Upgrade v3#1

Merged

DMackRus merged 294 commits intomainfrom upgrade_v3

May 13, 2024

+48,644-19,101

This pull request is big! We're only showing the most recent 250 commits

Commits on Feb 26, 2024

Commits on Feb 27, 2024

Remove unnecessary parens
jaro-sevcik
committed
Use previous edge length when setting the position of a cable body.

quagla
authored and
copybara-github
committed
Add cameras to MJX. Fixes google-deepmind#1422

btaba
authored and
copybara-github
committed

Commits on Feb 28, 2024

Update barkour notebook.

btaba
authored and
copybara-github
committed
Merge pull request google-deepmind#1446 from jaro-sevcik:mjx-solve-m-parallel
copybara-github
committed
Improve bindings for mjd_subQuat.

yuvaltassa
authored and
copybara-github
committed
Clean up factor_m
jaro-sevcik
committed
Merge pull request google-deepmind#1434 from traversaro:patch-32
copybara-github
committed
Clean up mjCModel definition.

kbayes
authored and
copybara-github
committed
Fix typo in flex and composite error message.

quagla
authored and
copybara-github
committed

Commits on Feb 29, 2024

Commits on Mar 1, 2024

Add crude broadphase impl.

btaba
authored and
copybara-github
committed
Replace mjCModel with mjmModel in mjXBase.

quagla
authored and
copybara-github
committed

Commits on Mar 3, 2024

Merge pull request google-deepmind#1428 from Balint-H:feature/unity-plugins
copybara-github
committed

Commits on Mar 4, 2024

Commits on Mar 5, 2024

Remove special handling of mjModel and mjData strings in autogenerated functions.rst

yuvaltassa
authored and
copybara-github
committed
Move CompareModel to fixture.

quagla
authored and
copybara-github
committed
Speed up String2Vector.

kbayes
authored and
copybara-github
committed
Update changelog for 3.1.0.

quagla
authored and
copybara-github
committed
Merge pull request google-deepmind#1450 from v-r-a:angmomMat
copybara-github
committed
Merge pull request google-deepmind#1470 from Balint-H:bugfix/unity-tendon-rendering
copybara-github
committed
Fix egregious bug in broadphase.

btaba
authored and
copybara-github
committed
Updated version number to match the latest release v3.1.3 and date for mujoco release v3.1.3

dhoke-megha
authored and
copybara-github
committed
Updated Eigen3 hash in below files for Mujoco release version v3.1.3

dhoke-megha
authored and
copybara-github
committed
Merge pull request google-deepmind#1413 from awesome-aj0123:usd-integration
copybara-github
committed
Updated abseil for release version v3.1.3

dhoke-megha
authored and
copybara-github
committed

Commits on Mar 6, 2024

Commits on Mar 7, 2024

Speed up convex-convex collisions.

btaba
authored and
copybara-github
committed
Renamed mjmModel to mjSpec.

quagla
authored and
copybara-github
committed

Commits on Mar 8, 2024

Add Performance Tuning section.

yuvaltassa
authored and
copybara-github
committed
Renamed Model to Spec in C API function names.

quagla
authored and
copybara-github
committed
Merge pull request google-deepmind#1479 from jmargeta:fix-record-command-docs
copybara-github
committed

Commits on Mar 10, 2024

Add special handling for perturbations applied to static bodies.

yuvaltassa
authored and
copybara-github
committed

Commits on Mar 11, 2024

Add copy constructors to body subelements.

quagla
authored and
copybara-github
committed
Remove disable_jit in test.

btaba
authored and
copybara-github
committed

Commits on Mar 12, 2024

Copybara import of the project:

traversaro
authored and
copybara-github
committed
Move mjC objects attributes to parent classes in user_objects.

quagla
authored and
copybara-github
committed
Copybara import of the project:

alefram
authored and
copybara-github
committed
Add copy constructor to mjCBody.

quagla
authored and
copybara-github
committed
Tweaks to LQR tutorial notebook:

yuvaltassa
authored and
copybara-github
committed
Cleanup asset/mesh in XML doc.

kevinzakka
authored and
copybara-github
committed

Commits on Mar 13, 2024

Delete redundant blank lines.

