704d66bd4c1be1906732e4cc55	2025-02-19 09:01:21 -08:00
Alessio Quaglino	6a86247810	Fix flex textures for 3D grids. ... Fixes #2013. PiperOrigin-RevId: 728673726 Change-Id: Idb2b6bf9e5392576d0b09f3e71dbea6f4636ae81	2025-02-19 07:59:22 -08:00
Kyle Bayes	7f3bb062c3	Add fields in mjModel for supporting mesh multicontact in nativeccd. ... PiperOrigin-RevId: 728659204 Change-Id: I7f8a11b082640284ea009d8693f228078680b953	2025-02-19 07:12:26 -08:00
Yuval Tassa	b516edae1b	Rename inertia factorization routines: ... ``` mj_factorI -> mj_factorI_legacy mj_solveLD -> mj_solveLD_legacy mj_factorIs -> mj_factorI mj_solveLDs -> mj_solveLD ``` PiperOrigin-RevId: 728246367 Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6	2025-02-18 09:42:05 -08:00
Google DeepMind	982330d15a	#mjx Make pytree registration optional. ... This is a noop for MJX itself, but is useful for custom types extending MJX types. This CL also ensures unused kwargs in `__init_subclass__` are passed to the parent class. PiperOrigin-RevId: 728215373 Change-Id: I362d3fb8d4b7d679a3a00d96866d46a52d711369	2025-02-18 08:12:43 -08:00
Alessio Quaglino	36142cddee	Fix site_xmat dimension in MJX docstring. ... PiperOrigin-RevId: 728213616 Change-Id: Icdea2194d4e4e347e88969eb6ecd45d1300cc0bc	2025-02-18 08:07:45 -08:00
Levi Burner	3e56d2a6d0	update changelog for rollout notebook	2025-02-18 10:57:12 -05:00
Levi Burner	41a873b016	Notebook showcasing the Python rollout module	2025-02-18 10:57:03 -05:00
Yuval Tassa	fb07e0d1f7	Convert qLD to CSR format. ... PiperOrigin-RevId: 728196818 Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1	2025-02-18 07:14:45 -08:00
Silvia Cruciani	9fb4ec95f8	Add handling for joint qacc in bind ... PiperOrigin-RevId: 728166579 Change-Id: Ib9ecfec23a3ae1ddba198670518c48dc0af49cd1	2025-02-18 05:30:25 -08:00
Kyle Bayes	442b968e22	Improve box-box multicontact with nativeccd. ... PiperOrigin-RevId: 728136635 Change-Id: I2343110e5c87b6621d5750c7ad42f0e75081d737	2025-02-18 03:41:26 -08:00
Google DeepMind	fb84ee4e17	#mjx Always define prefix attribute in Bind* classes. ... PiperOrigin-RevId: 727885838 Change-Id: I3e7dd0541fecf1eb913bb98b30e3df146ea665b8	2025-02-17 09:23:39 -08:00
Alessio Quaglino	d5065f867b	Check type correctness in all bind paths. ... PiperOrigin-RevId: 727877128 Change-Id: I4f4f74a1fb96d3fc5abdea531b78eb54dc53d186	2025-02-17 08:46:10 -08:00
Silvia Cruciani	0a4eda5065	Fix setting slice of multidimensional arrays in mjx bind ... PiperOrigin-RevId: 727834258 Change-Id: Id8fa25ab3aacb02603f2e0ec701f89bb69a7ac7e	2025-02-17 05:52:51 -08:00
Alessio Quaglino	7f11a0df12	Add check for height fields size during compilation. ... Fixes #2427. PiperOrigin-RevId: 727805729 Change-Id: Idf3192e5fb238249faaeae6b4fb9de4c55755d96	2025-02-17 04:01:27 -08:00
Tom Power	78a4d2f389	Fix mass/inertia checking for moving bodies with nested children. ... Previously, we only checked immediate children of moving bodies. PiperOrigin-RevId: 726999705 Change-Id: I133a557daf86223b8751c6d46e25809781e168a1	2025-02-14 11:26:28 -08:00
Google DeepMind	37d7591ce0	Add support for user-defined figures in the MuJoCo viewer. ... PiperOrigin-RevId: 726983516 Change-Id: Ifb821f3cafb163d4f3077d76b0668037b4bc5a9c	2025-02-14 10:45:47 -08:00
Alessio Quaglino	6f0bd0a5f8	Fix setting multidimensional arrays in MJX bind. ... PiperOrigin-RevId: 726956380 Change-Id: I51ab91b73a3a34938ac7bcd03e9691fd634cb296	2025-02-14 09:28:39 -08:00
Alessio Quaglino	5b924fec98	Add support for binding to arrays of mjs element. ... Fixes #2402. PiperOrigin-RevId: 726449592 Change-Id: I0cde44889837a71a222b20cf91fa56568b4af689	2025-02-13 06:01:30 -08:00
Alessio Quaglino	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
Tom Power	89253d957d	Changes to inertia inference from meshes. ... PiperOrigin-RevId: 726051033 Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761	2025-02-12 07:43:13 -08:00
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