995bbf0f0f
Refactor and fold in code into Process in mjCMesh for caching.
...
PiperOrigin-RevId: 736052216
Change-Id: Ia0e055fd99ce429b9dee97f3f9effbf2fa1aa4f9
2025-03-12 02:12:53 -07:00
4d024f9421
Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.
...
PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
2025-03-07 05:17:49 -08:00
893a993bf6
Fix typos.
...
PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
2025-01-16 06:28:54 -08:00
8a8a44a4db
Refactor numerical parsing in XML.
...
PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
2024-07-19 05:42:02 -07:00
2cf352c2e6
Add VFS handling logic to mj_openResource.
...
PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
2024-07-17 00:41:18 -07:00
9c9faa02d5
Add FilePath utility class for handling resource / file paths in MuJoCo user code.
...
PiperOrigin-RevId: 651716008
Change-Id: I250b8cec32aab538f5862f8a05f42d1fae698307
2024-07-12 03:21:21 -07:00
5cce67439b
Clean up user_util.
...
PiperOrigin-RevId: 649166858
Change-Id: I79423dda628fb4bf3ceae438dd8dc5b96d69d2a9
2024-07-03 12:38:36 -07:00
2a4410e4e5
Fix bug with absolute meshdirs in included XML files. Fixes #1772 .
...
PiperOrigin-RevId: 649150979
Change-Id: I5df08c689afc4f5bc625e989a8c0b9733fcfa3c2
2024-07-03 11:49:17 -07:00
7bd7065e0e
Renamed mjs_fullInertia to mjuu_fullInertia and moved it to user_util.
...
PiperOrigin-RevId: 644769379
Change-Id: I83511eeb4c0972ce9f46f0e3443d438cccdd4d9f
2024-06-19 09:39:02 -07:00
8e2f830fd2
Fix type errors in compiler and tests.
...
In preparation for a float32 build of MuJoCo.
PiperOrigin-RevId: 644407674
Change-Id: I60069f0f865ef89fbf613f5a2ca0c336cc63461e
2024-06-18 09:12:44 -07:00
1b70907060
Convert user_api header and user_init source files to valid C code.
...
PiperOrigin-RevId: 629691192
Change-Id: I9be78aca27ae584fff0b733e9015b2bb3b927ca4
2024-05-01 04:53:01 -07:00
1db0a9946f
Fix frame accumulation order for <frame> meta-element.
...
PiperOrigin-RevId: 588803425
Change-Id: Id0289c34d1a6cfb6007540a29cc1f32d879e43ed
2023-12-07 08:37:20 -08:00
5fcdae771b
Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures.
...
PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
2023-07-19 06:51:36 -07:00
67f0f5154f
Add various improvements for resource providers.
...
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
2023-05-05 07:03:49 -07:00
e250ff0d5a
- Added passive forces plugins
...
- 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
2022-10-10 02:46:51 -07:00
f556d4d94f
Avoid out-of-bounds access when checking file extensions.
...
Include the '.' in the file extension check.
PiperOrigin-RevId: 474866478
Change-Id: I809ae975e4c8b00f17278735975a7d07e0748643
2022-09-16 11:49:33 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
...
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Kyle Bayes