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
3d1d1d0718
Multithreaded mesh compilation.
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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
2024-07-11 04:21:49 -07:00
e7301edd20
Copy arena contents in mj_copyData.
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Fixes #1710 .
PiperOrigin-RevId: 651351384
Change-Id: I56e3204b30bb18f48278117e85e90464177da973
2024-07-11 03:54:44 -07:00
f9ab89b205
Refactor user cache to just support void pointers so user objects can be cached whole.
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PiperOrigin-RevId: 651307384
Change-Id: I92c058a900727070235d00b6d2165c29fd12e7b0
2024-07-11 01:01:27 -07:00
c145b79f6e
Using typing instead of collections.abc. Fixes #1763
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PiperOrigin-RevId: 651186508
Change-Id: I844ec884b802837554b0b60f2414d6bc37f2da14
2024-07-10 16:21:00 -07:00
27b9ddda5b
Add attach tag to MJCF.
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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
2024-07-10 12:41:43 -07:00
5b080bacc4
Merge pull request #1799 from JewelryForge:main
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PiperOrigin-RevId: 651069985
Change-Id: I758e27e2f4bf19bba38d9e1189a41accae40d028
2024-07-10 10:29:22 -07:00
60afda949c
Merge pull request #1714 from abhihjoshi:tendons
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PiperOrigin-RevId: 651048034
Change-Id: If5b7cb55ff0007c3c6f932e62f068d1168778a33
2024-07-10 09:26:54 -07:00
7f9f8b5429
Catch errors in attach during replicate.
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PiperOrigin-RevId: 651041336
Change-Id: I59986e157b4e22c74f8b8493899cdd4a3d5df839
2024-07-10 09:04:37 -07:00
1a47860577
Add a xml test file whose mesh has a default class. user_api_test will have a segmentation fault before #1799 .
2024-07-10 23:10:22 +08:00
b483ce608e
Use std::thread in compiler on all platforms.
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PiperOrigin-RevId: 651005412
Change-Id: I8dfb142dc2d87ab0af79583f2df168c105b50138
2024-07-10 07:10:45 -07:00
7e97caaafd
Add a test for lengthrange computation, with and without threading.
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PiperOrigin-RevId: 650997405
Change-Id: I45c3725dacb6ccf17977953a9ffed717c927b786
2024-07-10 06:39:18 -07:00
17f6b12930
Report model load time in simulate if it takes more than 0.5 seconds.
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PiperOrigin-RevId: 650933302
Change-Id: Id33aa9935a6b4f493dfa9a913f8a424b3f387fa1
2024-07-10 02:56:47 -07:00
5bd13b4982
Copy all keys of def_map when copying a mjCModel. Fixes #1798
2024-07-10 16:40:36 +08:00
462cfa5ceb
Attach the tree of defaults recursively and with namespacing.
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PiperOrigin-RevId: 650664018
Change-Id: I17751a02a406dcb2a2ca218c316b5eb0370071b8
2024-07-09 09:54:09 -07:00
d0f86bc2c5
Correct API documentation of mjvSceneState. Fixes #1793
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PiperOrigin-RevId: 650662466
Change-Id: Ie887a63ca9136bbc688db6a79036701b9516c1d6
2024-07-09 09:49:07 -07:00
393895bb29
Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes.
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Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
2024-07-09 09:08:48 -07:00
e0d33eb1d0
Remove mjCBase::def and use mjCBase::classname instead.
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PiperOrigin-RevId: 650629741
Change-Id: I10a9955b99e4a5ff0b5a742e22635ccad1455f1a
2024-07-09 08:02:32 -07:00
c5f958bdff
When reporting compilation errors, include warning strings.
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This allows plugins to call mju_warning, and have the string propagate to users.
PiperOrigin-RevId: 650621601
Change-Id: I608e7a3a1ad126ab8da2ff0634fa708458fb9ccc
2024-07-09 07:33:11 -07:00
450e7ff777
Move user_resource.c to C++.
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PiperOrigin-RevId: 650592110
Change-Id: I5e043970e3aa722e3961e478334cad4f3f1c191e
2024-07-09 05:33:38 -07:00
70f86617f8
Fix typos in documentation.
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PiperOrigin-RevId: 650191926
Change-Id: I84d098782c6e4585a31e1de6bb1a7af3b3698f94
2024-07-08 03:49:12 -07:00
f57dc90669
Refactor Default class to use pointers instead of indices.
