ace5b74f83
Rename inteval attribute in mjLROpt to interval.
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PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
2023-02-13 10:54:25 -08:00
dd632b7ccc
Bump MuJoCo version to 2.3.2.
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PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
2023-02-07 02:35:17 -08:00
9a7f4a768a
Remove control plugin API.
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This is a rollback of f937ffd93326b2964e33689b0dc6024124776a9e.
PiperOrigin-RevId: 507456400
Change-Id: I2026510e6065eb440c0c899fcc5a2cc8ff5afd49
2023-02-06 05:52:17 -08:00
7feecf6e94
Improve behaviour of set-pose mouse interactions with free and mocap bodies.
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PiperOrigin-RevId: 506051745
Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
2023-01-31 10:57:19 -08:00
f3c966796f
Allow models without numerical suffixes.
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This is important for MJPC, where some element special names (e.g., a site called "trace0", or different custom numeric fields) are used.
PiperOrigin-RevId: 502338391
Change-Id: I632b5d633c92b82b60160daeeb169693225640a3
2023-01-16 02:59:11 -08:00
1215067f5c
Add an option in mjrContext for mjr_readPixels output format.
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PiperOrigin-RevId: 500342924
Change-Id: I43e8c6208db341e2bdbef10382b7293c35bdca65
2023-01-07 00:11:01 -08:00
e40775fab3
Abstract out GLFW calls from Simulate.
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PiperOrigin-RevId: 500129478
Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
2023-01-06 02:45:56 -08:00
6824cd50e2
Update MJBindings.cs to correctly reflect pointer-to-pointer types.
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PiperOrigin-RevId: 499881915
Change-Id: Ibd25d8e38258c7d1372a066dadbffcf4c1dd2d6b
2023-01-05 08:10:54 -08:00
ba9229cad5
Remove test for MjVfs read.
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The c# library never reads from MjVfs files, so this test is superfluous (and flaky).
PiperOrigin-RevId: 499490518
Change-Id: I417959b5374c5ede29544ee3f463928513e28d07
2023-01-04 08:22:54 -08:00
f1007df013
Implement hash map for mj_name2id using djb2 and linear probing.
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PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
2023-01-04 07:57:55 -08:00
69739426f1
Use scalar Angle to compare quaternions.
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The Vector4 comparator couldn't know that q==-q.
PiperOrigin-RevId: 498947861
Change-Id: Ife9efeb369c794eedbef80829e40057794a334ee
2023-01-01 20:01:48 -08:00
eb8389fead
Find MjScene at OnEnable: ensure MuJoCo compilation happens only once at startup.
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PiperOrigin-RevId: 498655077
Change-Id: Ibed8f36a880426063b7729fc66b15c67adcc9a65
2022-12-30 18:37:59 -08:00
f78ebeab96
Add post-compile and pre-destroy events to MjScene.
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PiperOrigin-RevId: 498516529
Change-Id: I52dbf135e3260ca2999069bcb9f9b9ad648595d2
2022-12-29 22:43:11 -08:00
6a58fd1522
Clean-up test files.
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Also, don't add a Global Settings component at import if the xml doesn't have any global settings (option/size/custom).
PiperOrigin-RevId: 495950899
Change-Id: I6599e8ea3f3a82729fc5c974fd7ced8eb93b277e
2022-12-16 13:39:28 -08:00
4d91866e98
Merge pull request #652 from Balint-H:fix/unity-scene-tranisition
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PiperOrigin-RevId: 495876985
Change-Id: I9880aa6bd2fc696509e518449a35a69457d92ba4
2022-12-16 08:13:03 -08:00
189349f421
Don't add an empty "user" attribute to user sensors.
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This fixes the broken TAP tests.
PiperOrigin-RevId: 495867491
Change-Id: I740651ed0dd8d1c84053a48f3fca577b6024bf95
2022-12-16 07:17:42 -08:00
f70403d00a
Add support for global custom numeric fields.
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PiperOrigin-RevId: 495865065
Change-Id: I59ed65e84a0bcaa90220b938ed34fdc26165aa09
2022-12-16 07:03:31 -08:00
a0ab1940bf
Fix ignored units of springref
2022-12-15 15:36:14 +00:00
e95b0c0eaf
Add anchor support for connect constraint components.
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Fixes #647
PiperOrigin-RevId: 495587232
Change-Id: I528a69dabbc1ac9a12f9ab7c16716e3d69c635e2
2022-12-15 07:25:59 -08:00
aec125fb4e
Check whether MjScene exists in components' OnDisable()
2022-12-14 13:38:36 +00:00
21f10ce1b6
Add user sensor bindings.
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Stop force-setting nusersensor, instead allow MuJoCo to infer the size.
PiperOrigin-RevId: 494783883
Change-Id: Ia2a1b1803b2904f2dded7b790d01eb6f1920dbaf
2022-12-12 11:43:00 -08:00
7a248a8bde
Rename bindings file for consistency.
