98478f8811
Minor changes to inline comments in mjModel and mjData headers.
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PiperOrigin-RevId: 688231631
Change-Id: Iae5430142cab256a73a0fb8c698992ceba21b28c
2024-10-21 12:31:15 -07:00
36e8845599
Add actuator_moment Jacobian sparsity pattern to mjData.
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PiperOrigin-RevId: 688124236
Change-Id: Ieccc8131d0046100ec9a2783ffb43dd784f0a63b
2024-10-21 07:11:25 -07:00
dcf2816543
Remove copy_back from Python bindings and mj_copyBack from the C API.
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PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
2024-10-18 11:55:04 -07:00
ffdb800e45
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
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PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
2024-10-16 14:24:06 -07:00
c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
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PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
ee7b994021
Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.
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PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
2024-10-14 09:07:22 -07:00
766cd20273
Add mjs_bodyToFrame() to convert a body to a frame.
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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.
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PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
2024-10-10 07:12:49 -07:00
a26ba2012e
Return 0 on success from mjs_activatePlugin instead of using mju_error.
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PiperOrigin-RevId: 684102823
Change-Id: I86b7702094ae886539e1dfb6294381952d507bc1
2024-10-09 11:09:33 -07:00
b66da3d369
Add mjData.L, sparse Cholesky factor of Newton solver Hessian.
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PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
2024-10-08 10:13:08 -07:00
1f9dca8bc4
Do not expose plugin_slot.
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PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
2024-10-07 09:38:01 -07:00
66faba9aa5
Avoid changing semantics of mjsPlugin.name across XML sections.
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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
6e66cafe76
Capture mjs_attach error message in the Python bindings.
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PiperOrigin-RevId: 682409212
Change-Id: I391ee48626e7dcd985f65a231370ef5ec16124d7
2024-10-04 12:19:42 -07:00
89aea5e217
Add body.find_all() to Python bindings.
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This enables to generate a list of all body children of a given type.
Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112 .
PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
2024-10-01 08:57:25 -07:00
6832df3091
Replace mjs_setActivePlugins with mjs_activatePlugin.
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PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
2024-09-30 09:46:47 -07:00
807ee852d0
Merge pull request #2097 from emotodorov:ui
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PiperOrigin-RevId: 679704368
Change-Id: Iae396a134e6019c8cdb935a306f097f9427e134c
2024-09-27 13:16:01 -07:00
25e4d75a07
Return attached body/frame in mjs_attachBody/Frame.
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PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
2024-09-27 08:34:00 -07:00
a985faef51
section checkbox highligting
2024-09-26 22:22:02 -04:00
41ea95f077
Add a section for element casting in the function API reference, move these functions to the end.
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PiperOrigin-RevId: 677783917
Change-Id: I5042e7df20f2a2e0ecfe01a85a1969ccfc2307cd
2024-09-23 07:26:01 -07:00
0ba11b9623
Add plugins list to mjSpec Python API.
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Fixes #2061 .
PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
2024-09-23 06:13:42 -07:00
4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
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PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
b15de2c951
Add elasticity parameters to the schema.
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PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:56:36 -07:00
2da15cf137
Add flex elasticity stiffness matrix to mjModel.
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PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 05:00:54 -07:00
e4d4153352
Move sanitizer instrumentation to a separate header file. Fixes #2049 .
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PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
2024-09-10 09:05:35 -07:00
e3cda3e0e3
Fix alignment in mjxmacro.h
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PiperOrigin-RevId: 671759410
Change-Id: I4f92d8b60a64d89016af4c717beddf8b4b844996
2024-09-06 08:04:12 -07:00
81618f95f9
Update doc for mj_addFileVFS and mj_addBufferVFS as VFS is no longer memory limited.
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PiperOrigin-RevId: 671087960
Change-Id: I0b022554f4f47fe2e64c8201cd855b63d514c344
2024-09-04 13:51:43 -07:00
8954a088ce
Add automatic free-joint alignment.
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PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
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PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
42eb669e4e
Precompute mappings between M <-> D sparse representations.
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PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
2024-09-04 02:57:13 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
505d01a1c1
Add error handling to mj_recompile.
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This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception.
PiperOrigin-RevId: 666784579
Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48
2024-08-23 07:18:28 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
2efbd31762
Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts.
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PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
2024-08-22 06:08:25 -07:00
8b03daa09b
Add mjtSameFrame enum to specify frame alignment of bodies with their children.
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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:17:06 -07:00
5d91231d31
Rename mjBuffer to mjByteVec.
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PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
2024-08-19 10:40:26 -07:00
0bffd744f9
Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.
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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:08:35 -07:00
851bb6eef4
Add option to mjspec for creating a texture directly from a buffer.
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PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
2024-08-12 12:29:08 -07:00
2c56946547
Increase mjVERSIONSTRING to 3.2.3 after release.
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PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
2024-08-08 10:31:57 -07:00
ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
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PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -07:00
9db9df7380
Increase material count limit to 1000.
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The texture limit used to be 1000, but when materials with multiple textures were introduced in 3.2.0, the limit was reduced to 100. Since there are model out there that already have more than 100 and fewer than 1000 textures/materials, we should maintain backwards compat.
Fixes #1877
PiperOrigin-RevId: 659901629
Change-Id: If0f6d0500d1d808bc3ec2d87d4a3faf24007da59
2024-08-06 04:20:51 -07:00
56e00a5d4a
Re-order elements of mjSTATE_FULLPHYSICS. Fixes #1876
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PiperOrigin-RevId: 659267096
Change-Id: Iaf1e13caa989c41179aa0bd635cfa17ac776d06d
2024-08-04 03:32:24 -07:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
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PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -07:00
24a555062d
Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.
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- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.
PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
2024-07-30 08:41:59 -07:00
33e5960653
Allow multiple textures per material in MJCF.
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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
2024-07-22 09:57:51 -07:00
f62792594f
Add a new disable flag mjDSBL_AUTORESETNAN.
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PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
2024-07-22 03:22:41 -07:00
796173170c
Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.
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PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
2024-07-19 09:29:22 -07:00
e92af73cbf
Add mjmodel support for textures with different number of channels.
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PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:22:19 -07:00
Saran Tunyasuvunakool