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817 Commits

Author SHA1 Message Date
Alessio Quaglino b341bd391d Fix a bug with mjs_delete functions. 
PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
 2024-07-30 09:13:57 -07:00
Yuval Tassa 24a555062d Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET. 
- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
 2024-07-30 08:41:59 -07:00
Copybara-Service 123a01bd83 Merge pull request #1833 from JewelryForge:main 
PiperOrigin-RevId: 657249579
Change-Id: I11b9602ea685b22d0cc61add9e90e7a5c68559dd
 2024-07-29 10:36:39 -07:00
Alessio Quaglino 6928e09f36 Small performance improvement: Parse body once during replicate. 
PiperOrigin-RevId: 657227162
Change-Id: I5b60c25ab4634a44ed0474fdbf22e676bcb8f6d7
 2024-07-29 09:32:40 -07:00
Yuval Tassa a4bd2bec0a Skip disabled actuators in mjd_actuator_vel. 
Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.

Fixes #1838

PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
 2024-07-29 07:31:58 -07:00
Alessio Quaglino 3f0749a0f7 Do not remove elements that contain user errors when detaching a subtree. 
PiperOrigin-RevId: 657190780
Change-Id: I073a437013f80596a341f7b80bed991536efeb43
 2024-07-29 07:19:12 -07:00
Kyle Bayes 5ac5cfb618 Support directories in VFS via mj_addBufferVFS. 
PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
 2024-07-23 13:39:18 -07:00
Kyle Bayes 2746cb8559 Support FilePaths instead of raw strings in XML code. 
PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
 2024-07-23 08:36:53 -07:00
Tom Erez 33e5960653 Allow multiple textures per material in MJCF. 
PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
 2024-07-22 09:57:51 -07:00
Alessio Quaglino e79efa60d6 Reset tree indices before recompiling. 
Fixes #1822.

PiperOrigin-RevId: 654762203
Change-Id: I7f656f7dad376d4899229a8741315c8f821bfa56
 2024-07-22 08:30:29 -07:00
Saran Tunyasuvunakool f62792594f Add a new disable flag mjDSBL_AUTORESETNAN. 
PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
 2024-07-22 03:22:41 -07:00
Chengrui Zhu cdd8531290 Fix typos and indents. 2024-07-22 13:45:15 +08:00
Kyle Bayes b3f79e561d Fix bug in pre-counting equality constraints. 
PiperOrigin-RevId: 654031345
Change-Id: If8c660b3e6fed78d8fd8de470f1cf2a709ac1244
 2024-07-19 09:33:59 -07:00
Tom Erez 796173170c Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role. 
PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
 2024-07-19 09:29:22 -07:00
Kyle Bayes 8a8a44a4db Refactor numerical parsing in XML. 
PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
 2024-07-19 05:42:02 -07:00
Tom Erez e92af73cbf Add mjmodel support for textures with different number of channels. 
PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
 2024-07-19 05:22:19 -07:00
Alessio Quaglino c198a69bbf Return null pointer from mjs_firstChild and mjs_firstElement when the requested list is empty. 
Fixes #1824.

PiperOrigin-RevId: 653758711
Change-Id: I6ede762cafd88dcbb0dfc9c2999b7aee24bd2e2a
 2024-07-18 14:35:36 -07:00
Yuval Tassa ffb50b7b67 Improve readability of body transmission code. 
(code block mentioned in #1790)