yuvaltassa
authored and
copybara-github
committed
Tweaks to basic tutorial notebook.

yuvaltassa
authored and
copybara-github
committed
Add copy constructors and assignments to user_objects.

quagla
authored and
copybara-github
committed
Add tutorial notebook for mujoco.minimize module.

yuvaltassa
authored and
copybara-github
committed
Don't read from file until mju_readResource is called.

kbayes
authored and
copybara-github
committed
Add childclass support to frames.

quagla
authored and
copybara-github
committed
Document nonlinear least-squares tutorial.

yuvaltassa
authored and
copybara-github
committed
Fix deep penetration for sphere/capsule-convex.

btaba
authored and
copybara-github
committed

Commits on Mar 14, 2024

Fix link to least-squares tutorial in the README.

yuvaltassa
authored and
copybara-github
committed
Handle the implicit auto value for limits now written by the compiler to the xml
Balint-H
committed
bug fix for no camera; changed objid argument to obj_name
abhihjoshi
committed
Fix the bugfix for capsule-convex collisions.

btaba
authored and
copybara-github
committed
Further improve edge contact for capsule-convex.

btaba
authored and
copybara-github
committed
Fix bug where treedef for mjx.make_data doesn't match mjx.put_data.

erikfrey
authored and
copybara-github
committed
Throw an error for margin/gap with meshes.

btaba
authored and
copybara-github
committed

Commits on Mar 15, 2024

Fix V -> B typo in lookup table for encoding Base64.

kbayes
authored and
copybara-github
committed
Cite Vaxenburg et al. in fluid force documentation.

yuvaltassa
authored and
copybara-github
committed
Update logic for OS filesystem timestamps for caching.

kbayes
authored and
copybara-github
committed
Add modified callback for VFS resource provider.

kbayes
authored and
copybara-github
committed
Speed up MakeBVH.

nimrod-gileadi
authored and
copybara-github
committed
Move printing of model BVH data to the end, make it more compact.

yuvaltassa
authored and
copybara-github
committed
Cache OBJ files in MuJoCo compiler.

kbayes
authored and
copybara-github
committed
Small fix to mjx tutorial.

btaba
authored and
copybara-github
committed

Commits on Mar 18, 2024

Merge pull request google-deepmind#1508 from Balint-H:fix/limit-auto-parsing
copybara-github
committed
Add internal functions for 3x3 matmul.

yuvaltassa
authored and
copybara-github
committed
Add custom elements to testdata/model.xml

yuvaltassa
authored and
copybara-github
committed
Fix input array size in mju_mulMatMat3.

quagla
authored and
copybara-github
committed
Small cosmetic fixes to MakeBVH.

nimrod-gileadi
authored and
copybara-github
committed
Add copy constructor and assignment to mjCModel.

quagla
authored and
copybara-github
committed
Fix typo in least squares notebook.

kevinzakka
authored and
copybara-github
committed

Commits on Mar 19, 2024

Add material and nonzero elevation data to hfield in testdata/model.xml

yuvaltassa
authored and
copybara-github
committed
Add mjm_attachBody to the C API.

quagla
authored and
copybara-github
committed
Fix bug in MJX viewer.

btaba
authored and
copybara-github
committed
Implement basic USD test

crewmatt
authored and
copybara-github
committed
Add 01-10 humanoids for benchmarking.

erikfrey
authored and
copybara-github
committed

Commits on Mar 20, 2024

Set mesh visual flag regardless of discardvisual.

quagla
authored and
copybara-github
committed
Fix some more bugs in sphere/capsule-convex collisions.

btaba
authored and
copybara-github
committed

Commits on Mar 22, 2024

Merge pull request google-deepmind#1534 from aftersomemath:simulate-clear-load-error
copybara-github
committed
rename mjspec api structs and functions mjm -> mjs

yuvaltassa
authored and
copybara-github
committed
Update fluid.rst
Cong Wang
authored

Commits on Mar 23, 2024

Small change to testspeed file.

btaba
authored and
copybara-github
committed

Commits on Mar 24, 2024

Fix order of enable flag strings. Before this change, using the UI to toggle the "InvDiscrete" and "Sensornoise" flags would toggle the opposite flag.

