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
c7a8b104f9
Add modified callback for VFS resource provider.
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PiperOrigin-RevId: 616152275
Change-Id: I417f9b204eaa1eb9fc68a15927f86031dcd20575
2024-03-15 09:23:29 -07:00
c42868a91b
Update logic for OS filesystem timestamps for caching.
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PiperOrigin-RevId: 616138153
Change-Id: I0ce966546bc4af04e57b983e27bbd75a94377237
2024-03-15 08:31:56 -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
a2a770453e
Copybara import of the project:
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--
1fcff13dfdc70519c4d33e17ade4be6afb2960a2 by Alexis <cuatroalejandro@gmail.com >:
add multipleBodies test for mj_loadXML
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34270fa57946e68a82fa55313b64a5a56e5aa080 by Alexis <cuatroalejandro@gmail.com >:
add some space
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3594020eb9be57cb6a2eef0baeca97cee8f25aab by Alexis <cuatroalejandro@gmail.com >:
remove TODO comment in xml_api_test
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1487 from alefram:alexis-test 3594020eb9be57cb6a2eef0baeca97cee8f25aab
PiperOrigin-RevId: 615033458
Change-Id: I05fe5659b07b3226b82d2562e31bcd73f150b089
2024-03-12 07:31:11 -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
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
31384bdfeb
Speed up String2Vector.
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PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
2024-03-05 02:50:26 -08:00
9efa4ebe0b
Move CompareModel to fixture.
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PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
2024-03-05 02:24:32 -08:00
9e1d7d6ab8
Fix typo in flex and composite error message.
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PiperOrigin-RevId: 611115238
Change-Id: Iadb9b4b078e60bca15184f3435380eb67b2da8a9
2024-02-28 08:45:11 -08:00
93f9154d44
Merge branch 'google-deepmind:main' into angmomMat
2024-02-26 20:18:38 +05:30
3fd0fe7884
corrections
2024-02-26 20:15:22 +05:30
8679c9fc59
Fix null pointer deref for unknown class names.
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PiperOrigin-RevId: 610391077
Change-Id: I5abd62ff46e31e788f06fe111adb3c25287d4fdc
2024-02-26 06:38:52 -08:00
b47d97652e
Load from VFS in parsing benchmark.
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PiperOrigin-RevId: 610384849
Change-Id: Id226c30f1629d6b4bbc2231c1e998e733c27772e
2024-02-26 06:08:11 -08:00
ebf9d63702
changed the model, using central differences in CompareAngMomMats test
2024-02-26 14:48:47 +05:30
41e41b538d
added two tests for the mj_subtreeAngMomMat() function
2024-02-26 01:23:55 +05:30
a4a621f6e3
Add checksums (used as a timestamp) to VFS.
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Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.
PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
2024-02-21 02:25:36 -08:00
24eb4c9f09
Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.
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PiperOrigin-RevId: 608312069
Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
2024-02-19 05:40:31 -08:00
c146bb4003
BEGIN PUBLIC
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Remove incorrectly added test files.
END PUBLIC
Correct typo in copy.bara.sky
PiperOrigin-RevId: 607930101
Change-Id: Ib2c75d00e65f11c30be2ea0b3fdbb0c24bd3a164
2024-02-17 02:57:02 -08:00
dbf7afaeaa
Canonical USD example for MuJoCo Physics. This contains three items:
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floor - a static floor centered at origin of sides 100m x 100m
two_cubes - a standard example where 2 cubes have a hinge joint between them.
two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30).
PiperOrigin-RevId: 607809323
Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb
2024-02-16 14:56:39 -08:00
f1d4f8f0a1
Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset.
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PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
2024-02-16 05:09:05 -08:00
05150546e3
Add inheritrange attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:42:44 -08:00
5e353efaaf
Add mjmModel opaque pointer to C API.
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PiperOrigin-RevId: 607619891
Change-Id: Ic1eaaa842438d9c2e19f742deff41967287853f5
2024-02-16 02:21:25 -08:00
f9f7827a64
Trim trailing default values in saved xmls.
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For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:
- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.
PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
2024-02-16 01:36:06 -08:00
414a67640a
Add mjmDef to C API.
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PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
2024-02-15 06:17:58 -08:00
266161ee4c
Convert mju_openResource to write warnings to a given error string.
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PiperOrigin-RevId: 606907392
Change-Id: Ic70e980aa9ba2bdbe1787773f51749b34f74afed
2024-02-14 02:17:40 -08:00
eabd4c06f9
Move schema definition validation from runtime to a test.
