The obj_decoder plugin is updated to parse line segments ('l') from OBJ files and represent them as degenerate triangles. The user_flexcomp compiler now supports flex dimensions of 1, using these parsed line segments to define the 1D flex elements. The compile sample's error reporting is also improved.
PiperOrigin-RevId: 928566870
Change-Id: I6920729d1b1d5aeb391401c3245ebb1d4784c190
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 897114719
Change-Id: Iee914cc5e05798186f384a67901f1cf86bc2f887
Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead.
PiperOrigin-RevId: 896612678
Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
*** Reason for rollback ***
Rolling back obj/stl decoder inclusion as sources due to broken windows build.
*** Original change description ***
Include obj and stl decoder plugins as sources in CMake builds.
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
***
PiperOrigin-RevId: 885576586
Change-Id: I31e6fa4d10697862f7d800d0d771ca752747e36d
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 885555524
Change-Id: I20aa5b6c55b678398345d49cb1c47667ae2bebcf
- handle when body0 or body1 are the default prim/world
- add site-based equalities to the constrainst list so they aren't skipped
- support connect constraints by checking for spherical joints
The relpose in mujoco represents the anchor in body1 space and the relative orientation of body2 in body1 space. Previously we were computing it as the relative position of body2 from body1 space.
Further, we now properly account for the setting of strictly the anchor and not the relpos by setting localPos0 *only*.
PiperOrigin-RevId: 878506356
Change-Id: I83fc7e97cd1a891e17f0bb091f8950b581be0e01
- Contact excludes use the UsdPhysicsFilteredPairsAPI schema. Body1 is the body with the schema, body2 is contained in the list of filtered targets within the schema.
The single array attribute `mjc:polycoef` has been replaced by five individual double attributes: `mjc:coef0`, `mjc:coef1`, `mjc:coef2`, `mjc:coef3`, and `mjc:coef4`.
PiperOrigin-RevId: 865947359
Change-Id: If9d14a77b0a06e5dc712eeadd6e9402411570706
Adds support for mjTRN_TENDON actuators in the USD decoder. Modifies the tendon path parsing to correctly handle side site indices, allowing -1 to signify no side site for a given path element.
PiperOrigin-RevId: 862755621
Change-Id: I18b13b160e3d1c27945d0972a69012d6307131e9
This change introduces two new USD API schema:
* MjcEqualityAPI - base API for representing MuJoCo equality constraints in USD, this will typically be applied to joints such as UsdPhysicsFixedJoint.
* MjcEqualityWeldAPI - extends MjcEqualityAPI for MuJoCo's weld equality constraints with an attribute for torqueScale.
The usd_decoder is updated to parse UsdPhysicsFixedJoints and convert the new schema attributes into the appropriate mjsEquality data fields.
PiperOrigin-RevId: 856723634
Change-Id: I0982fd3168b643f8e91d87bb5ae5933e526b63a1
Since relationships in USD can only contain a single instance of a path, it was previously impossible to have a tendon path that visits the same wrap target more than once. This is a fairly common occurence when dealing with tendons that have pulleys.
With this change, if mjc:path:indices is not defined then the behaviour is as it was and the mjc:path is considered to be ordered. If it is authored then the parser will use the indices into mjc:path as the order. This mirrors other similar concepts in USD such as face vertex indices.
PiperOrigin-RevId: 856339887
Change-Id: I6b9503973de377acdb0689be168c16e4aa19b70b
Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
This is in preparation for extending support to store the grid as a mesh.
PiperOrigin-RevId: 786281232
Change-Id: Ic718c2d2e1891cf0b66113270fd3c98acc1e74a5
Temporary changes to the octree:
- Changed frame from mesh to geom
Before change (tolerance 1e-3):
```
Simulation time : 2.34 s
Steps per second : 4275
Realtime factor : 8.55 x
Time per step : 233.9 µs
Newton iters / step : 2.26
Contacts / step : 3.69
Constraints / step : 14.76
Degrees of freedom : 12
Dynamic memory usage : 0.7% of 14M
```
After change (6 octree levels):
```
Simulation time : 2.24 s
Steps per second : 4472
Realtime factor : 8.94 x
Time per step : 223.6 µs
Newton iters / step : 2.47
Contacts / step : 3.37
Constraints / step : 13.49
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
Also, use geom_rbound for the sensor size and check that there is at least one collision geom.
PiperOrigin-RevId: 772928954
Change-Id: I56f1577df66213a70fb1dc12488fbcd2f8a4b8b4
Alessio Quaglino