fb84ee4e17
#mjx Always define prefix attribute in Bind* classes.
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PiperOrigin-RevId: 727885838
Change-Id: I3e7dd0541fecf1eb913bb98b30e3df146ea665b8
2025-02-17 09:23:39 -08:00
d5065f867b
Check type correctness in all bind paths.
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PiperOrigin-RevId: 727877128
Change-Id: I4f4f74a1fb96d3fc5abdea531b78eb54dc53d186
2025-02-17 08:46:10 -08:00
0a4eda5065
Fix setting slice of multidimensional arrays in mjx bind
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PiperOrigin-RevId: 727834258
Change-Id: Id8fa25ab3aacb02603f2e0ec701f89bb69a7ac7e
2025-02-17 05:52:51 -08:00
6f0bd0a5f8
Fix setting multidimensional arrays in MJX bind.
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PiperOrigin-RevId: 726956380
Change-Id: I51ab91b73a3a34938ac7bcd03e9691fd634cb296
2025-02-14 09:28:39 -08:00
94115ecf08
Fix qvel bind in MJX when using multiple joints.
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Reported by #2402 .
PiperOrigin-RevId: 725237347
Change-Id: I279c73e5cf2b959086292b739972afe5f70ceffb
2025-02-10 09:09:18 -08:00
0e01b51590
Output a useful message when there's a mismatch between MJX data and MuJoCo data array sizes.
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PiperOrigin-RevId: 725151186
Change-Id: I71f81bb82e2b8667880a31db5913e98f7885e677
2025-02-10 03:51:31 -08:00
5ee0654830
Roll back recent change to mjData.qLD until some issues are resolved.
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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
2025-02-07 10:21:42 -08:00
c27d3758c2
Convert qLD to CSR format.
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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:59:35 -08:00
dec7b661c1
Add mujoco.MjSpec.MjStruct type.
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PiperOrigin-RevId: 723552214
Change-Id: I8ecb43b4025b532ba8b48e15c9c6a2b350293d20
2025-02-05 10:01:35 -08:00
709b8d6b83
Add support for vector-valued joints in MJX bind.
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PiperOrigin-RevId: 721743855
Change-Id: I68d7f6220ade89a5c0c507ea955e45657541d4eb
2025-01-31 05:53:04 -08:00
e0664b1bb8
Fix bug with box-box #2356 .
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PiperOrigin-RevId: 721138760
Change-Id: Ib9548b0bc505a9856176188c91858cff7c9accdf
2025-01-29 16:00:29 -08:00
5b245e5d02
Fix handling of _full_compat argument in put_data.
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PiperOrigin-RevId: 721128021
Change-Id: Ic1cce42fbb38799228d6433ef0c761b1f9b81c4b
2025-01-29 15:27:14 -08:00
7232a91617
Add keyframe fields to mjx.Model.
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PiperOrigin-RevId: 721060807
Change-Id: Iae6aa8773e0e9802b0bd1de9a14d83987cd56936
2025-01-29 12:02:48 -08:00
f4096bcab9
Add sphere and cylinder internal wrapping for spatial tendons to MJX.
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PiperOrigin-RevId: 720507688
Change-Id: I49fda2839e68623ff5e1f3c46bdc3d77acfc36ef
2025-01-28 03:22:14 -08:00
3dcfad3293
Add qpos to MJX bindings.
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PiperOrigin-RevId: 720311208
Change-Id: Iaf5f905e206256f38cd71949bbebd5151b2a2041
2025-01-27 14:36:42 -08:00
d21f624264
Fix binding issue with scalar attributes.
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PiperOrigin-RevId: 720136044
Change-Id: I0846a93ef36a23371d1bd504adff02dcce0abcf9
2025-01-27 05:47:36 -08:00
2c3d0becb2
Empty out Model fields restricted to MuJoCo in the same way we do for Data fields.
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PiperOrigin-RevId: 719705508
Change-Id: I4b07433481eafaea1d95a5bdd8fd83786939188f
2025-01-25 14:03:20 -08:00
3d174a4034
internal change
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PiperOrigin-RevId: 718782821
Change-Id: I2d2ead2577767587800f3ea69dba61247105e16f
2025-01-23 02:51:51 -08:00
68cd263337
Change type of light_poscom0 and `actuator_acc0'.
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This is required for batching over `mjx.Model` in case recompilation is used to change inertial values.
PiperOrigin-RevId: 717596504
Change-Id: I4b6780903ebf12ebbf8b7bc7b8990a01609d4491
2025-01-20 12:11:31 -08:00
2a100547bd
Remove match in support.py (introduced in Python 3.10).
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https://github.com/google-deepmind/mujoco_playground/issues/16
PiperOrigin-RevId: 717395934
Change-Id: I0be1b8285a79702a1dfc086e15e07bab0f9f6d40
2025-01-19 22:08:51 -08:00
1b34246c6e
Update MJX notebook to point to playground.
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PiperOrigin-RevId: 716778081
Change-Id: Ic99734ba386c4db551766de6f209cb397e7aa967
2025-01-17 13:18:07 -08:00
688d367733
Modify model loading in MJX tutorial.
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PiperOrigin-RevId: 716745232
Change-Id: Ib89f8c00a58b493c89f72c82b47f1c8ff8326536
2025-01-17 11:49:45 -08:00
9fc1ac2c7d
Fix typo in sensordata binding.
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PiperOrigin-RevId: 716257343
Change-Id: I4da12d8cda4342eb9f5a4df664bb43841db8e332
2025-01-16 09:05:01 -08:00
c16f95f62c
Add sensordata MJX binding.