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PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
2024-02-12 09:49:48 -08:00
ff39d0b812
Keep include elements while parsing XML. No change in behavior.
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PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
2024-02-12 03:54:44 -08:00
3601026b1d
Refactor handling of auto-limits.
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PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
2024-02-10 22:01:13 -08:00
1fe258fb60
Add mjmGeom to C API.
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PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
2024-02-08 06:53:01 -08:00
a3e49d582e
Add mjmBody and mjmPlugin and their compiler C APIs.
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PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
2024-02-07 04:17:30 -08:00
b9c50ad79c
Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias.
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PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
2024-02-06 17:21:31 -08:00
84f20ffb66
Automated g4 rollback of changelist 604607692.
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*** Reason for rollback ***
breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's
*** Original change description ***
Move fullinertia from mjCAlternative to mjCBody.
***
PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
2024-02-06 09:47:04 -08:00
737342bdfe
Move fullinertia from mjCAlternative to mjCBody.
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PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
2024-02-06 04:43:12 -08:00
3b2dd06c54
Add compiler C API for mjmSite.
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PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
2024-02-06 01:50:47 -08:00
f75923a48d
Updated version numbers to cmake files
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build / windows-2022 (push) Has been cancelled
build / macos-12 (push) Has been cancelled
build / ubuntu-20.04-clang-10 (push) Has been cancelled
build / ubuntu-20.04-clang-11 (push) Has been cancelled
build / ubuntu-20.04-clang-12 (push) Has been cancelled
build / ubuntu-22.04-clang-13 (push) Has been cancelled
build / ubuntu-22.04-clang-14 (push) Has been cancelled
build / ubuntu-22.04-gcc-10 (push) Has been cancelled
build / ubuntu-22.04-gcc-11 (push) Has been cancelled
build / ubuntu-22.04-gcc-12 (push) Has been cancelled
build / ubuntu-22.04-gcc-9 (push) Has been cancelled
PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
2024-02-05 12:55:30 -08:00
df76b55fe0
Add line error check to user_objects and xml_native_reader tests.
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PiperOrigin-RevId: 603714614
Change-Id: Ic031f33a9a6eb45b3e61cb666e0d4890bfe08275
2024-02-02 09:57:49 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
fb8f77df74
Throw error if qhull is called with NaNs.
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PiperOrigin-RevId: 601745538
Change-Id: I590673ca7975e4abc171f98704a6c8f8d08f8327
2024-01-26 06:13:27 -08:00
076db5d366
Copy face_ into facetexcoord_ if not specified and needed.
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PiperOrigin-RevId: 601732448
Change-Id: Iffe01076db22201dba2611ea36174f808ae00c1e
2024-01-26 04:54:43 -08:00
4f53d9a0d7
Add AddVector and GetVector to user cache.
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PiperOrigin-RevId: 601485067
Change-Id: I1a31f15c2495de4f057316022dcddf4df39afd64
2024-01-25 10:13:13 -08:00
aede8cf5cf
Rename user_asset_cache to user_cache.
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PiperOrigin-RevId: 601097322
Change-Id: Iea3d6481cd214028ef63ed72868999ecb0b1eeb4
2024-01-24 06:05:56 -08:00
a1ddbdf7f8
Add an implementation of a cache for assets for compilation speedups.
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PiperOrigin-RevId: 599850003
Change-Id: I83e299e127058a5657d7b262aa98d36451b530f6
2024-01-19 09:04:01 -08:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
a14a584f1d
Fix bug in muscle length-gain curve. Fixes #1342
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PiperOrigin-RevId: 599165049
Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
2024-01-17 07:20:01 -08:00
1e2e0b3053
Remove all visual-only assets if discardvisual is selected, not only the geoms.
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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
2024-01-15 06:39:25 -08:00
42515033a7
Fix linter issues in user_objects_test.
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PiperOrigin-RevId: 597204770
Change-Id: I0b396d4c64684d845dc9baf205800e22c8fac314
2024-01-10 04:00:08 -08:00
c59a33dd81
Use std::string_view instead of absl::string_view in fixture.cc.
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Clean up some lint warnings.
Fixes #1306 .
PiperOrigin-RevId: 595988916
Change-Id: I0e8584ff8704ea7294cf649664ab447cb1d4ff46
2024-01-05 07:20:58 -08:00
Kyle Bayes