ab209c41be
Align comments in mjm_ structs.
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PiperOrigin-RevId: 606214754
Change-Id: I4d5ddd98baf52fc71acc1bfca0b345cafda4ce7f
2024-02-12 04:54:03 -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
cebd2a657e
Clean-up user_api.h and user_init.cc
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PiperOrigin-RevId: 605967516
Change-Id: Ieaf75d764778d81932b860ca9f16007adc0037a1
2024-02-10 21:21:13 -08:00
230f8c7b63
Increase maximum compiler error message length from 300 to 600.
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PiperOrigin-RevId: 605947931
Change-Id: I5564d0e2d6690ee75996a10e05cd6c7eca49f279
2024-02-10 18:51:44 -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
e3cbad280c
Add mjmJoint, mjmCamera, and mjmLight to C API.
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PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
2024-02-09 04:44:58 -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
e4fada1963
Correct use of uninitialized value and clean up FullInertia function
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PiperOrigin-RevId: 605049375
Change-Id: I7ffb6bd56b08111036e8490bf767fb9393499f13
2024-02-07 11:38:02 -08:00
8b17d260a3
Add user_init for setting default parameters.
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PiperOrigin-RevId: 604942840
Change-Id: I746ac7bb28f508b606bc0b8544136f523ce50d4c
2024-02-07 04:42:41 -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
01439f28b3
Add AddFreeJoint and remove isfree from AddJoint.
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PiperOrigin-RevId: 604597442
Change-Id: I2fe03cf0f9a59b425080cc5cc12b236fea9c020d
2024-02-06 03:49:49 -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
1ed8694dbe
Replace xmlpos with info string for mjCError.
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PiperOrigin-RevId: 603759456
Change-Id: I0d86d8e61e31a70da77169107268728d6c052778
2024-02-02 12:34:52 -08:00
b3f93d436b
Convert mjmStruct to a C-struct.
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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
2024-02-01 06:57:47 -08:00
7a98038e88
Move mjCSite attributes to mjmSite struct.
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PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948
2024-01-31 08:07:48 -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
71b0561758
Clean up formatting issues in user_objects.h
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PiperOrigin-RevId: 599127766
Change-Id: If752c00038818fb21476eb98be891ead467aad56
2024-01-17 04:21:10 -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
acf698e2df
Store pointer to index in mjCBoundingVolume if possible.
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PiperOrigin-RevId: 598592242
Change-Id: I8dc20a8d8a9a0e967688839fa22d75263c226958
2024-01-15 06:04:20 -08:00
cab1c6bb39
Preallocate mjCBoundingVolumeHierarchy and avoid copies during MakeBVH.
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PiperOrigin-RevId: 598579741
Change-Id: Iac154affa6ee22994c571f2ec00ac602bfe7f4d6
2024-01-15 04:48:44 -08:00
8a9b041388
Replace objid with obj pointers.
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This in preparation of adding functions to remove/add elements after compilation.
PiperOrigin-RevId: 597286844
Change-Id: I940103ade986c8d057db8cc1e9a98c073ddfab98
2024-01-10 10:20:47 -08:00
889353dfa8
Replace meshid and hfieldid with mjCMesh and mjCHField pointers in mjCGeom.
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PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c
2024-01-10 09:56:54 -08:00
371da98d97
Avoid dynamically generated strings from being used as format strings in mjCError and mjXError.
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PiperOrigin-RevId: 597198372
Change-Id: I2f159436091c03c7454545877cd5f7e2383cd7c8
2024-01-10 03:20:48 -08:00
63ec34f9f8
Add plugins to flex parent body if there are pinned vertices.
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Fixes #1270 .
PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
2024-01-03 09:53:22 -08:00
9f6be3135e
Modify mjListKeyMap to be a fixed-size array, and add internal object_lists variable to mjCModel to remove redundant code.
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PiperOrigin-RevId: 590997348
Change-Id: I5f4d7de605f44d40a75eb1e9ceec208325fa3be5
2023-12-14 11:12:01 -08:00
b22919543d
Fix bugs related to saving of <statistics> values.
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Before this change:
- User-modified values of `mjModel.stat.{meanmass, meaninertia}` would not be saved to XML.
- Non-user-modified values of `mjModel.stat.{meansize, extent, center}` would always get saved to XML.
After this change values are saved to XML only if provided by the user, either in the XML or by changing values in `mjModel` before saving.
PiperOrigin-RevId: 589473351
Change-Id: I4dcf4892ef61c35edf424226e731232d861bad8d
2023-12-09 16:06:39 -08:00
a006b15958
Add map from objects names to their index.
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Also some minor cleanup of repeated code in user_model.
PiperOrigin-RevId: 589135294
Change-Id: I16f22c4dbdde961cedc042af3bdc9d3577d33459
2023-12-08 08:14:16 -08:00
623201ec76
Throw error if scale attribute is used with an SDF.
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Fixes #1210 .
PiperOrigin-RevId: 589101807
Change-Id: I3f2796de3438fbcdaf9221bddc5c9bd82aedb7cb
2023-12-08 05:41:22 -08:00
1db0a9946f
Fix frame accumulation order for <frame> meta-element.
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PiperOrigin-RevId: 588803425
Change-Id: Id0289c34d1a6cfb6007540a29cc1f32d879e43ed
2023-12-07 08:37:20 -08:00
d12fe594d9
Add suffix to duplicated assets.
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PiperOrigin-RevId: 588775467
Change-Id: I3a0d2a14601cf018b0c8c56728bd3ae22adb8ec2
2023-12-07 06:46:51 -08:00
762371c3e4
Add kv damping attribute to position and intvelocity actuator shortcuts.
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PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
2023-12-06 04:28:30 -08:00
c0b7b9873d
Store paths for hfields, textures, and skins similar to meshes.
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PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
2023-12-02 03:51:25 -08:00
51d80564fa
Don't initialize plugins during model compilation.
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PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
2023-11-27 11:01:08 -08:00
21334ea704
Delete local frame members from MJC objects.
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PiperOrigin-RevId: 585629699
Change-Id: I12dbd235dee49223fa7b1a097f04561da69550a0
2023-11-27 06:07:53 -08:00
eb9568a48b
Add frame element to MJCF.
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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
2023-11-27 03:32:18 -08:00
f2025c6abf
Allow plugin actuators to have activation state.
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Accept new attributes on the plugin/actuator tag:
- dyntype
- dynprm
- actlimited
- actrange
- actearly
This addresses some of the requests in #1098 .
PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
2023-11-23 05:14:03 -08:00
ffca553f64
Do not use the inertia box for volume computation.
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PiperOrigin-RevId: 582319067
Change-Id: I347d820f48faab15b609bcfc8295b07bd2d0f7ed
2023-11-14 07:46:33 -08:00
19de607ec8
Undo incorrect change in height field processing.
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PiperOrigin-RevId: 579502934
Change-Id: Id1fba8fe29a8eb4d4f0358173b34093401e6230e
2023-11-04 12:33:21 -07:00
549fdddf3d
Fixed a bug with height fields AABB.
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PiperOrigin-RevId: 579488048
Change-Id: I69a2d05f922b58947b1d468b5b31a4743d375d71
2023-11-04 10:28:00 -07:00
50843cad30
Add defaults to SDF plugin attributes.
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Expose diameter and number of teeth for the gear SDF.
PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
2023-10-30 03:09:25 -07:00
Yuval Tassa