yuvaltassa
authored and
copybara-github
committed

Commits on Mar 25, 2024

Improve error text when a mesh face references an invalid vertex.

crewmatt
authored and
copybara-github
committed
Remove mjCAlternative and user_objects dependency from xml_urdf.

quagla
authored and
copybara-github
committed

Commits on Mar 26, 2024

Make SameVector return early.

kbayes
authored and
copybara-github
committed
Improve hash function for names.

yuvaltassa
authored and
copybara-github
committed
Rename mjmDefault -> mjsDefault

yuvaltassa
authored and
copybara-github
committed
Added support for msh2.2

Google DeepMind
authored and
copybara-github
committed
Merge pull request google-deepmind#1541 from wangcongrobot:main
copybara-github
committed

Commits on Mar 27, 2024

Fix a bug in the ellipsoid SDF gradient.

quagla
authored and
copybara-github
committed
Convert mjElement to struct rather than opaque pointer.

quagla
authored and
copybara-github
committed

Commits on Mar 28, 2024

Commits on Mar 29, 2024

Add video with clips from least-squares tutorial to docs.

yuvaltassa
authored and
copybara-github
committed

Commits on Apr 2, 2024

Solver parameter docs improvements.

nimrod-gileadi
authored and
copybara-github
committed
Fix integer overflow in MSH loading

nimrod-gileadi
authored and
copybara-github
committed
Add ellipsoid plane.

authored and
copybara-github
committed

Commits on Apr 3, 2024

Check for invalid node tags in gmsh parser.

nimrod-gileadi
authored and
copybara-github
committed

Commits on Apr 8, 2024

Document mj_fwdPosition in pipeline docs, fix ordering error.

yuvaltassa
authored and
copybara-github
committed
Add note about segmentation images to offsamples documentation.

yuvaltassa
authored and
copybara-github
committed
Update MuJoCo Cmake dependency on PyBind11 to the latest release

Gabe Oppenheimer
authored and
copybara-github
committed
Update MuJoCo changelog.rst for the v3.1.4 release

Gabe Oppenheimer
authored and
copybara-github
committed
Add userdata support to MJX.

erez-tom
authored and
copybara-github
committed
Add insertion task.

erez-tom
authored and
copybara-github
committed

Commits on Apr 10, 2024

Add ellipsoid sdf collisions to MJX.

authored and
copybara-github
committed
Add mju_euler2Quat.

yuvaltassa
authored and
copybara-github
committed
Update the MuJoCo changelog for the 3.1.4 release

Gabe Oppenheimer
authored and
copybara-github
committed
Fix rendering bug in changelog

yuvaltassa
authored and
copybara-github
committed
Update MuJoCo internal version to be the external version +1

Gabe Oppenheimer
authored and
copybara-github
committed

Commits on Apr 11, 2024

Allow attaching a model to itself.

quagla
authored and
copybara-github
committed

Commits on Apr 12, 2024

Add more validation in gmsh parsing.

nimrod-gileadi
authored and
copybara-github
committed
Add more details to reproducibility section.

kevinzakka
authored and
copybara-github
committed
Raise error for gravcomp.

btaba
authored and
copybara-github
committed

Commits on Apr 15, 2024

Commits on Apr 16, 2024

Add light radius attribute.

yuvaltassa
authored and
copybara-github
committed
slightly stabler quadruped training
Andrew-Luo1
committed
Better parsing for GMSH2.2

Google DeepMind
authored and
copybara-github
committed
Changed semantics of mjCBody::operator+=

quagla
authored and
copybara-github
committed
Improve printing of geom/geom contacts.

yuvaltassa
authored and
copybara-github
committed
Fix monospace rendering in changelog.

yuvaltassa
authored and
copybara-github
committed
Disable precise error message check in LoadMSHASCII_22_MissingNumElements_Fail

nimrod-gileadi
authored and
copybara-github
committed

Commits on Apr 17, 2024

upload videos
Andrew-Luo1
committed
benchmark against ppo
Andrew-Luo1
committed
Merge branch 'google-deepmind:main' into main
Andrew-Luo1
authored
update text
Andrew-Luo1
committed
Merge branch 'main' of https://github.com/Andrew-Luo1/mujoco_apg_tutorial into main
Andrew-Luo1
committed
revert pyproject
Andrew-Luo1
committed
Prevent bodies from overwriting the frame names in xml_native_writer.

