6f97f42458
Geoms of type mesh with zero density don't trigger the check for valid mesh volume.
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PiperOrigin-RevId: 629416817
Change-Id: I23eaa0d61a703988a4eb96a3cad09e562384035e
2024-04-30 08:12:40 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
618d879904
Make BVH generation robust to very small perturbations.
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PiperOrigin-RevId: 629070367
Change-Id: I62b91a572cd59a51ed85e4e97aea53fdb2da1986
2024-04-29 08:06:32 -07:00
d6553ed192
Update contype and conaffinity if fusestatic is true. Fixes #1577 .
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PiperOrigin-RevId: 628073529
Change-Id: I2fe88736d12ec16d72bbd4dce5d349b930147b50
2024-04-25 07:46:00 -07:00
027c26a153
Improve error reporting of sensorized objects.
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Also remove duplication of element name and id from most error messages.
PiperOrigin-RevId: 628065116
Change-Id: Idd962fbab7aeba09e3a70c6c9d044b23db94cf23
2024-04-25 07:13:54 -07:00
cbb048ff00
Allow parent targeting for cameras and lights.
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PiperOrigin-RevId: 628002614
Change-Id: I047dd3d62cfbc6432a3ec53fe6465afc52ca615b
2024-04-25 02:10:35 -07:00
cf433a4ad9
Use enum instead of NaNs for alternative orientation specification.
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PiperOrigin-RevId: 627413508
Change-Id: I9f1a682a1533e1a3fa3cac0a462f28ce9b0fa192
2024-04-23 09:32:51 -07:00
f457789de1
Improve full inertia user API.
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PiperOrigin-RevId: 627399310
Change-Id: Ie2bdc6778e80b2b8127b52c73a3cc4b4755d8e0a
2024-04-23 08:40:01 -07:00
8ebc9ed2c8
Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.
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PiperOrigin-RevId: 627087335
Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
2024-04-22 10:45:43 -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
9aa885aa63
Fix attribute order in mjsDefault.
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PiperOrigin-RevId: 626992244
Change-Id: I0755745d2d4a55fbf6c685ad383a5be0842e7984
2024-04-22 04:36:56 -07:00
cc78db41f4
Add mjs_detachBody to C API.
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PiperOrigin-RevId: 626947850
Change-Id: I7c897048098ecd4f2247725ef2d378dbd00ef4a0
2024-04-22 01:11:13 -07:00
c331d18a6e
Support nested frames in mjs_attachFrame.
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PiperOrigin-RevId: 626001651
Change-Id: I3dc52baa6aad875504dd4c7d969a4091f52c4c16
2024-04-18 05:37:12 -07:00
4a76496533
Compile frames during compilation instead of parsing.
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PiperOrigin-RevId: 625717564
Change-Id: Ib82230f6cb423bb3091efd04a7fa0b1411e7cdf1
2024-04-17 09:56:24 -07:00
a4c31c09a8
Clean up user_api.h
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PiperOrigin-RevId: 625693719
Change-Id: I8e75abb9a38bd45ba7a81938eda3baf68b878d4a
2024-04-17 08:35:37 -07:00
81feadad5c
Add mjs_attachFrame to user_api.
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PiperOrigin-RevId: 625648309
Change-Id: I4d6dfc4d38ad6ce688df83eb7cc2c34676076193
2024-04-17 05:25:16 -07:00
961124ab0b
Changed semantics of mjCBody::operator+=
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PiperOrigin-RevId: 625318655
Change-Id: I0b722bf22125bb0dfb886661e7de5c1638bbe1f9
2024-04-16 07:07:31 -07:00
f086dc9b4b
Better parsing for GMSH2.2
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PiperOrigin-RevId: 625267106
Change-Id: Iecf767c43cee1067fdab3859df28050f8a365e2b
2024-04-16 03:23:52 -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
7b3f1a0261
Add mjModel.mesh_scale: scaling applied to asset vertices.
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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:26:06 -07:00
9463a8816d
Add more validation in gmsh parsing.
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PiperOrigin-RevId: 624179874
Change-Id: I423a740d7c2aae617a87ff31329a49b8275bb578
2024-04-12 08:02:49 -07:00
70f00b05a1
Allow attaching a model to itself.
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PiperOrigin-RevId: 623806812
Change-Id: I9b0e36308be754e838790ead8ec717953e4b2350
2024-04-11 06:28:48 -07:00
7d3b662d5b
Check for invalid node tags in gmsh parser.
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PiperOrigin-RevId: 621538409
Change-Id: I91ba56b931d815fccd65ae32281bc19ae3a45ee7
2024-04-03 08:56:57 -07:00
02a7a8dc11
Fix integer overflow in MSH loading
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PiperOrigin-RevId: 621151576
Change-Id: I33f44dcc5d1099502714b384d97c37fe95e72186
2024-04-02 06:11:55 -07:00
47ba72ea59
Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.
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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
96f923282c
Add SetNuser function.
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PiperOrigin-RevId: 619892712
Change-Id: Id528620d6af19976d965f34a3be95a48a1f9c0b2
2024-03-28 05:26:41 -07:00
dfe2b75378
Convert mjElement to struct rather than opaque pointer.
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By making mjElement the parent of mjCBase, mjCModel, and mjCDef, this CL enables safer casting using static_cast instead of reinterpret_cast and C-style casting.