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PiperOrigin-RevId: 716241711
Change-Id: I11a82f58c41dca93e9a5337f0c573158026fa971
2025-01-16 08:14:58 -08:00
f899e717d4
Raise error for invalid name in MJX bind.
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PiperOrigin-RevId: 716214444
Change-Id: Ie9e3156b32b0c218cdbd0beb93a4a78800e07c43
2025-01-16 06:40:48 -08:00
6436055c6c
Update the version number to 3.2.8 following the 3.2.7 release.
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PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
2025-01-15 11:13:27 -08:00
f1d557c125
Support for MJX bind set() for scalars.
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PiperOrigin-RevId: 715832281
Change-Id: I217021e81fae95e44e9297a1c447891ff76572bd
2025-01-15 09:38:02 -08:00
ff1ff44e34
Fix typo MjsHfield->MjsHField.
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PiperOrigin-RevId: 715808003
Change-Id: Ic510f7a3dc4d2c93789ce27162d004b20762bd12
2025-01-15 08:21:38 -08:00
66f2758ea5
Minor updates.
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Fix a typo and a comment.
PiperOrigin-RevId: 715672977
Change-Id: I281002aad2b40b59544c30f41aa113e13ae9d09e
2025-01-14 23:56:39 -08:00
64d0f57c50
Fixes for MJX tendons and muscle actuators. Fixes #2317 .
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PiperOrigin-RevId: 714951834
Change-Id: I823b3a01b2b76cb4707cb313afd1a187f9bdb333
2025-01-13 06:58:12 -08:00
da32b0db30
Handle ctrl special case explicitly in bind().
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PiperOrigin-RevId: 714055763
Change-Id: I020008723af4a590926268a2ea615af54e20aa0b
2025-01-10 08:08:03 -08:00
3f32cc2479
Add mjSpec binding to MJX.
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PiperOrigin-RevId: 714026500
Change-Id: I5cb3fe6cc975b3aa43d44185e3bc186b45845cf3
2025-01-10 06:16:32 -08:00
0be7e6a1f6
Fix #2306 .
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PiperOrigin-RevId: 712575320
Change-Id: Ia74ef0b31b4e7098647340760572a1f6368eab64
2025-01-06 10:28:12 -08:00
b5df2c10bf
Remove mjData.C_diag, no longer required as C is now lower triangular.
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PiperOrigin-RevId: 712514204
Change-Id: I8293f65ebc09c6a8fed76b0e59d2e2a667e01a43
2025-01-06 06:58:19 -08:00
69c9ac074a
Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2.
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- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
2024-12-30 15:24:36 -08:00
8cb253b6ca
Fix typos.
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PiperOrigin-RevId: 710678815
Change-Id: Iab6f603f8f4d782ac7f34140add39e1f37625167
2024-12-30 04:15:29 -08:00
4d0865c2e8
Add light fields to mjx.Model, needed for Madrona.
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PiperOrigin-RevId: 707996293
Change-Id: I238dac72b8f209955b2a1060571db3b14e355dd5
2024-12-19 12:42:09 -08:00
a364308d5a
Use GJK to recover contact points for sphere and capsule geoms in nativeccd.
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PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
2024-12-10 08:53:27 -08:00
f3b3024291
Add pyink and isort config. Reformat.
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PiperOrigin-RevId: 704533915
Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
2024-12-09 21:10:50 -08:00
6f6244b739
Fix MJX get_data_into.
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PiperOrigin-RevId: 704367029
Change-Id: I720e624f996a01ab2210a907c610b68ff1ad109c
2024-12-09 11:54:49 -08:00
3a14ada308
Store index of diagonal element for C and D in mjData.
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PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
2024-12-09 08:01:30 -08:00
b8344c191f
Internal change.
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PiperOrigin-RevId: 704273388
Change-Id: I6de2aa5bf80353dae4f2faf408c4b4c1c2e14f15
2024-12-09 07:09:24 -08:00
c1d97d4a22
Fix #2237 .
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PiperOrigin-RevId: 703547316
Change-Id: I279876a299e56a16f8d5227fc1d0f64265477853
2024-12-06 10:46:38 -08:00
fa8af0eea9
Add MuJoCo sparsification fields to MJX data structures.
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PiperOrigin-RevId: 703482996
Change-Id: I981bfc80825a9d4d6597d54035bc40a4f4ae068a
2024-12-06 06:40:56 -08:00
a793a3417a
Raise error in mjx.rne_postconstraint for currently unsupported connect and weld constraints and raise error in mjx.put_model for unsupported sensor and equality constraint combinations.
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PiperOrigin-RevId: 702119449
Change-Id: I034363db41629f19ef98bea79ec89140052a7a3c
2024-12-02 16:28:23 -08:00
c90a63a926
Update the version number to 3.2.7 following the 3.2.6 release.
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PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
2024-12-02 15:30:52 -08:00
f2e9e38edf
Set geom_matid as a jax.Array for visual domain randomization.
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PiperOrigin-RevId: 700706160
Change-Id: I13ef4da8cd3a671446e4bdd186dcacb4d0b3fb00
2024-11-27 08:13:36 -08:00
b716837395
Modify MJX solver to support elliptic friction cones with condim=3 and condim=4.
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PiperOrigin-RevId: 700306231
Change-Id: I50fd20cd367ecab11b23c03c0e0080266cc404e6
2024-11-26 05:22:48 -08:00
aae5fd6906
Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.
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PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:30:47 -08:00
e18567545b
Update various requirements.txt files.
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PiperOrigin-RevId: 698009096
Change-Id: Iaa2cdadaf31c16c580ce5c2060c8bf2b8377956e
2024-11-19 07:32:00 -08:00
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