7efd690471
Document where mesh transforms are saved, fixes #1894
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PiperOrigin-RevId: 662836678
Change-Id: I060e3b1f29e82c6c3c188e730657cda7b99f63e9
2024-08-14 02:24:46 -07:00
1141b4abbc
Force dtype of mjx.Contact.{geom1,geom2,geom} to int32.
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This improves compatibility with MuJoCo.
PiperOrigin-RevId: 662655282
Change-Id: I2a336d9453f40cf0bfa85a7203b55709e23a07fe
2024-08-13 14:34:43 -07:00
19aa68c2b2
Add keyframe support to attach.
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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
98cd49d529
Merge pull request #1827 from abhihjoshi:open3d-removal
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PiperOrigin-RevId: 662510404
Change-Id: I79b356eecddb3402c444cb16a305516bd724aef6
2024-08-13 07:33:23 -07:00
39896f8064
Restructure mjCMesh for caching.
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PiperOrigin-RevId: 662496475
Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f
2024-08-13 06:40:36 -07:00
4ebf381b4d
Merge pull request #1899 from saran-t:saran-t-patch-5
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PiperOrigin-RevId: 662454010
Change-Id: Ie3d6c59dd787aefa3c95869a91451387783b6057
2024-08-13 03:51:18 -07:00
1132632627
Fix for benign UBsan signed-integer-overflow complaints.
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When counting nl and nc, the nnz is optionally also counted when in sparse mode. However, the functions mj_nl and mj_nc unconditionally counts nnz into a temporary accumulator, then only afterwards check whether the output nnz pointer is NULL.
When not in sparse mode, ten_J_rownnz does not get initialized by mj_tendon, however mj_nl and mj_nc are accumulating potentially spurious data from ten_J_rownnz into the temporary accumulator. While the spurious result eventually gets discarded, UBsan nevertheless detects an integer overflow in the temporary accumulator.
PiperOrigin-RevId: 662443910
Change-Id: I78a9a088d4db7f16be779c7d669167d6fb3e4401
2024-08-13 03:08:41 -07:00
e3814be8e6
Remove duplicated title from the changelog.
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PiperOrigin-RevId: 662443493
Change-Id: Idf6d36aba168488f2752d7e167ed13c599acbd91
2024-08-13 03:06:31 -07:00
acab66d799
Remove superfluous break statements.
2024-08-13 10:46:35 +01:00
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
20cae556ee
Encapsulate BVH class members.
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PiperOrigin-RevId: 662141171
Change-Id: Ica202d31dacc9cc500d0aeecded941b79002b9a1
2024-08-12 10:27:03 -07:00
648fd56ed1
Preserve time when recompiling a model.
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Fixes #1890 .
PiperOrigin-RevId: 662084324
Change-Id: I6aed40761cee5044e63426935d102123db295b25
2024-08-12 08:00:36 -07:00
d3a976e10d
Fix indent.
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PiperOrigin-RevId: 662035313
Change-Id: I30ec124e8144b8130623daa6b0802a46de124aec
2024-08-12 04:23:48 -07:00
d45d13e5ad
Remove uses of mjtNum-typed functions from user_objects.cc
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PiperOrigin-RevId: 662026275
Change-Id: Idfb2b6ced6eac4b4b60079e219aac63fc1d00b89
2024-08-12 03:45:43 -07:00
02ffaa8248
Yet another GCC-related fix.
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PiperOrigin-RevId: 661595661
Change-Id: Ib66a0d891533be50451adc850d7350532fc39d67
2024-08-10 05:32:28 -07:00
d72f01bad4
Add break statements in user_objects.cc to appease persnickety GCC
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PiperOrigin-RevId: 661590599
Change-Id: I2d167ca92cc4d5230922d221c9267a2e8d018b40
2024-08-10 04:56:18 -07:00
e397fcb5a5
Add return values to private mjJCJoint methods.
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PiperOrigin-RevId: 661438758
Change-Id: I08a77eb878703610ead526040d86f3f3fccb080b
2024-08-09 16:09:17 -07:00
466368efc6
Add shellinertia support for primitives: sphere, capsule, cylinder, ellipsoid, and box.
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PiperOrigin-RevId: 661407997
Change-Id: Icddac58c540c71ea26ac7a3be874788443bd1122
2024-08-09 14:40:13 -07:00
ec43ec7c30
Remove hard-coded nPOS and nVEL from mjCModel.
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PiperOrigin-RevId: 661370196
Change-Id: Ib2c1876dfea55dbf496e2358000f24bbde29fc52
2024-08-09 12:53:55 -07:00
da15aa6a0e
Improve error message for fullinertia and orientation specifiers.
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Fixes #1888 .
PiperOrigin-RevId: 661359190
Change-Id: Ibe38e88024b4a43922352b42347abf1026f168a2
2024-08-09 12:20:27 -07:00
ebd8615554
Internal change.
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PiperOrigin-RevId: 661267364
Change-Id: If2249eb1658c5b877a43a4d3c29ebf88d2a42d5a
2024-08-09 08:16:41 -07:00
1c9d609b5b
Make mj_gjkPenetration have the same signature as LibCCD penetration functions.
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PiperOrigin-RevId: 661256774
Change-Id: If0ae95e27900a9d7b9c63f189837f1315fbbb987
2024-08-09 07:40:17 -07:00
35a834f0ba
Fix engine_sort_test compile error.
