45f908c165
Enable attaching plugins not instantiated in the extension section.
...
Fixes #2217 .
PiperOrigin-RevId: 695766524
Change-Id: I534b63400810bd6ef888f39f6665213280fd93ac
2024-11-12 09:36:06 -08:00
159f23e6b4
Remember compiler options during attach.
...
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
2024-10-24 08:31:15 -07:00
b598d79b3f
Move mesh inertia specification from global <compiler> to <asset/mesh>.
...
Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)
Fixes #2152
PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
2024-10-23 07:06:31 -07:00
11af1e2a95
Fix a bug in mj_recompile.
...
The qposadr_ and dofadr_ variables of the joints were not being reset to -1 when a joint is copied. This could lead to errors when calling mj_recompile after attaching a compiled spec.
PiperOrigin-RevId: 686152004
Change-Id: I9e058089ce87ea0d8e51a7f43475bc48c6527a26
2024-10-15 10:24:32 -07:00
8d84b5f693
Disable hfields for collision sensors.
...
PiperOrigin-RevId: 685730321
Change-Id: Ib1d4a90b7b31ca388e018076a274e25c40409080
2024-10-14 09:19:11 -07:00
766cd20273
Add mjs_bodyToFrame() to convert a body to a frame.
...
Also add test for attaching the world body.
PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
2024-10-14 00:39:20 -07:00
cdb167f275
Add mjs_attachToSite for attaching a body to a site.
...
PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
2024-10-10 07:12:49 -07:00
1f9dca8bc4
Do not expose plugin_slot.
...
PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
2024-10-07 09:38:01 -07:00
66faba9aa5
Avoid changing semantics of mjsPlugin.name across XML sections.
...
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.
PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
2024-10-07 07:57:03 -07:00
dfd1f8fefc
Fixed a bug causing an early stop of tree traversal.
...
Fixes #2112 .
PiperOrigin-RevId: 681804470
Change-Id: I15a6f010db1a97931438fa6d8fd1d5cda6863c32
2024-10-03 03:38:17 -07:00
36ee89d6da
Copy only referenced plugins.
...
Fixes #2111 .
PiperOrigin-RevId: 681486400
Change-Id: I384ac63fa76b27d6e84d91fa857127c42ff52e34
2024-10-02 09:40:48 -07:00
dfe8e45101
Namespace plugin instances when attaching.
...
Fixes #2112 .
PiperOrigin-RevId: 681045462
Change-Id: I2c945c5405fcb91e0f9a1b0b1e94f68d174c84ee
2024-10-01 09:14:37 -07:00
25e4d75a07
Return attached body/frame in mjs_attachBody/Frame.
...
PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
2024-09-27 08:34:00 -07:00
f4381e12a2
Delete plugins when their corresponding objects are deleted, if their instance belonged the object.
...
Fixes #2061 .
PiperOrigin-RevId: 676402701
Change-Id: Ia4807d57a3763e2100702b7e7ec96c300d0a9cfb
2024-09-19 07:21:42 -07:00
ddbc083810
Move elasticity computation to mjCFlex.
...
PiperOrigin-RevId: 675949380
Change-Id: Ia48f4fd6ae1ede206ccacd1205914e7e4b3c7aec
2024-09-18 05:23:10 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
...
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
567793c26f
Store model paths in assets.
...
This enables to preserve the paths of the child spec during `attach`.
PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
2024-09-11 05:20:14 -07:00
ae4987026c
Add tree element support to mjs_firstElement() and mjs_nextElement().
...
PiperOrigin-RevId: 671003046
Change-Id: I9e07d7c85c7218e9bded0f50af9db62d0f1e21e1
2024-09-04 09:46:24 -07:00
4aab00fa2d
Minor cleanups to body and joint compilers.
...
PiperOrigin-RevId: 664824939
Change-Id: I6014ff10683849e2926f1b1c8df8b6862192cd00
2024-08-19 08:43:10 -07:00
4c64e6f036
Add mocap state to SaveState/RestoreState and attached keyframes.
...
PiperOrigin-RevId: 662975257
Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab
2024-08-14 10:42:49 -07:00
7be4df7e03
Add ctrl to attached keyframes.
...
PiperOrigin-RevId: 662878508
Change-Id: Ie273fae0220c8b257766cbbd90a880d44b901725
2024-08-14 05:14:49 -07:00
afd7c73f44
Attach multiple keyframes.
...
Still missing: support for ctrl, mocap, and time.
PiperOrigin-RevId: 662871569
Change-Id: I8a418c4007663e3063d7146bd72db4eba78ddc5d
2024-08-14 04:42:54 -07:00
19aa68c2b2
Add keyframe support to attach.
...
Limitations:
- Supports attaching a single keyframe. If multiple keyframes are present in the child, only the first one will be attached.
- Does not support time, ctrl, mpos, mquat.
- If mjs_detachBody is used, all keyframes are removed.
