c2138c3fb0
Do not copy the spec during attach.
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Use a reference count for managing the memory.
PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
2025-01-16 03:53:17 -08:00
05d4c3d670
Add mjs_getParent to retrieve the parent body of an object.
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PiperOrigin-RevId: 715794859
Change-Id: Ib9792787cdb966f579938dde3f94ebabca8ef1fc
2025-01-15 07:42:43 -08:00
f607d9554e
Check that there are no pending keyframes while writing a spec.
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This can happen when a body is detached without compiling or recompiling.
Also added error catching when trying to delete a body instead of detaching it.
Fixes #2327
PiperOrigin-RevId: 712526730
Change-Id: I4b48df83120fca12d475c85b3a54893841449653
2025-01-06 07:50:30 -08:00
ebe60b9ad5
Add const to mjsDefault when used as function argument.
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Fixes #2197 .
PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
2024-11-01 18:18:42 -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
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
1f9dca8bc4
Do not expose plugin_slot.
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PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
2024-10-07 09:38:01 -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
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
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
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
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
5d91231d31
Rename mjBuffer to mjByteVec.
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PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
2024-08-19 10:40:26 -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
27b9ddda5b
Add attach tag to MJCF.
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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
2024-07-10 12:41:43 -07:00
a0945e4b5a
Add non-tree element lists to python bindings.
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Fixes #1752 .
PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
2024-07-04 07:24:02 -07:00
9107d3b507
Add mjs_findKeyframe.
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PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
2024-07-03 05:17:41 -07:00
9106f40e2b
Add mjSpec bindings.
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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
2024-07-01 12:05:50 -07:00
6be4e0697e
Simplify mjs_addDefault.
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PiperOrigin-RevId: 646534046
Change-Id: I658224e4800849231e68ed02d8fad07b8d796231
2024-06-25 10:51:57 -07:00
7bd7065e0e
Renamed mjs_fullInertia to mjuu_fullInertia and moved it to user_util.
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PiperOrigin-RevId: 644769379
Change-Id: I83511eeb4c0972ce9f46f0e3443d438cccdd4d9f
2024-06-19 09:39:02 -07:00
7a06bcfdaf
Make model editing API public, fixes #364
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Still missing:
- Detailed documentation.
- Python bindings.
PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
2024-06-07 22:28:01 -07:00
ace0c8f0a3
Add maxhullvert.
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PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
2024-06-06 19:05:16 -07:00
f6084b4328
Change user_api handle types.
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PiperOrigin-RevId: 640978033
Change-Id: I53496671ac823b50e6f90ceee15bf3b314b06db8
2024-06-06 12:06:10 -07:00
9a140bad14
Use suffix instead of prefix underscore for private members in user_api.h.
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PiperOrigin-RevId: 640866779
Change-Id: Ifab04d8cdfe7e4c416d1916eb66f7d3584259f30
2024-06-06 05:44:12 -07:00
ba8a2d4c8a
Dynamic model editing.
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PiperOrigin-RevId: 640838852
Change-Id: I559b1d60f2a3a2d866788d4006be31757454c619
2024-06-06 03:30:59 -07:00
14a3ce5ffa
Add tree traversal utilities to C API.
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PiperOrigin-RevId: 639285787
Change-Id: Ieb52da87fb5e1c674985f03c9ff2b18783d1d657
2024-06-01 01:28:13 -07:00
b38998eff2
Replace mjs_deleteBody with mjs_delete.
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PiperOrigin-RevId: 639058333
Change-Id: I9ac9ca8c6b8c0219f0130cd65dc83602f1829684
2024-05-31 09:24:59 -07:00
ac1af8e461
Remove urdfeffort attribute, parse URDF "effort" into mjsJoint.actforcerange.
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PiperOrigin-RevId: 630796429
Change-Id: I45363aca8afcce68bf48b2e8bdb556b39852f073
2024-05-05 03:28:22 -07:00
1b70907060
Convert user_api header and user_init source files to valid C code.
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PiperOrigin-RevId: 629691192
Change-Id: I9be78aca27ae584fff0b733e9015b2bb3b927ca4
2024-05-01 04:53:01 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
cf433a4ad9
Use enum instead of NaNs for alternative orientation specification.
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PiperOrigin-RevId: 627413508
Change-Id: I9f1a682a1533e1a3fa3cac0a462f28ce9b0fa192
2024-04-23 09:32:51 -07:00
f457789de1
Improve full inertia user API.
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PiperOrigin-RevId: 627399310
Change-Id: Ie2bdc6778e80b2b8127b52c73a3cc4b4755d8e0a
2024-04-23 08:40:01 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
9aa885aa63
Fix attribute order in mjsDefault.
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PiperOrigin-RevId: 626992244
Change-Id: I0755745d2d4a55fbf6c685ad383a5be0842e7984
2024-04-22 04:36:56 -07:00
cc78db41f4
Add mjs_detachBody to C API.
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PiperOrigin-RevId: 626947850
Change-Id: I7c897048098ecd4f2247725ef2d378dbd00ef4a0
2024-04-22 01:11:13 -07:00
a4c31c09a8
Clean up user_api.h
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PiperOrigin-RevId: 625693719
Change-Id: I8e75abb9a38bd45ba7a81938eda3baf68b878d4a
2024-04-17 08:35:37 -07:00
81feadad5c
Add mjs_attachFrame to user_api.
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PiperOrigin-RevId: 625648309
Change-Id: I4d6dfc4d38ad6ce688df83eb7cc2c34676076193
2024-04-17 05:25:16 -07:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
47ba72ea59
Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.
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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
dfe2b75378
Convert mjElement to struct rather than opaque pointer.
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By making mjElement the parent of mjCBase, mjCModel, and mjCDef, this CL enables safer casting using static_cast instead of reinterpret_cast and C-style casting.
PiperOrigin-RevId: 619526291
Change-Id: Ifa2b4bd3ecd95bade61f41a7005c62212f456c00
2024-03-27 07:37:49 -07:00
4d2aa46e56
Rename mjmDefault -> mjsDefault
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PiperOrigin-RevId: 619180662
Change-Id: Id7cedf82fbb022f08accc7c9a547495ed8eecba0
2024-03-26 07:20:03 -07:00
357ff8bbdc
Remove mjCAlternative and user_objects dependency from xml_urdf.
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PiperOrigin-RevId: 618832482
Change-Id: I626bb956cd3eb35317811b9b577cc7db128262ea
2024-03-25 07:21:03 -07:00
4660a297d1
rename mjspec api structs and functions mjm -> mjs
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PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
2024-03-21 18:04:50 -07:00
cc85a38f3c
Add mjm_attachBody to the C API.
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PiperOrigin-RevId: 617207000
Change-Id: I1fe59ba0d79938a4a383b115997c31dd6c71b8e5
2024-03-19 10:01:00 -07:00
372aa021d0
Add copy constructor and assignment to mjCModel.
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PiperOrigin-RevId: 616850780
Change-Id: I7fedab2efa2a90fd7ce952eac4e195f77c5ff5bc
2024-03-18 09:25:27 -07:00
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
Alessio Quaglino