5618666a7d
Add body/simple attribute to control simple body optimization.
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PiperOrigin-RevId: 942164766
Change-Id: I1e83bb99b6a1955917eb9b2e9bed0dc7b8e6a161
2026-07-03 09:09:30 -07:00
1490336955
Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.
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PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
2026-06-22 04:19:01 -07:00
5ce9a0ad0b
Split large parameterized tests into dedicated files.
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PiperOrigin-RevId: 927159897
Change-Id: Ib0e11727c49195bc03d190b736c01b14c10268fe
2026-06-05 02:07:47 -07:00
2810edd27a
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
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PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
2026-05-21 06:43:29 -07:00
7d54123303
Make flex vert0 rotation-invariant for interpolated flexes.
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The `vert0` array, used for parametric vertex coordinates in flexes, is now computed in the flex's local, unrotated frame when using interpolation. This ensures that the parametric coordinates are independent of the flex's initial orientation. A new test confirms that `flex_vert0` is identical for an unrotated and a rotated flex grid.
PiperOrigin-RevId: 908196464
Change-Id: I47d6bcc2bc5df581479d485480e0e947ec6d3ffd
2026-04-30 08:41:01 -07:00
9f5fc99711
Convert monolithic RecompileCompare and WriteReadCompare tests into test suites, one test per file.
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PiperOrigin-RevId: 890149850
Change-Id: Ib3e8c032a7b43b4a3f85e7a922e25987050cd77c
2026-03-26 18:21:49 -07:00
9fa3f6f77e
Enable float32 testing for most MuJoCo engine and user tests.
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PiperOrigin-RevId: 886697701
Change-Id: I4a96fae03ea18494c3fcef8eb17b3b6f0863e9b7
2026-03-20 04:05:06 -07:00
82e92cbcaa
Remove PluginTest and make MujocoTest load plugins.
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MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.
This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.
PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
2026-02-23 12:15:22 -08:00
6419534bad
Add actuator and sensor delays. Fixes #1004
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PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
2026-02-06 08:47:36 -08:00
608115ab95
Add output attribute to camera elements.
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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
769f37b653
Implement sleeping in engine
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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
2025-11-07 03:33:07 -08:00
b6f25ca623
Check mjs_getName return value in XML parser. Fixes #2898 .
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PiperOrigin-RevId: 819351410
Change-Id: I0807d71328068f6388991ae15274c7d61b4d3e53
2025-10-14 12:40:28 -07:00
6320b95957
Add mju_getXMLDependencies that given an MJCF file returns filepaths to all of it's dependencies.
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PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
2025-10-02 06:14:48 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
5f42078dc1
Do not write nameless frames whose class is "main".
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PiperOrigin-RevId: 769685151
Change-Id: I3d993d7521db2b2adbf611c3e4eb5b4b293bdc30
2025-06-10 10:15:43 -07:00
fe81373ffe
Enable WriteReadCompare for models with assets.
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PiperOrigin-RevId: 765500742
Change-Id: I119dbea11ed6771839b5e81d04070e95a51d3ed0
2025-05-31 00:56:27 -07:00
84ad22a590
Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.
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Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.
PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
2025-05-30 17:17:14 -07:00
23865c7491
Skip cow.xml from xml_native_writer_test.
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Including it caused tests to become flaky.
PiperOrigin-RevId: 758414305
Change-Id: I6a5b6b20df7faf736bb3dd8610019b9c9a23d633
2025-05-13 16:10:18 -07:00
449de73430
Do not skip cow and touch_grid during WriteReadCompare.
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PiperOrigin-RevId: 755370618
Change-Id: I90dfe66b20c316b19c943eab8d031f5aef187fa7
2025-05-06 07:54:39 -07:00
f96f3e1c22
Add XML compiler/saveinertial flag. Fixes #2405
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PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
2025-04-03 10:12:42 -07:00
8f4c5c4b16
add support for non-rgb textures in xml_native_writer
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PiperOrigin-RevId: 736221430
Change-Id: I83c19e06f0f7be054a88c3e894807e7b90ee012a
2025-03-12 12:17:32 -07:00
0fcd20f0da
Remove grid from composite types.