PiperOrigin-RevId: 662517666
Change-Id: If6e3839471e1884afc14e1a75e7ce1957c2f3581
2024-08-13 08:00:01 -07:00
39896f8064
Restructure mjCMesh for caching.
...
PiperOrigin-RevId: 662496475
Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f
2024-08-13 06:40:36 -07:00
851bb6eef4
Add option to mjspec for creating a texture directly from a buffer.
...
PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
2024-08-12 12:29:08 -07:00
20cae556ee
Encapsulate BVH class members.
...
PiperOrigin-RevId: 662141171
Change-Id: Ica202d31dacc9cc500d0aeecded941b79002b9a1
2024-08-12 10:27:03 -07:00
ec43ec7c30
Remove hard-coded nPOS and nVEL from mjCModel.
...
PiperOrigin-RevId: 661370196
Change-Id: Ib2c1876dfea55dbf496e2358000f24bbde29fc52
2024-08-09 12:53:55 -07:00
5ac5cfb618
Support directories in VFS via mj_addBufferVFS.
...
PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
2024-07-23 13:39:18 -07:00
33e5960653
Allow multiple textures per material in MJCF.
...
PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
2024-07-22 09:57:51 -07:00
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
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
462cfa5ceb
Attach the tree of defaults recursively and with namespacing.
...
PiperOrigin-RevId: 650664018
Change-Id: I17751a02a406dcb2a2ca218c316b5eb0370071b8
2024-07-09 09:54:09 -07:00
e0d33eb1d0
Remove mjCBase::def and use mjCBase::classname instead.
...
PiperOrigin-RevId: 650629741
Change-Id: I10a9955b99e4a5ff0b5a742e22635ccad1455f1a
2024-07-09 08:02:32 -07:00
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
f6cc3f4091
Remove classname from mjs* structs.
...
PiperOrigin-RevId: 647277317
Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
2024-06-27 05:13:02 -07:00
6be4e0697e
Simplify mjs_addDefault.
...
PiperOrigin-RevId: 646534046
Change-Id: I658224e4800849231e68ed02d8fad07b8d796231
2024-06-25 10:51:57 -07:00
7bd7065e0e
Renamed mjs_fullInertia to mjuu_fullInertia and moved it to user_util.
...
PiperOrigin-RevId: 644769379
Change-Id: I83511eeb4c0972ce9f46f0e3443d438cccdd4d9f
2024-06-19 09:39:02 -07:00
8e2f830fd2
Fix type errors in compiler and tests.
...
In preparation for a float32 build of MuJoCo.
PiperOrigin-RevId: 644407674
Change-Id: I60069f0f865ef89fbf613f5a2ca0c336cc63461e
2024-06-18 09:12:44 -07:00
739512a0e4
Fix comment typos.
...
PiperOrigin-RevId: 643762423
Change-Id: I98289ed4053e635b863b029f239b14a232e505e3
2024-06-16 05:54:33 -07:00
7a06bcfdaf
Make model editing API public, fixes #364
...
Still missing:
- Detailed documentation.
- Python bindings.
PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
2024-06-07 22:28:01 -07:00
ace0c8f0a3
Add maxhullvert.
...
PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
2024-06-06 19:05:16 -07:00
ba8a2d4c8a
Dynamic model editing.
...
PiperOrigin-RevId: 640838852
Change-Id: I559b1d60f2a3a2d866788d4006be31757454c619
2024-06-06 03:30:59 -07:00
14a3ce5ffa
Add tree traversal utilities to C API.
...
PiperOrigin-RevId: 639285787
Change-Id: Ieb52da87fb5e1c674985f03c9ff2b18783d1d657
2024-06-01 01:28:13 -07:00
b38998eff2
Replace mjs_deleteBody with mjs_delete.
...
PiperOrigin-RevId: 639058333
Change-Id: I9ac9ca8c6b8c0219f0130cd65dc83602f1829684
2024-05-31 09:24:59 -07:00
e885a3dc3d
Make default class members private.
...
PiperOrigin-RevId: 634288934
Change-Id: I1b7a5ec8dd51c65377b09bcb85c56a849573cac7
2024-05-16 03:22:31 -07:00
13bf9ae6bd
Encapsulate mjCModel internal lists.
...
PiperOrigin-RevId: 631760335
Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
2024-05-08 05:02:21 -07:00
96844db926
Update BVH during fusestatic. Fixes #1069 and #1577 .
...
PiperOrigin-RevId: 631748750
Change-Id: I4e1ae01207568c90fc49bcd7d9f760f5187f1afa
2024-05-08 04:13:16 -07:00
259d3876ce
Remove C-style vectors from user_mesh.
...
PiperOrigin-RevId: 630031676
Change-Id: I87cba3eb816095657acd886037af2c0f06fe4fdd
2024-05-02 05:27:29 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
...
PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
618d879904
Make BVH generation robust to very small perturbations.
...
PiperOrigin-RevId: 629070367
Change-Id: I62b91a572cd59a51ed85e4e97aea53fdb2da1986
2024-04-29 08:06:32 -07:00
Alessio Quaglino