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PiperOrigin-RevId: 494779230
Change-Id: I693a0e389febc51276bde565bbbfc87c241f15e0
2022-12-12 11:24:12 -08:00
ae2a8a4247
Add .meta file to Bindings folder
2022-12-07 11:44:44 +00:00
bebfcad685
Merge pull request #628 from Balint-H:feature/unity-mesh-import
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PiperOrigin-RevId: 493556582
Change-Id: I26bac07a8fc996043ec478d0ec0c5b56fe447e50
2022-12-07 03:18:38 -08:00
e4f1d584ad
Add control plugin API.
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PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
2022-12-06 08:23:49 -08:00
8312f37e7e
Reuse existing mesh assets in MjMeshFilter
2022-12-06 16:11:03 +00:00
73fb61e3e2
Bump version number to 2.3.1.
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PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
2022-12-05 12:13:55 -08:00
170a060a50
Merge pull request #601 from Balint-H:fix/mesh-filter-disappear
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PiperOrigin-RevId: 490719489
Change-Id: I04bdd2f302197a06acaf922e9d10a0bbf00ee89a
2022-11-24 05:46:49 -08:00
dc927b367d
Remove unnecessary unit conversion
2022-11-23 16:26:42 +00:00
12d3e0ae09
Create separate mesh when MjMeshfilter is first instantiated, to support duplicating in Editor
2022-11-23 15:02:35 +00:00
6f2092bef2
Merge pull request #593 from Balint-H:feature/unity-ccd
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PiperOrigin-RevId: 489551476
Change-Id: I751d2faa95d82f201614e8a3f08a9629492bfbe7
2022-11-18 13:38:51 -08:00
5c79a9a8fe
Add multiccd option in Unity MJCF parser and writer
2022-11-18 13:10:06 +00:00
1fdbfa7061
Add MjScene property to check if scene has initialized
2022-11-18 11:25:08 +00:00
2328316d7d
Add synchronisation events to MjScene
2022-11-18 11:23:41 +00:00
9ecade0707
Move plugin loading and scanning logic from Simulate to MuJoCo library.
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PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
2022-11-16 13:15:51 -08:00
f2bae1ffe3
Merge pull request #556 from Balint-H:fix/uv
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PiperOrigin-RevId: 487203617
Change-Id: I6eade6f871b80f78f2ed13e1b5e4672ef857b9ef
2022-11-09 04:14:27 -08:00
fd4d47e4a5
Format memory warning in human-friendly way.
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PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491
2022-11-07 02:56:07 -08:00
36b30e4500
Allow more than 1 activation state per actuator, but only for dyntype user.
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Fixes #305 .
PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
2022-11-07 01:43:02 -08:00
c83be2bc05
Add mju_clip, mju_fill, mju_eye and mju_symmetrize to python bindings.
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- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.
PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
2022-11-02 09:22:28 -07:00
f6fd7efeb3
Add UVs to newly created geom meshes
2022-11-01 22:21:30 +00:00
23092a11d7
Add per-body gravity compensation (buoyancy) passive force.
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PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
2022-11-01 09:48:06 -07:00
c7960385be
Declare DllMain as extern "C".
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Fixes #550 .
PiperOrigin-RevId: 484540205
Change-Id: I3915f65f1ae6ab3a93118b9d747b5c09d9abe872
2022-10-28 08:41:46 -07:00
0eb7f871b9
Remove requirement that stateless actuators come before stateful actuators.
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PiperOrigin-RevId: 484332415
Change-Id: I1dae92c0f8e027e4ca71c20ea3f68b2926526f53
2022-10-27 13:18:57 -07:00
f905c7fb7f
Add mju_fill, mju_symmetrize and mju_eye utility functions.
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PiperOrigin-RevId: 484226916
Change-Id: I79593d54e903ddacab0f859bfc6d17eccad7d3a1
2022-10-27 05:28:26 -07:00
57b0b36699
Bump version number to 2.3.0.
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PiperOrigin-RevId: 481823754
Change-Id: Ie8c2c65b11178952355830ef019fe2efdf774189
2022-10-17 22:36:59 -07:00
e250ff0d5a
- Added passive forces plugins
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- 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
1a393429ef
Fix formatting of large unsigned numbers in mju_warningText.
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PiperOrigin-RevId: 479902611
Change-Id: Ia7187478a246b8b068684e75d6f3851d749844c9
2022-10-09 04:55:26 -07:00
2a8acf77ed
Merge pull request #491 from Balint-H:weld
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PiperOrigin-RevId: 479802394
Change-Id: Ieefec4e1ca29fb137947d458837d8ff3c3ee97f3
2022-10-08 09:24:29 -07:00
0ae8b966e7
Remove stray space in MjEngineTool
2022-10-08 14:04:37 +01:00
58fd72f53d
Dynamically allocate contact and efc_ arrays on a new memory arena.
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- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
2022-10-06 10:03:05 -07:00
Saran Tunyasuvunakool