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Replaced it with flexcomp in the models.
PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
2025-02-23 01:31:41 -08:00
89253d957d
Changes to inertia inference from meshes.
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PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
2025-02-12 07:43:13 -08:00
5874c8a8df
Update xml_native_writer_test.cc
2025-02-08 22:14:32 +01:00
867e8b8adb
Fix ARM issues with tests with nativeccd.
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Note: frameless_contact_hfield.xml doesn't work with libccd nor nativeccd on ARM as expected.
PiperOrigin-RevId: 698317464
Change-Id: I4c57e04639b9870b416c67d79a16a313c5276cf6
2024-11-20 02:30:15 -08:00
4a3f77dd1f
Add missing default namespaces.
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Fixes #2162 .
PiperOrigin-RevId: 688575676
Change-Id: I6c43e33ebead68dece0f779e6f031e90a5e19096
2024-10-22 09:16:31 -07:00
2dd518734f
Stop over-allocating memory in Newton solver.
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PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
2024-10-11 05:09:33 -07:00
8256546432
Fix bug in xml_native_writer that was causing frames to be skipped.
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PiperOrigin-RevId: 683721505
Change-Id: I8622f4ea42ecda934fbc805c429de40e7717fdef
2024-10-08 12:23:17 -07:00
8a8a44a4db
Refactor numerical parsing in XML.
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PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
2024-07-19 05:42:02 -07:00
2f46dec669
Fix bug in frame saving. Fixes #1802
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PiperOrigin-RevId: 651696068
Change-Id: Ie1e2e1de4e83c42f2b5ebcc3afd0540b9afe7bbd
2024-07-12 01:56:38 -07:00
d8b85245a7
Informative error if mis-naming the top-level default class.
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Also:
- Move the the top-level default class name into the mjCModel constructor.
- Fix bug in default class propagation in frame elements.
PiperOrigin-RevId: 646384669
Change-Id: Icc6154124361a234b84a07e2b5ecaa7c8b18ebf7
2024-06-25 01:46:18 -07:00
8e2f830fd2
Fix type errors in compiler and tests.
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In preparation for a float32 build of MuJoCo.
PiperOrigin-RevId: 644407674
Change-Id: I60069f0f865ef89fbf613f5a2ca0c336cc63461e
2024-06-18 09:12:44 -07:00
86ef1746b0
Add convex collision test models.
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PiperOrigin-RevId: 643567019
Change-Id: I233553f04ea7d67216a2440f834362965d9e8c58
2024-06-15 01:38:13 -07:00
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
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
4b7b40d329
Add test for saving and loading binary models.
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PiperOrigin-RevId: 626019520
Change-Id: I1e349921b3408bee288c52d9e52b29006ff3fda4
2024-04-18 06:55:07 -07:00
4b6c07cd7d
Prevent bodies from overwriting the frame names in xml_native_writer.
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PiperOrigin-RevId: 625632369
Change-Id: If3bd048ac40e116fcb97beb3dca3d99826fe4ad0
2024-04-17 04:07:50 -07:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
4f0293c6cb
Added support for msh2.2
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Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.
Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark
PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
2024-03-26 10:12:13 -07:00
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
9efa4ebe0b
Move CompareModel to fixture.
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PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
2024-03-05 02:24:32 -08:00
05150546e3
Add inheritrange attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:42:44 -08:00
f9f7827a64
Trim trailing default values in saved xmls.
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For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:
- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.
PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
2024-02-16 01:36:06 -08:00
414a67640a
Add mjmDef to C API.
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PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
2024-02-15 06:17:58 -08:00
3601026b1d
Refactor handling of auto-limits.
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PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
2024-02-10 22:01:13 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
5b2c98f8f1
When saving XMLs, don't round floats that are bigger than INT_MAX. Fixes #1278
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PiperOrigin-RevId: 590692020
Change-Id: Icd11d20f47bc4163eb4378f4cb031b8fd9d13612
2023-12-13 13:13:15 -08:00
Yuval Tassa