Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 861550939
Change-Id: I070eb4bcc2982466c8f368f7918005538baa5185
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 856166919
Change-Id: Id723d612ffc0bff020705cf19ef95fbf24676840
All known implementations were effectively the same as the default fallback. It was just adding unneeded complexity. Removing this now will help with upcoming improvements to resource providers.
PiperOrigin-RevId: 855163273
Change-Id: I529fc18d0d03a8dc676c909ec9e4b1da1454d414
- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
- The returned spec is then composed into the referencing spec.
- This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.
Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.
The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.
In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.
PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
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
- Preparation for a float32 build of MuJoCo.
- Fix use of `float`-typed `fabs` in `mju_eig3`.
PiperOrigin-RevId: 643804942
Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
Accept new attributes on the plugin/actuator tag:
- dyntype
- dynprm
- actlimited
- actrange
- actearly
This addresses some of the requests in #1098.
PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
A resource provider provides a mechanism for MuJoCo to read from filesystems other than the OS filesystem or the Virtual File System (VFS).
PiperOrigin-RevId: 525394983
Change-Id: I077ff5a7e2e76806b48b6defb531280aadc8b169
The `reset` function is called inside `mj_resetData`, before any physics forwarding call has been made. It is therefore an error to read anything from mjData at this stage.
The only valid operation on mjData during `reset` is for a plugin to write into its own state variable slots and data struct. We modify the function signature to only provide access to these.
PiperOrigin-RevId: 495032492
Change-Id: Ic6d2967d2571a9083cbca1ba239ca70a8a51f474
- Added new `cable` composite type:
* The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
* The boundary bodies are exposed with the names:`B_left` and `B_right`.
* The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new `cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
* New cable example showing the formation of plectoneme.
* New coil example.
* New belt example showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
Haroon Qureshi