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This in order to make it easier to append the default tree to another tree.
PiperOrigin-RevId: 649812975
Change-Id: I2915ac7e37957e45eadc24d6caaf7beea236bf29
2024-07-06 03:51:30 -07:00
9d0812911c
Add a test for type attribute.
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PiperOrigin-RevId: 649635359
Change-Id: Ibe5d9fcb5f14371e5f154d645b838a9d012331d5
2024-07-05 06:16:46 -07:00
c6fd002f87
Move engine/engine_resource.{c,h} to user/user_resource.{c,h}.
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PiperOrigin-RevId: 649628768
Change-Id: Id90c983cf70c0f92c3b033ac1b1654c53696955d
2024-07-05 05:41:55 -07:00
e734527e7b
Fixing formatting for USD scripts
2024-07-04 16:25:44 -05:00
fcb247e35b
Merge remote-tracking branch 'upstream/main' into tendons
2024-07-04 15:10:29 -05:00
c79ae6f242
fixing frame rate bug in demo file
2024-07-04 15:06:25 -05:00
d029e4ff99
Get rid of unnecessary return value policy specification.
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PiperOrigin-RevId: 649437250
Change-Id: I61f8db0af526ebf667244124fcd4984881c6ef13
2024-07-04 09:45:22 -07:00
47d25bc4ac
Add missing id attributes in Python bindings of mjsElements.
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PiperOrigin-RevId: 649435098
Change-Id: I16383958c25cb8fdc16a107d5abef8626a675632
2024-07-04 09:32:33 -07:00
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
f8b944bf7f
Fix missing fclose when resource is closed without being read. Fixes #1685 .
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PiperOrigin-RevId: 649416747
Change-Id: I05eeb1071868116b6e5be76e26b465788e4d35b1
2024-07-04 08:07:34 -07:00
a5a3c9efc7
Discard all keyframes when attaching models.
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PiperOrigin-RevId: 649415647
Change-Id: Ie2defe248df7078684d987351985cb66bd754e5b
2024-07-04 08:04:40 -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
d831153401
Reorganize GJK support logic.
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PiperOrigin-RevId: 649361144
Change-Id: I9868377cf36cccdcf66de3bc27afb872a164da8d
2024-07-04 03:48:52 -07:00
59303bb161
Fixing formatting for usd files and adding pylint configuration
2024-07-03 18:32:59 -05:00
4b733b14d7
Merge pull request #1770 from fanminshi:fix_mjx_import
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PiperOrigin-RevId: 649199077
Change-Id: Ie1e404cfb0c33db077fa6299edc45645aaecd1cf
2024-07-03 14:27:00 -07:00
ca44ad4f0f
Improve docstrings and layout in mjdata.h
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PiperOrigin-RevId: 649195756
Change-Id: Iadf6589c226acacd9f3e85959de552a98fc7435a
2024-07-03 14:15:51 -07:00
5cce67439b
Clean up user_util.
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PiperOrigin-RevId: 649166858
Change-Id: I79423dda628fb4bf3ceae438dd8dc5b96d69d2a9
2024-07-03 12:38:36 -07:00
2a4410e4e5
Fix bug with absolute meshdirs in included XML files. Fixes #1772 .
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PiperOrigin-RevId: 649150979
Change-Id: I5df08c689afc4f5bc625e989a8c0b9733fcfa3c2
2024-07-03 11:49:17 -07:00
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
af3233f98d
Delete unused code.
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PiperOrigin-RevId: 648658198
Change-Id: I1bec6b07becd7cec22af4c67e9cc1a9bcda669b0
2024-07-02 03:32:55 -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
19d505d847
Remove unused texture attribute in some models.
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PiperOrigin-RevId: 648497401
Change-Id: I9f9a843abfb710afaf25798fa659efd92bcd7007
2024-07-01 15:05:02 -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
f2c3be470f
Make seed fixed for random number generator when using <texture mark="random"/>
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Also improve documentation regarding texture height and width attributes.
PiperOrigin-RevId: 648427167
Change-Id: I59a0fe75d3526f8563a5252584ed60ef7fb8fd70
2024-07-01 11:11:17 -07:00
c1ade85490
Add tests for mju_normalize4.
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PiperOrigin-RevId: 648422309
Change-Id: Ie363b396cd854588dc59994ae76059f42f2a54b0
2024-07-01 10:58:35 -07:00
Alessio Quaglino