quagla
authored and
copybara-github
committed
Merge branch 'google-deepmind:main' into main
Andrew-Luo1
authored
fix typos
Andrew-Luo1
committed
Add mjs_attachFrame to user_api.

quagla
authored and
copybara-github
committed
Fix bug in Python binding of mj_saveModel

yuvaltassa
authored and
copybara-github
committed
Clean up user_api.h

yuvaltassa
authored and
copybara-github
committed
Compile frames during compilation instead of parsing.

quagla
authored and
copybara-github
committed

Commits on Apr 18, 2024

refine text
Andrew-Luo1
committed
change default option on brax apg
Andrew-Luo1
committed
Allow gl_context.GLContext to be None.

Google DeepMind
authored and
copybara-github
committed
Support nested frames in mjs_attachFrame.

quagla
authored and
copybara-github
committed
Add test for saving and loading binary models.

yuvaltassa
authored and
copybara-github
committed
Fix jax deprecation warning for jax.tree_map.

Google DeepMind
authored and
copybara-github
committed
Prepare MJX for condim.

erikfrey
authored and
copybara-github
committed

Commits on Apr 19, 2024

Commits on Apr 21, 2024

Commits on Apr 22, 2024

Add mjs_detachBody to C API.

quagla
authored and
copybara-github
committed
Fix attribute order in mjsDefault.

yuvaltassa
authored and
copybara-github
committed
Add cylinder collisions using SDFs.

quagla
authored and
copybara-github
committed
Add metallic and roughness scalar attributes to materials.

yuvaltassa
authored and
copybara-github
committed
Change schema order in the docs: move option to the top, move visual down.

yuvaltassa
authored and
copybara-github
committed
Fix memory allocation error when memory size is larger than 2G. Fixes google-deepmind#1606

yuvaltassa
authored and
copybara-github
committed
Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.

yuvaltassa
authored and
copybara-github
committed
Fix control reaches end of non-void function in engine_forward.c

yuvaltassa
authored and
copybara-github
committed
Add support for condim to MJX.

erikfrey
authored and
copybara-github
committed
Remove type annotations unavailable in python < 3.10. Fixes google-deepmind#1590

erikfrey
authored and
copybara-github
committed

Commits on Apr 23, 2024

Merge branch 'google-deepmind:main' into main
Andrew-Luo1
authored
revert pyproject
Andrew-Luo1
committed
update apg diagram
Andrew-Luo1
committed
clean up text
Andrew-Luo1
committed
add a reference
Andrew-Luo1
committed
Merge branch 'main' of https://github.com/Andrew-Luo1/mujoco_apg_tutorial into main
Andrew-Luo1
committed
Improve full inertia user API.

yuvaltassa
authored and
copybara-github
committed
Use enum instead of NaNs for alternative orientation specification.

yuvaltassa
authored and
copybara-github
committed
Add support functions for id2name and name2id.

btaba
authored and
copybara-github
committed
Add defaults to attach tests.

yuvaltassa
authored and
copybara-github
committed
Add more info to doc about static fields. Fixes google-deepmind#1615 .

btaba
authored and
copybara-github
committed

Commits on Apr 24, 2024

Remove const from argv argument in sample.cc

yuvaltassa
authored and
copybara-github
committed
Fix small bug in testspeed.

btaba
authored and
copybara-github
committed
Merge pull request google-deepmind#1601 from Andrew-Luo1:main
copybara-github
committed
Add gravcomp.

btaba
authored and
copybara-github
committed

Commits on Apr 25, 2024

Allow parent targeting for cameras and lights.

yuvaltassa
authored and
copybara-github
committed
Improve error reporting of sensorized objects.

yuvaltassa
authored and
copybara-github
committed
Update contype and conaffinity if fusestatic is true. Fixes google-deepmind#1577 .

quagla
authored and
copybara-github
committed

Commits on Apr 29, 2024

Make BVH generation robust to very small perturbations.

