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Author SHA1 Message Date
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
Gabe Oppenheimer cb4cb7d09b Update version hashes in MuJoCo CMake files ahead of the 3.2.0 release. 
PiperOrigin-RevId: 652555501
Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
 2024-07-15 12:00:25 -07:00
Yuval Tassa 39b22ebc26 Remove dangling section header from function docs. 
PiperOrigin-RevId: 652456322
Change-Id: Ib1d7aa387b7ba8957c93f0227f530aa0b37f2668
 2024-07-15 06:11:25 -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 3d28a1d8c7 Fix formatting in documentation code samples. 
PiperOrigin-RevId: 652237833
Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f
 2024-07-14 07:08:18 -07:00
Yuval Tassa 22a10fd2ff Minor documentation improvements. 
PiperOrigin-RevId: 652064694
Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
 2024-07-13 08:36:47 -07:00
Yuval Tassa e13ddfa2ab Improve compiler-related documentation. 
PiperOrigin-RevId: 651827545
Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
 2024-07-12 11:05:16 -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
Richard Levasseur a0df72f43f Raise memory limit so test passes with dynamic linking 
The memory leak test fails with `RAW: mmap error: 12` when dynamic
linking is enabled. This is probabably because
of the additional memory overhead dynamic linking incurs. Raising it slightly
appears to satisfy the test.

Tested:
    TAP --sample ran all affected tests and none failed
    http://test/OCL:650692833:BASE:650634362:1720548680801:c55c6a68
PiperOrigin-RevId: 651750900
Change-Id: Ia63d153b326ff7451391789e2d7cae50a62be723
 2024-07-12 06:10:37 -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
Erik Frey c145b79f6e Using typing instead of collections.abc. Fixes #1763 
PiperOrigin-RevId: 651186508
Change-Id: I844ec884b802837554b0b60f2414d6bc37f2da14
 2024-07-10 16:21:00 -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
Copybara-Service 60afda949c Merge pull request #1714 from abhihjoshi:tendons 
PiperOrigin-RevId: 651048034
Change-Id: If5b7cb55ff0007c3c6f932e62f068d1168778a33
 2024-07-10 09:26:54 -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
Chengrui Zhu 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
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
Yuval Tassa 7e97caaafd Add a test for lengthrange computation, with and without threading. 
PiperOrigin-RevId: 650997405
Change-Id: I45c3725dacb6ccf17977953a9ffed717c927b786
 2024-07-10 06:39:18 -07:00
Yuval Tassa 17f6b12930 Report model load time in simulate if it takes more than 0.5 seconds. 
PiperOrigin-RevId: 650933302
Change-Id: Id33aa9935a6b4f493dfa9a913f8a424b3f387fa1
 2024-07-10 02:56:47 -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
dependabot[bot] 143196ee79 Bump zipp from 3.17.0 to 3.19.1 in /python 
Bumps [zipp](https://github.com/jaraco/zipp) from 3.17.0 to 3.19.1.
- [Release notes](https://github.com/jaraco/zipp/releases)
- [Changelog](https://github.com/jaraco/zipp/blob/main/NEWS.rst)
- [Commits](https://github.com/jaraco/zipp/compare/v3.17.0...v3.19.1)

---
updated-dependencies:
- dependency-name: zipp
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>
 2024-07-09 18:59:23 +00:00
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
Yuval Tassa d0f86bc2c5 Correct API documentation of mjvSceneState. Fixes #1793 
PiperOrigin-RevId: 650662466
Change-Id: Ie887a63ca9136bbc688db6a79036701b9516c1d6
 2024-07-09 09:49:07 -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
Yuval Tassa 70f86617f8 Fix typos in documentation. 
PiperOrigin-RevId: 650191926
Change-Id: I84d098782c6e4585a31e1de6bb1a7af3b3698f94
 2024-07-08 03:49:12 -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
Yuval Tassa 9d0812911c Add a test for type attribute. 
PiperOrigin-RevId: 649635359
Change-Id: Ibe5d9fcb5f14371e5f154d645b838a9d012331d5
 2024-07-05 06:16:46 -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
Abhishek Joshi e734527e7b Fixing formatting for USD scripts 2024-07-04 16:25:44 -05:00
Abhishek Joshi fcb247e35b Merge remote-tracking branch 'upstream/main' into tendons 2024-07-04 15:10:29 -05:00
Abhishek Joshi c79ae6f242 fixing frame rate bug in demo file 2024-07-04 15:06:25 -05:00
Saran Tunyasuvunakool d029e4ff99 Get rid of unnecessary return value policy specification. 
PiperOrigin-RevId: 649437250
Change-Id: I61f8db0af526ebf667244124fcd4984881c6ef13
 2024-07-04 09:45:22 -07:00
Yuval Tassa 47d25bc4ac Add missing id attributes in Python bindings of mjsElements. 
PiperOrigin-RevId: 649435098
Change-Id: I16383958c25cb8fdc16a107d5abef8626a675632
 2024-07-04 09:32:33 -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
Yuval Tassa 118b6810b3 Make "id" a property rather than a method of mjsElements in Python bindings. 
PiperOrigin-RevId: 649424035
Change-Id: I8226b3040aa2001ae9748399257e36ac263b7c8b
 2024-07-04 08:35:37 -07:00
Kyle Bayes f8b944bf7f Fix missing fclose when resource is closed without being read. Fixes #1685. 
PiperOrigin-RevId: 649416747
Change-Id: I05eeb1071868116b6e5be76e26b465788e4d35b1
 2024-07-04 08:07:34 -07:00
Alessio Quaglino a5a3c9efc7 Discard all keyframes when attaching models. 
PiperOrigin-RevId: 649415647
Change-Id: Ie2defe248df7078684d987351985cb66bd754e5b
 2024-07-04 08:04:40 -07:00
Alessio Quaglino a0945e4b5a Add non-tree element lists to python bindings. 
Fixes #1752.

PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
 2024-07-04 07:24:02 -07:00