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PiperOrigin-RevId: 660975517
Change-Id: I6e3d1b041fe60b1ec202391903eff340f787b46d
2024-08-08 14:11:35 -07:00
ebf887e14d
Add sensors to MJX. Implements jointpos and actuatorpos as examples.
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PiperOrigin-RevId: 660891329
Change-Id: Ie6c282a397de2f52843775ec747495e9be46d307
2024-08-08 10:33:19 -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
82c27165f2
mjQUICKSORT uses std::sort with C++.
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fixes #1638
PiperOrigin-RevId: 660887790
Change-Id: Ia3b493feda98b246d963aa749bc81b96c42fddaa
2024-08-08 10:24:34 -07:00
5383d1cd44
Update changelog for MuJoCo 3.2.2 release.
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PiperOrigin-RevId: 660823679
Change-Id: I983220b7e0314bdb2476a48b68399b0921834747
2024-08-08 07:12:08 -07:00
c486f62cb7
Fix some broken links in documentation.
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Remove references to deleted sample Makefiles.
PiperOrigin-RevId: 660753375
Change-Id: Iaed2d893e1c03b1c6d348a54e7d7f834db7f6089
2024-08-08 02:41:08 -07:00
157040f743
Refer to tex_data in docs instead of tex_rgb.
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PiperOrigin-RevId: 660412293
Change-Id: I164099ecc36833e20d5adc2c7345aff351fc4561
2024-08-07 09:07:20 -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
fd892ee8f5
Fix some documentation bugs
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PiperOrigin-RevId: 660010085
Change-Id: I0e4d7bef6acc4e432545266c6301f7ca08e6b883
2024-08-06 10:34:08 -07:00
5287359022
Update docs for VFS.
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PiperOrigin-RevId: 659968022
Change-Id: I3b6c9befc8ca0dacaee5ef6da34d537dd439b7f3
2024-08-06 08:33:21 -07:00
a1d9b47e2f
Initial (unoptimized) implementation of EPA.
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PiperOrigin-RevId: 659938320
Change-Id: I72c6c6bd7504bce36e4788d90b06b2cb3849b4db
2024-08-06 06:53:55 -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
881b777ffd
Fix a build error in engine_util_solve_test.cc.
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PiperOrigin-RevId: 659668840
Change-Id: I56b0604628d54e149092201ff19c3318b75429a6
2024-08-05 13:47:28 -07:00
828b900358
Update dependency versions.
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PiperOrigin-RevId: 659624959
Change-Id: I21bb1f352107ed399a1029aa1d7f5b6ed29ab3cf
2024-08-05 11:37:14 -07:00
926b9027d2
Update changelog for Mujoco 3.2.1
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PiperOrigin-RevId: 659612142
Change-Id: I88b199d796c24f8292af34f84caf3a0e8363d996
2024-08-05 11:06:08 -07:00
4dc8f884de
Check for texid >= 0 before accessing texture arrays.
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PiperOrigin-RevId: 659567553
Change-Id: Ia4aaa85b85e3f27e632c03a9f50b10894d29a97b
2024-08-05 08:47:50 -07:00
0610c1d0e9
Use std::abs instead of mju_abs to compare integerst in fixture.cc.
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PiperOrigin-RevId: 659534808
Change-Id: I4eb9f72078f2d7224bcfd3b537e4053d220750c8
2024-08-05 06:35:07 -07:00
20011a2f53
Disable RK4 integrator in mjd_transitionFD by throwing an error and improve documentation for mjd_transitionFD and mjd_inverseFD.
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PiperOrigin-RevId: 659492713
Change-Id: I84ab7ebfba34742f239f60311d8f0a55559995fb
2024-08-05 03:18:31 -07:00
6a8e28f0e9
Prevent integer overflow when computing texture sizes and allocating memory for them.
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Correctly check for failed allocations when resizing std::vector
PiperOrigin-RevId: 659488680
Change-Id: I7bf4c0b416e96eda2baec32b21be78456604f4b0
2024-08-05 02:58:46 -07:00
ff5d339e48
GMSH loading: Check that std::stoi isn't out of range.
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PiperOrigin-RevId: 659485119
Change-Id: I584ba33f87dbe3b87a8c4fb90feb8963106115da
2024-08-05 02:41:19 -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
e0483c2f86
Updating for PR comments
2024-08-02 15:13:25 -05:00
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
70a3a541ea
Unpoison destination arena when copying mjData.
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PiperOrigin-RevId: 658312528
Change-Id: Ie6d3497793ef70b89eaa64dcc7aed4130678f06c
2024-08-01 01:38:14 -07:00
9febd760a1
Set working directory for python tests on GitHub.
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PiperOrigin-RevId: 657961231
Change-Id: I859f823ae7fa7bf73b4adde77746eb3340ba8587
2024-07-31 04:54:19 -07:00
30b98fbe6a
Merge branch 'main' into open3d-removal
2024-07-30 16:32:01 -05:00
a470f26a4b
Reverting to Union for python 3.9
2024-07-30 15:30:16 -05:00
b341bd391d
Fix a bug with mjs_delete functions.
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PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
2024-07-30 09:13:57 -07:00
Yuval Tassa