PiperOrigin-RevId: 653601254
Change-Id: Ibee727ab668b690c3b9a55c39110c6219cca17fa
 2024-07-18 06:43:40 -07:00
Alessio Quaglino 231d9632cd Avoid duplicated code in mjCModel by adding ResetTreeLists(). 
PiperOrigin-RevId: 653575505
Change-Id: I61ee1462deae2a371cf6f36ca1cf3dbbd88d174c
 2024-07-18 05:08:18 -07:00
Alessio Quaglino dd9dd295ba Prevent uninitialized memory during a copy of joints and actuators. 
PiperOrigin-RevId: 653340718
Change-Id: Icc5ada05abd590504c157311a309f9b8493feac9
 2024-07-17 13:22:11 -07:00
Yuval Tassa dd25973481 Remove unnecessary def_map copying. 
Introduced in 5b080bacc4
Made obsolete by 27b9ddda5b
[Context](https://github.com/google-deepmind/mujoco/commit/27b9ddda5bdd12345abdfbc0a6efce121d40cd6c#r144157607)

PiperOrigin-RevId: 653254345
Change-Id: Ie944d2c3924d3eb91f7743c0d0c8413cd2cd79cc
 2024-07-17 09:10:31 -07:00
Alessio Quaglino 2664cc1391 Allow passing a null pointer in mj_recompile. 
Fixes #1819.

PiperOrigin-RevId: 653242587
Change-Id: I36dbd6ed54abdf21abeb62cf41ee88f159008d01
 2024-07-17 08:29:01 -07:00
Kyle Bayes 2cf352c2e6 Add VFS handling logic to mj_openResource. 
PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
 2024-07-17 00:41:18 -07:00
Gabe Oppenheimer 22ce22ac8a Update the MuJoCo version number ahead of the 3.2.0 release. 
PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
 2024-07-15 13:16:06 -07:00
Alessio Quaglino 9a7c1df130 Set unused inherited opaque pointers to nullptr. 
PiperOrigin-RevId: 652444674
Change-Id: I3e82b1e1ae029f2f01ddcdf5ce2ccb45624e7062
 2024-07-15 05:15:45 -07:00
Alessio Quaglino cf61d88e41 Move pointer assignments from CopyFromSpec() to PointToLocal(). 
Note that these internal pointers are inherited from the public structs and are unused internally.

PiperOrigin-RevId: 652414750
Change-Id: I5e42503bce8e9019291ec0a1f8c4278438474e9b
 2024-07-15 02:47:32 -07:00
Yuval Tassa 22a10fd2ff Minor documentation improvements. 
PiperOrigin-RevId: 652064694
Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
 2024-07-13 08:36:47 -07:00
Alessio Quaglino 5d51b4cd5f Check that element is a nullptr before casting. 
The bug was caused by the fact that the `mjs_as*` functions would return a pointer to a `mjC*` object, even if the input `mjsElement` pointer was null. This would cause a segfault.

PiperOrigin-RevId: 651802736
Change-Id: Ibec00d269a4befadff8a68e0513fd381c7e38a2a
 2024-07-12 09:46:16 -07:00
Yuval Tassa e76f3ce1e3 Rename model to spec in xml_native_reader.cc. 
PiperOrigin-RevId: 651780148
Change-Id: I476c79af4b47bf763f1f3cb166d3f0897554a207
 2024-07-12 08:22:54 -07:00
Nimrod Gileadi 84108589c4 Move the map lookup outside of the mesh processing loop. Change to unordered_map. 
PiperOrigin-RevId: 651745837
Change-Id: Ibfcbe4b8cefa53a3dbaa99c4ca68442e2e10bc5d
 2024-07-12 05:45:25 -07:00
Alessio Quaglino 6e64dd10e8 Fix bug in RemoveFromList. 
The function was interpreting that the elements that were expected to be detached contained useful user errors, and therefore it was not detaching them. Also, the function tried to compare the namespace between two models, but the namespace is already fused in the references at detach time.

