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  • fe9fcae5dc Clean up mj_tendon. Yuval Tassa 2025-02-20 03:43:32 -08:00
  • 41c2918819 Add batch support to MJX data bind. Alessio Quaglino 2025-02-20 03:09:42 -08:00
  • df71467eed rollout use size_t for array size check and pointer arithmetic Levi Burner 2025-02-03 22:22:37 -05:00
  • 19624aef9d Add an example of a textured height field to mjSpec notebook. Yuval Tassa 2025-02-19 15:33:25 -08:00
  • 7a2ad8fd97 Merge pull request #2436 from aftersomemath:rollout-notebook-pr Copybara-Service 2025-02-19 09:42:08 -08:00
  • b0e9d08673 Move introspect to python/introspect Alessio Quaglino 2025-02-19 09:00:26 -08:00
  • 6a86247810 Fix flex textures for 3D grids. Alessio Quaglino 2025-02-19 07:58:27 -08:00
  • 7f3bb062c3 Add fields in mjModel for supporting mesh multicontact in nativeccd. Kyle Bayes 2025-02-19 07:11:25 -08:00
  • b516edae1b Rename inertia factorization routines: Yuval Tassa 2025-02-18 09:40:43 -08:00
  • 982330d15a #mjx Make pytree registration optional. Google DeepMind 2025-02-18 08:12:02 -08:00
  • 36142cddee Fix site_xmat dimension in MJX docstring. Alessio Quaglino 2025-02-18 08:06:34 -08:00
  • 3e56d2a6d0 update changelog for rollout notebook Levi Burner 2025-02-18 10:54:31 -05:00
  • 41a873b016 Notebook showcasing the Python rollout module Levi Burner 2025-01-20 14:32:47 -05:00
  • fb07e0d1f7 Convert qLD to CSR format. Yuval Tassa 2025-02-18 07:13:49 -08:00
  • 9fb4ec95f8 Add handling for joint qacc in bind Silvia Cruciani 2025-02-18 05:28:05 -08:00
  • 442b968e22 Improve box-box multicontact with nativeccd. Kyle Bayes 2025-02-18 03:40:03 -08:00
  • fb84ee4e17 #mjx Always define prefix attribute in Bind* classes. Google DeepMind 2025-02-17 09:22:59 -08:00
  • d5065f867b Check type correctness in all bind paths. Alessio Quaglino 2025-02-17 08:45:20 -08:00
  • 0a4eda5065 Fix setting slice of multidimensional arrays in mjx bind Silvia Cruciani 2025-02-17 05:51:54 -08:00
  • 7f11a0df12 Add check for height fields size during compilation. Alessio Quaglino 2025-02-17 04:00:35 -08:00
  • 78a4d2f389 Fix mass/inertia checking for moving bodies with nested children. Tom Power 2025-02-14 11:25:31 -08:00
  • 37d7591ce0 Add support for user-defined figures in the MuJoCo viewer. Google DeepMind 2025-02-14 10:44:50 -08:00
  • 6f0bd0a5f8 Fix setting multidimensional arrays in MJX bind. Alessio Quaglino 2025-02-14 09:27:47 -08:00
  • 5b924fec98 Add support for binding to arrays of mjs element. Alessio Quaglino 2025-02-13 06:00:31 -08:00
  • 1b4258d274 Change set_default and default to classname in the bindings. Alessio Quaglino 2025-02-13 04:51:05 -08:00
  • 89253d957d Changes to inertia inference from meshes. Tom Power 2025-02-12 07:42:15 -08:00
  • e39a5df06a mju_compressSparse(): add option to compress away small elements. Yuval Tassa 2025-02-12 05:07:18 -08:00
  • faed1a1137 Clean up mj_jacSparse. Yuval Tassa 2025-02-12 04:04:59 -08:00
  • 7af9bcbf00 mjSpec tutorial: Move humanoid and Menagerie imports to the cells that require them. Yuval Tassa 2025-02-12 01:01:21 -08:00
  • d830691f53 Merge pull request #2291 from AaronYoung5:main Copybara-Service 2025-02-12 00:16:10 -08:00
  • ef1ef8ef6a Fix Sphinx-Toolbox dependency issue in documentation. Yuval Tassa 2025-02-11 16:40:05 -08:00
  • e3b9538d92 Add saving the indices of mesh vertices with the support points in nativeccd. Kyle Bayes 2025-02-11 09:27:59 -08:00
  • ac2a324fbd Reduce "shadow acne" artifacts Google DeepMind 2025-02-11 08:27:14 -08:00
  • cef5b31a3f Drop find_ prefix in Python MjSpec methods accessing elements by name. Alessio Quaglino 2025-02-11 05:49:48 -08:00
