57e6760ec9
Re-implement VFS internals in C++, removing the constraints of the previous implementation.
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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.
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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
59303bb161
Fixing formatting for usd files and adding pylint configuration
2024-07-03 18:32:59 -05:00
9107d3b507
Add mjs_findKeyframe.
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PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
2024-07-03 05:17:41 -07:00
8f16b72f44
Rename mjSpec.euler to eulerseq to match MJCF.
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PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
2024-07-03 03:10:02 -07:00
df7ea3ed33
Add support for multiple textures in one material (mjModel).
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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.
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PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
2024-07-02 08:01:40 -07:00
0676ad499f
Merge pull request #1769 from fanminshi:renderer_context
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PiperOrigin-RevId: 648508835
Change-Id: Ice87cd1221723ed44ba0ddca97b6aac245dd8975
2024-07-01 15:48:41 -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
521922f133
Use Renderer context manager format in tutorial.py
2024-06-30 22:44:17 +00:00
62e2842116
Skip deprecated mju_rotVecMat and mju_rotVecMatT in Python bindings.
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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.
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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.
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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.
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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.
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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
a660051a4c
Consistent spacing in python/tutorial.ipynb
2024-06-11 21:07:52 -05:00
07fc95ca9a
Add orthographic cameras.
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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
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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
f0b633de6a
Fix typos in least_squares notebook.
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PiperOrigin-RevId: 635696410
Change-Id: Iba9a2c8f121ca4994678ba933e19dce5323da27b
2024-05-20 23:48:39 -07:00
d58010c3b9
Update numpy sha256 hash in build requirements.txt.
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PiperOrigin-RevId: 634546683
Change-Id: I319be1fab020dff2b44658ea402684a268ec6a33
2024-05-16 15:24:14 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
31de1dad9d
Update requirements.txt for mujoco and mjx.
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PiperOrigin-RevId: 632441444
Change-Id: Ia9ff35b453476b2f1f5a7a8facc819a8925dcd8b
2024-05-10 03:30:53 -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
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
efbcd86e29
Update abseil to LTS 20240116.2.
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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
8d896529f0
Replace .copy() with list() in minimize.py
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PiperOrigin-RevId: 631413376
Change-Id: I06dd3e3897078b57b0a0668b2182fa62dcd4a74e
2024-05-07 07:16:30 -07:00
a40de1b230
Move notebook copyright notice into HTML comment.
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PiperOrigin-RevId: 631222581
Change-Id: I2fe86425677cf14cbfb72cb9d32b645682edc47f
2024-05-06 16:36:45 -07:00
34e537e557
Updates to minimize.least_squares. Fixes #1585
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- Residual callable is vectorized for easy multithreading by the user. Internally all vectors are now explicitly column vectors.
- Removed central findiff option, it wasn't applicable at the bounds anyway and just complicated the code.
- Added optional user-provided norm function for non-quadratic (robust) norms.
- Added an iter_callback callable for user convenience.
- Added option to internally check user-provided Jacobian and norm against finite differences.
- Updated the notebook accordingly.
PiperOrigin-RevId: 631205889
Change-Id: I3b9f8893756e329640de464e6f2e26a39e7dbd9e
2024-05-06 15:36:01 -07:00
f6ee435005
updating geom visibility logic; fixing infinite plane texture bug; adding frame skip arg to demo
2024-05-04 13:47:02 -05:00
2d6c263687
removing outdated comments
2024-05-02 17:29:18 -05:00
7a1e2bf61e
adding demo file and unnamed geom fix
2024-05-02 17:23:48 -05:00
545c6fdc99
Merge branch 'google-deepmind:main' into main
2024-05-01 16:27:16 -05:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
d2392efe6c
Allow gl_context.GLContext to be None.
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PiperOrigin-RevId: 625927487
Change-Id: I85d5658c8ea529716aaac12b17957c59319367cc
2024-04-17 23:38:06 -07:00
2b4975811b
Fix bug in Python binding of mj_saveModel
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PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
2024-04-17 05:58:50 -07:00
225619c964
Update MuJoCo internal version to be the external version +1
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PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
2024-04-10 14:32:54 -07:00
a2dfc6d17e
updating imports
2024-04-10 14:21:46 -05:00
916b54b2b7
adding support for unnamed geoms
2024-04-10 12:20:10 -05:00
bd41b69ebb
removing test file
2024-04-10 12:03:22 -05:00
87a7da6cf0
updating capsule to consist of hemispheres instead of spheres
2024-04-10 12:00:05 -05:00
5a365603f8
Add mju_euler2Quat.
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PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
2024-04-10 06:02:50 -07:00
Kyle Bayes