PiperOrigin-RevId: 651738364
Change-Id: Ifdaa9bd5b658bfd18b544b7138a5c2c56b66e936
 2024-07-12 05:08:00 -07:00
Yuval Tassa f1aa52aa9b Never use more threads than meshes for multi-threaded compile. 
PiperOrigin-RevId: 651728817
Change-Id: Ib607d528c25a10e2cdb8c2b0b0da2189683d2691
 2024-07-12 04:18:35 -07:00
Kyle Bayes 9c9faa02d5 Add FilePath utility class for handling resource / file paths in MuJoCo user code. 
PiperOrigin-RevId: 651716008
Change-Id: I250b8cec32aab538f5862f8a05f42d1fae698307
 2024-07-12 03:21:21 -07:00
Alessio Quaglino 2f46dec669 Fix bug in frame saving. Fixes #1802 
PiperOrigin-RevId: 651696068
Change-Id: Ie1e2e1de4e83c42f2b5ebcc3afd0540b9afe7bbd
 2024-07-12 01:56:38 -07:00
Yuval Tassa 3d1d1d0718 Multithreaded mesh compilation. 
PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
 2024-07-11 04:21:49 -07:00
Nimrod Gileadi e7301edd20 Copy arena contents in mj_copyData. 
Fixes #1710.

PiperOrigin-RevId: 651351384
Change-Id: I56e3204b30bb18f48278117e85e90464177da973
 2024-07-11 03:54:44 -07:00
Kyle Bayes f9ab89b205 Refactor user cache to just support void pointers so user objects can be cached whole. 
PiperOrigin-RevId: 651307384
Change-Id: I92c058a900727070235d00b6d2165c29fd12e7b0
 2024-07-11 01:01:27 -07:00
Alessio Quaglino 27b9ddda5b Add attach tag to MJCF. 
PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
 2024-07-10 12:41:43 -07:00
Copybara-Service 5b080bacc4 Merge pull request #1799 from JewelryForge:main 
PiperOrigin-RevId: 651069985
Change-Id: I758e27e2f4bf19bba38d9e1189a41accae40d028
 2024-07-10 10:29:22 -07:00
Alessio Quaglino 7f9f8b5429 Catch errors in attach during replicate. 
PiperOrigin-RevId: 651041336
Change-Id: I59986e157b4e22c74f8b8493899cdd4a3d5df839
 2024-07-10 09:04:37 -07:00
Yuval Tassa b483ce608e Use std::thread in compiler on all platforms. 
PiperOrigin-RevId: 651005412
Change-Id: I8dfb142dc2d87ab0af79583f2df168c105b50138
 2024-07-10 07:10:45 -07:00
Chengrui Zhu 5bd13b4982 Copy all keys of def_map when copying a mjCModel. Fixes #1798 2024-07-10 16:40:36 +08:00
Alessio Quaglino 462cfa5ceb Attach the tree of defaults recursively and with namespacing. 
PiperOrigin-RevId: 650664018
Change-Id: I17751a02a406dcb2a2ca218c316b5eb0370071b8
 2024-07-09 09:54:09 -07:00
Nimrod Gileadi 393895bb29 Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes. 
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
Alessio Quaglino e0d33eb1d0 Remove mjCBase::def and use mjCBase::classname instead. 
PiperOrigin-RevId: 650629741
Change-Id: I10a9955b99e4a5ff0b5a742e22635ccad1455f1a
 2024-07-09 08:02:32 -07:00
Nimrod Gileadi c5f958bdff When reporting compilation errors, include warning strings. 
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
Kyle Bayes 450e7ff777 Move user_resource.c to C++. 
PiperOrigin-RevId: 650592110
Change-Id: I5e043970e3aa722e3961e478334cad4f3f1c191e
 2024-07-09 05:33:38 -07:00
Alessio Quaglino f57dc90669 Refactor Default class to use pointers instead of indices. 
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
Kyle Bayes c6fd002f87 Move engine/engine_resource.{c,h} to user/user_resource.{c,h}. 
PiperOrigin-RevId: 649628768
Change-Id: Id90c983cf70c0f92c3b033ac1b1654c53696955d
 2024-07-05 05:41:55 -07:00
Kyle Bayes 57e6760ec9 Re-implement VFS internals in C++, removing the constraints of the previous implementation. 
PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
 2024-07-04 09:22:23 -07:00