f864108c23
using for std::{string, string_view}, where helpful for readibility.
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PiperOrigin-RevId: 663707900
Change-Id: Icbea374d5f99c7d267140d83f541f0ee872de8c1
2024-08-16 06:14:54 -07:00
e0e08aa597
Rename xml_native_writer variables to be consistent with xml_native_reader.
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PiperOrigin-RevId: 663699130
Change-Id: If11ed48d3b30d3c6d09ca77e3d8048c2a3d9f054
2024-08-16 05:34:30 -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
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
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
8a8a44a4db
Refactor numerical parsing in XML.
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PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
2024-07-19 05:42:02 -07:00
2f46dec669
Fix bug in frame saving. Fixes #1802
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PiperOrigin-RevId: 651696068
Change-Id: Ie1e2e1de4e83c42f2b5ebcc3afd0540b9afe7bbd
2024-07-12 01:56:38 -07:00
393895bb29
Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes.
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Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
2024-07-09 09:08:48 -07:00
e0d33eb1d0
Remove mjCBase::def and use mjCBase::classname instead.
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PiperOrigin-RevId: 650629741
Change-Id: I10a9955b99e4a5ff0b5a742e22635ccad1455f1a
2024-07-09 08:02:32 -07:00
f57dc90669
Refactor Default class to use pointers instead of indices.
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This in order to make it easier to append the default tree to another tree.
PiperOrigin-RevId: 649812975
Change-Id: I2915ac7e37957e45eadc24d6caaf7beea236bf29
2024-07-06 03:51:30 -07:00
f6cc3f4091
Remove classname from mjs* structs.
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PiperOrigin-RevId: 647277317
Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
2024-06-27 05:13:02 -07:00
13fce3e5b0
Use std::array instead of std::vector for a constant array of strings.
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PiperOrigin-RevId: 646826439
Change-Id: I7d9462109027ebb64cb52e3265dde87ca23f906f
2024-06-26 04:53:08 -07:00
8c380e7ba4
Don't print the fixed name ("main") of the top-level default class when saving XMLs.
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Also insert newlines between top level sections in saved XML.
PiperOrigin-RevId: 646802227
Change-Id: If16b93409bda88aee8ef75f4a78d7ba0419fcfae
2024-06-26 03:22:22 -07:00
07fc95ca9a
Add orthographic cameras.
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Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
2024-06-11 09:23:18 -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
b35ae973e1
Add mj_parseXML and mj_saveXML to xml_api.
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PiperOrigin-RevId: 640099466
Change-Id: I75f763523c5bc8f6f7c2f2de6806d82ba37ebd4e
2024-06-04 15:28:14 +01:00
e885a3dc3d
Make default class members private.
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PiperOrigin-RevId: 634288934
Change-Id: I1b7a5ec8dd51c65377b09bcb85c56a849573cac7
2024-05-16 03:22:31 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
13bf9ae6bd
Encapsulate mjCModel internal lists.
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PiperOrigin-RevId: 631760335
Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
2024-05-08 05:02:21 -07:00
62bc837b4c
Rename remaining model to spec in xml/
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PiperOrigin-RevId: 630855094
Change-Id: Ib921fe43b9b5a5a64867ef4c8c1cca217c27a5aa
2024-05-05 12:03:49 -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
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
4b6c07cd7d
Prevent bodies from overwriting the frame names in xml_native_writer.
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PiperOrigin-RevId: 625632369
Change-Id: If3bd048ac40e116fcb97beb3dca3d99826fe4ad0
2024-04-17 04:07:50 -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
5d26b50fce
Remove native sensor noise sampling.
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PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
2024-03-28 15:33:03 -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
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
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
ef3cb7ec2e
Renamed mjmModel to mjSpec.
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PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
2024-03-07 02:48:32 -08:00
1bd44e73bb
Replace mjCModel with mjmModel in mjXBase.
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PiperOrigin-RevId: 611762880
Change-Id: I22254689b6cbf10fe7b61f9742b6ffd6c2074477
2024-03-01 03:38:28 -08:00
1f2d673c7b
Add missing global fields to mjmModel.
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PiperOrigin-RevId: 610415124
Change-Id: I07f284804bf73cb67703597973b50b8c00ea8deb
2024-02-26 08:25:08 -08:00
7edacd39cd
Add engine settings to mjmModel.
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PiperOrigin-RevId: 608915453
Change-Id: Ic58566d7a9cdb57e25954caec69f595c8c9ee88a
2024-02-21 02:26:57 -08:00
042760eba8
Add compiler settings to mjmModel.
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PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
2024-02-21 01:58:22 -08:00
78dc5aee9f
Remove mjCPlugin from xml_native_reader.
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PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
2024-02-20 03:46:42 -08:00
d7c47de353
Add mjStatistic to mjmModel.
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PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
2024-02-16 05:17:35 -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
6f958bc404
Add mjmSkin to C API.
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PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
2024-02-15 05:09:10 -08:00
80a986c0f5
Add mjmBodyPair to C API.
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PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
2024-02-14 08:40:05 -08:00
c9e7586499
Add mjmHField to C API.
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PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
2024-02-14 04:12:29 -08:00
2ee8a4dabd
Add mjmNumeric, mjmText, mjmTuple, mjmKey to C API.
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PiperOrigin-RevId: 606919327
Change-Id: I477f6cd8beefcb3962238722565e3b398b73446c
2024-02-14 03:10:38 -08:00
9ecd700923
Add mjmMesh to C API.
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PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
2024-02-13 09:09:59 -08:00
06505f49f9
Add mjmTexture to C API.
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PiperOrigin-RevId: 606543622
Change-Id: I2db743c1c40116f0503329fb1d004d9b041e83e7
2024-02-13 02:09:39 -08:00
13d6eeacdd
Add mjmPair to C API.
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PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
2024-02-12 09:25:33 -08:00
b224367a9b
Add mjmFlex to C API.
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PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
2024-02-12 08:48:11 -08:00
4e5b194e88
Add mjmMaterial and mjmFrame to C API.
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PiperOrigin-RevId: 606191307
Change-Id: Iaf43f81522029002b28bba14ea046b1c968ab2e7
2024-02-12 02:56:03 -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
1bd6a32af2
Add mjmEquality, mjmTendon and mjmWrap to C API.
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PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
2024-02-10 03:30:31 -08:00
6fa139a693
Add mjmActuator and mjmSensor.
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PiperOrigin-RevId: 605600704
Change-Id: I0a2f5eb9d894c068ca9ee08940c752066021b6ec
2024-02-09 05:11:13 -08:00
Yuval Tassa