  • a6dd5f086f Document element name lookup in MjSpec. Yuval Tassa 2025-02-10 10:09:35 -08:00
  • e54f3c222d Autogenerate mjSpec find_* methods. Alessio Quaglino 2025-02-10 10:03:00 -08:00
  • 94115ecf08 Fix qvel bind in MJX when using multiple joints. Alessio Quaglino 2025-02-10 09:08:24 -08:00
  • 4156350708 Add to_file function to save the Spec to a file. Alessio Quaglino 2025-02-10 04:32:32 -08:00
  • 0e01b51590 Output a useful message when there's a mismatch between MJX data and MuJoCo data array sizes. Nimrod Gileadi 2025-02-10 03:50:47 -08:00
  • 694eb6bb1d Merge pull request #2409 from maximevtush:main Copybara-Service 2025-02-09 03:37:37 -08:00
  • f73f0e1d0d Fix aspect ratios of embedded videos in docs. Yuval Tassa 2025-02-09 03:32:20 -08:00
  • 5874c8a8df Update xml_native_writer_test.cc Maxim Evtush 2025-02-08 22:14:32 +01:00
  • 1025335c0c Update MjXmlModifiers.cs Maxim Evtush 2025-02-08 22:14:03 +01:00
  • 73aba91297 Add simple procedural tree example to model editing tutorial. Yuval Tassa 2025-02-08 13:01:10 -08:00
  • 5ee0654830 Roll back recent change to mjData.qLD until some issues are resolved. Yuval Tassa 2025-02-07 10:20:41 -08:00
  • 06758e35ab Fix mjSpec colab after changing the default behavior of attach to be a shallow copy. Alessio Quaglino 2025-02-07 09:40:14 -08:00
  • c1ecc50081 Store joint damping and stiffness in the private spec when springdamper is used in the public spec. Alessio Quaglino 2025-02-07 03:54:35 -08:00
  • c27d3758c2 Convert qLD to CSR format. Yuval Tassa 2025-02-06 08:58:45 -08:00
  • cb1696eb34 Merge pull request #2390 from talregev:TalR/mesh Copybara-Service 2025-02-06 06:46:40 -08:00
  • dec7b661c1 Add mujoco.MjSpec.MjStruct type. Alessio Quaglino 2025-02-05 10:00:40 -08:00
  • fe16c27555 Always compute the convex hull if the mesh inertia is set to convex. Alessio Quaglino 2025-02-05 05:51:20 -08:00
  • 49d07c6100 Fix text edit buffer underrun. Yuval Tassa 2025-02-05 05:35:36 -08:00
  • 0d4bc1de00 Do not use flexedge_length if trilinear interpolation is used. Alessio Quaglino 2025-02-05 04:08:38 -08:00
  • 3235f69afc Make polytope2 and polytope4 more numerically robust in nativeccd. Kyle Bayes 2025-02-05 01:39:52 -08:00
  • 6bd88711a8 Add parent to MjSpec wrapper in Python bindings. Alessio Quaglino 2025-02-03 04:03:31 -08:00
  • 86ace5e562 Remove body.spec() function from the Python API Alessio Quaglino 2025-02-03 03:29:39 -08:00
  • 709b8d6b83 Add support for vector-valued joints in MJX bind. Alessio Quaglino 2025-01-31 05:52:17 -08:00
  • 3d9946cff3 Improve mesh processing readability Tom Power 2025-01-30 14:40:24 -08:00
  • 767be23207 Fix pretty printing in mjspec notebook. Yuval Tassa 2025-01-30 06:31:21 -08:00
  • 2680bd3e8b Merge pull request #2395 from hartikainen:main Copybara-Service 2025-01-30 06:28:44 -08:00
  • 904b49848f Add worldbody assertions in attach tests. Alessio Quaglino 2025-01-30 01:34:59 -08:00
  • e0664b1bb8 Fix bug with box-box #2356. Baruch Tabanpour 2025-01-29 15:59:40 -08:00
  • 5b245e5d02 Fix handling of _full_compat argument in put_data. Yuval Tassa 2025-01-29 15:26:18 -08:00
  • 0fda5344c2 Fix typos Kristian Hartikainen 2025-01-29 15:31:39 -05:00
  • 7232a91617 Add keyframe fields to mjx.Model. Erik Frey 2025-01-29 12:01:52 -08:00
  • 7cdf180641 Introduce trilinear flex parametrization. Alessio Quaglino 2025-01-29 09:37:37 -08:00
  • 1a4b821b6b [doc] Tweak language in asset dict paragraph. Kevin Zakka 2025-01-29 08:50:24 -08:00
  • f61973601e [docs] Mention asset lookup in MjSpec construction. Kevin Zakka 2025-01-28 12:33:04 -08:00