quagla
authored and
copybara-github
committed
Fix bug in mjx.ray and speed up ray-mesh by ~30% for large meshes.

erikfrey
authored and
copybara-github
committed

Commits on Apr 30, 2024

Exclude shark models from testspeed_test.

quagla
authored and
copybara-github
committed
Add replicate element to MJCF. Fixes google-deepmind#553

quagla
authored and
copybara-github
committed
Geoms of type mesh with zero density don't trigger the check for valid mesh volume.

yuvaltassa
authored and
copybara-github
committed
Use plane-convex for plane-sdf collisions, using the marching cube mesh.

quagla
authored and
copybara-github
committed
Add act to mjx viewer.

btaba
authored and
copybara-github
committed

Commits on May 1, 2024

Convert user_api header and user_init source files to valid C code.

yuvaltassa
authored and
copybara-github
committed
Fixed bug with error printing in user_api_test.

quagla
authored and
copybara-github
committed
Added support for GMSH22 surface loading

Mohammad Hamid
authored and
copybara-github
committed
Cache decoded PNG images for hfields and textures in the MuJoCo compiler.

kbayes
authored and
copybara-github
committed
Set all flex edges to rigid when the flex is rigid.

quagla
authored and
copybara-github
committed
Add another unit test for caching PNG decoded images verifying that when a PNG file is updated the stale cached asset is not used.

kbayes
authored and
copybara-github
committed

Commits on May 2, 2024

Remove C-style vectors from user_mesh.

quagla
authored and
copybara-github
committed

Commits on May 3, 2024

Fix uninitialized variable error in asset cache.

kbayes
authored and
copybara-github
committed

Commits on May 5, 2024

Remove urdfeffort attribute, parse URDF "effort" into mjsJoint.actforcerange.

yuvaltassa
authored and
copybara-github
committed
Rename remaining model to spec in xml/

yuvaltassa
authored and
copybara-github
committed
Documentation updates:

yuvaltassa
authored and
copybara-github
committed

Commits on May 6, 2024

Update Python documentation.

yuvaltassa
authored and
copybara-github
committed
Updates to minimize.least_squares. Fixes google-deepmind#1585

yuvaltassa
authored and
copybara-github
committed
Move notebook copyright notice into HTML comment.

yuvaltassa
authored and
copybara-github
committed

Commits on May 7, 2024

Enable compiler asset cache for public use, and add changelog entry.

kbayes
authored and
copybara-github
committed
Fix compile-time size_t narrowing to bool.

kbayes
authored and
copybara-github
committed
Update MarchingCubeCpp to version f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d.

quagla
authored and
copybara-github
committed
Replace .copy() with list() in minimize.py

yuvaltassa
authored and
copybara-github
committed
Add new differentiable physics tutorial to readme.

erikfrey
authored and
copybara-github
committed
Update abseil to LTS 20240116.2.

dhoke-megha
authored and
copybara-github
committed
Update changelog for MuJoCo 3.1.5

dhoke-megha
authored and
copybara-github
committed
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6

dhoke-megha
authored and
copybara-github
committed

Commits on May 8, 2024

Update BVH during fusestatic. Fixes google-deepmind#1069 and google-deepmind#1577 .

quagla
authored and
copybara-github
committed
Encapsulate mjCModel internal lists.

kbayes
authored and
copybara-github
committed
BEGIN_PUBLIC

Mohammad Hamid
authored and
copybara-github
committed

Commits on May 9, 2024

Prevent visualization of SDF iterations from writing outside the maximum allocated vector. Fixes google-deepmind#1539 .

quagla
authored and
copybara-github
committed

Commits on May 10, 2024

Fix bug in compiler error string construction.

yuvaltassa
authored and
copybara-github
committed
Update requirements.txt for mujoco and mjx.

yuvaltassa
authored and
copybara-github
committed
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes google-deepmind#51

yuvaltassa
authored and
copybara-github
committed
Add some missing const qualifiers.

yuvaltassa
authored and
copybara-github
committed
Add contact force support function. google-deepmind#1555

btaba
authored and
copybara-github
committed

Commits on May 13, 2024

Merge branch 'google-deepmind:main' into upgrade_v3
DMackRus
authored