PiperOrigin-RevId: 619526291
Change-Id: Ifa2b4bd3ecd95bade61f41a7005c62212f456c00
2024-03-27 07:37:49 -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
4d2aa46e56
Rename mjmDefault -> mjsDefault
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PiperOrigin-RevId: 619180662
Change-Id: Id7cedf82fbb022f08accc7c9a547495ed8eecba0
2024-03-26 07:20:03 -07:00
fa8893b443
Improve hash function for names.
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PiperOrigin-RevId: 619173787
Change-Id: I7889ea71ebe7bdbe682042842c521d6631521a35
2024-03-26 06:51:31 -07:00
357ff8bbdc
Remove mjCAlternative and user_objects dependency from xml_urdf.
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PiperOrigin-RevId: 618832482
Change-Id: I626bb956cd3eb35317811b9b577cc7db128262ea
2024-03-25 07:21:03 -07:00
7875e93fea
Improve error text when a mesh face references an invalid vertex.
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PiperOrigin-RevId: 618715730
Change-Id: I28fae1e1570d359db4be98e9c5b7713169eaf34f
2024-03-24 20:59:16 -07:00
4660a297d1
rename mjspec api structs and functions mjm -> mjs
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PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
2024-03-21 18:04:50 -07:00
c3fb8e7f35
Do not attach elements not referenced in the subtree.
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PiperOrigin-RevId: 617849280
Change-Id: I391fe7c00f67d020d7394ddd31219d727b2eaa94
2024-03-21 08:22:03 -07:00
b0daccc234
Allow meshes with flipped faces if exactmeshinertia is false.
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Fixes #1529 .
PiperOrigin-RevId: 617824308
Change-Id: I926c385475dd79f07e88fe1925ecbb2adb4f8917
2024-03-21 06:36:07 -07:00
07da7336e8
Set mesh visual flag regardless of discardvisual.
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PiperOrigin-RevId: 617428859
Change-Id: I427d888e6caa2fe1ae6597ca7165c600c9779cc7
2024-03-20 01:15:52 -07:00
cc85a38f3c
Add mjm_attachBody to the C API.
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PiperOrigin-RevId: 617207000
Change-Id: I1fe59ba0d79938a4a383b115997c31dd6c71b8e5
2024-03-19 10:01:00 -07:00
372aa021d0
Add copy constructor and assignment to mjCModel.
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PiperOrigin-RevId: 616850780
Change-Id: I7fedab2efa2a90fd7ce952eac4e195f77c5ff5bc
2024-03-18 09:25:27 -07:00
de918a8b2d
Small cosmetic fixes to MakeBVH.
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Remove the index member of BVElement, since it's redundant for the purpose of sorting. BVElement is now 32 bytes instead of 40, which should make things a bit better, as this data gets moved around during MakeBVH. Unfortunately, this has no measurable effect on the benchmark.
PiperOrigin-RevId: 616806520
Change-Id: I3b8a28c42a4a21dc25985e63ac57764fdb669afa
2024-03-18 06:19:33 -07:00
74d3d8cb4e
Cache OBJ files in MuJoCo compiler.
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PiperOrigin-RevId: 616211896
Change-Id: I3b765f4529957914e6154f0e62ef36fd9df93c96
2024-03-15 12:32:06 -07:00
c5aa22b177
Speed up MakeBVH.
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1. Avoid creating unnecessary temporary vectors for the left and right sides of the recursive call, since std::nth_element already splits the array in the right way.
2. Filter contype and conaffinity before calling MakeBVH. This only affects the top level of the MakeBVH recursion.
3. Avoid repeatedly computing mju_rotVecQuat for each element at each nesting level.
This is roughly a 2x speedup.
PiperOrigin-RevId: 616152673
Change-Id: I6ce7d99cd4a923c43156beb3f2493c649602260e
2024-03-15 09:24:40 -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
693e3c66c8
Add copy constructors and assignments to user_objects.
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All of the constructors and assignments operators are declared by this CL, but only those that are currently used are implemented here.
PiperOrigin-RevId: 615369559
Change-Id: I9f8cc4a7cd2070362baba04f2af4c5567a696596
2024-03-13 04:50:05 -07:00
c418139fec
Add copy constructor to mjCBody.
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PiperOrigin-RevId: 615050891
Change-Id: I420e19a0444e93e5ec99da10f5cc20b429802d3e
2024-03-12 08:33:35 -07:00
93cbdaee07
Move mjC objects attributes to parent classes in user_objects.
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This is in preparation of adding copy constructors for all of the objects.
PiperOrigin-RevId: 615014168
Change-Id: I24801d71d74dd6756167a6c438f9573825a396b5
2024-03-12 06:06:51 -07:00
8413a615d7
Add copy constructors to body subelements.
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PiperOrigin-RevId: 614665384
Change-Id: I1ad2b644cf9816fb9490b5634c16e95f360a8684
2024-03-11 08:00:10 -07:00
655e3d0914
Renamed Model to Spec in C API function names.
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PiperOrigin-RevId: 613922860
Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92
2024-03-08 07:05:44 -08:00
ef3cb7ec2e
Renamed mjmModel to mjSpec.
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PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
2024-03-07 02:48:32 -08:00
9ac048e262
Add recompilation test to user_api_test.
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PiperOrigin-RevId: 613192683
Change-Id: Ibb44e1c2d63ac0afb7b5f3a15dff26378deb6c82
2024-03-06 06:27:28 -08:00
31384bdfeb
Speed up String2Vector.
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PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
2024-03-05 02:50:26 -08:00
Yuval Tassa