  • 0643017346 Add asset argument to MjSpec constructors. Alessio Quaglino 2025-01-28 10:38:38 -08:00
  • 5b330ca19c Change keyword argument asset to include in spec.from_file and spec.from_string. Alessio Quaglino 2025-01-28 09:54:48 -08:00
  • f4096bcab9 Add sphere and cylinder internal wrapping for spatial tendons to MJX. Taylor Howell 2025-01-28 03:20:18 -08:00
  • fd568d68d4 Generalize mesh object to be the type of tiny_obj_loader. Tal Regev 2025-01-28 11:33:29 +02:00
  • 6a23841aad manually inline mju_combineSparse Yuval Tassa 2025-01-27 15:21:16 -08:00
  • 3dcfad3293 Add qpos to MJX bindings. Alessio Quaglino 2025-01-27 14:35:16 -08:00
  • 8c22181156 Fix documentation typos. Yuval Tassa 2025-01-27 10:57:06 -08:00
  • 9605990648 Replace custom sort of sparse fixed tendons with mju_combineSparse. Yuval Tassa 2025-01-27 10:23:59 -08:00
  • d21f624264 Fix binding issue with scalar attributes. Alessio Quaglino 2025-01-27 05:46:36 -08:00
  • d86900aac1 Speed up mju_cholUpdateSparse by not checking for varying sparsity pattern where it is guaranteed to not vary. Yuval Tassa 2025-01-27 05:05:57 -08:00
  • 4ab274aea9 Fix missing arg for mj_compile in model-editing doc example code. Google DeepMind 2025-01-26 20:24:59 -08:00
  • 08edde5fd8 Add test for armature, model will be used in upcoming improved documentation for armature. Yuval Tassa 2025-01-26 11:59:53 -08:00
  • 2c3d0becb2 Empty out Model fields restricted to MuJoCo in the same way we do for Data fields. Erik Frey 2025-01-25 14:02:23 -08:00
  • 2546fcefa0 Add mujoco.MjSpec.to_zip() Alessio Quaglino 2025-01-23 14:00:07 -08:00
  • 3d174a4034 internal change Andrea Gesmundo 2025-01-23 02:51:08 -08:00
  • f9fd2e4ba4 Add a test showing how to implement scipy's 'soft_l1' loss in minimize.least_squares Yuval Tassa 2025-01-22 18:24:59 -08:00
  • 21d97902ee Check keyframe size before appending it during attach. Alessio Quaglino 2025-01-22 11:09:06 -08:00
  • aa505a7872 Add support for NativeCCD multiple contacts for box-box collision. Kyle Bayes 2025-01-22 06:02:10 -08:00
  • 0090e1e908 Rename rollout variable nroll to nbatch. Yuval Tassa 2025-01-21 21:03:08 -08:00
  • ac76540eb8 Merge pull request #2377 from aftersomemath:rollout-fix-ndata-check Copybara-Service 2025-01-21 20:11:33 -08:00
  • 67dd4827a6 Improve printing of inertia-like matrices, allow mj_printData to take const mjData* Yuval Tassa 2025-01-21 19:58:55 -08:00
  • 6a7a7a5f80 Add the override_assets attribute to MjSpec. Alessio Quaglino 2025-01-21 10:38:14 -08:00
  • 1412a29dac Merge child asset dictionary into parent spec during attach(). Alessio Quaglino 2025-01-21 08:56:25 -08:00
  • 4bb6aeb19f Change site and frame attach API. Alessio Quaglino 2025-01-21 07:28:44 -08:00
  • b3274bb91d Fix formatting Balint-H 2025-01-21 15:21:51 +00:00
  • a58f8d0033 Add OBJ mesh support to Unity plugin Balint-H 2025-01-21 15:11:27 +00:00
  • bd1bbfe401 Fix bug where EPA horizon returns zero edges due to numerical inaccuracies in float32. Kyle Bayes 2025-01-21 02:50:05 -08:00
  • cee122116e rollout: fix bugs in checking list lengths, add tests Levi Burner 2025-01-21 00:34:40 -05:00
  • 2624d524ba Switch mj_solveM_island to use CSR representation Yuval Tassa 2025-01-20 18:34:58 -08:00
  • a5ab7a9515 Switch mj_solveM2 to use CSR representation. Yuval Tassa 2025-01-20 15:15:38 -08:00
  • baf1c43b3c Fix more misleading line for creating list of models in rollout_test.py Yuval Tassa 2025-01-20 14:26:33 -08:00
  • 68cd263337 Change type of light_poscom0 and `actuator_acc0'. Google DeepMind 2025-01-20 12:10:36 -08:00