21d97902ee
Check keyframe size before appending it during attach.
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Fixes #2365 .
PiperOrigin-RevId: 718455748
Change-Id: I20c56b7c6fbd868962d19682e72e6294edb6893e
2025-01-22 11:09:49 -08:00
240a7afdee
Add sensors for potential and kinetic energy.
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PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
893a993bf6
Fix typos.
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PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
2025-01-16 06:28:54 -08:00
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
f7d38dac62
Add recursive call to FindSpec for handling nested attachments.
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PiperOrigin-RevId: 713629578
Change-Id: I23efa5a86bac187fc42eb955d29cc03cbacfd9e0
2025-01-09 04:56:12 -08:00
6654d63438
Add spec lookup in the attached spec array using the compiler option pointer.
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This enables to find the spec associated with the compiler option stored in the objects, which do not necessarily belong to the model that owns them.
PiperOrigin-RevId: 713259419
Change-Id: I579c770147ff07ed2a5edd20e7a795ee7cc27147
2025-01-08 05:44:00 -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
7eb8231fda
Represent only the lower triangle in Newton solver's reduced dof-dof matrix.
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PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
2025-01-06 04:58:55 -08:00
ee6f4837f3
Auto-generate 3D mesh from convex OBJ if dim=3 in flex.
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This requires the user to explicitly specify an origin.
PiperOrigin-RevId: 712483526
Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
2025-01-06 04:35:59 -08:00
65048d6b8f
Do not use fast lookup for frames.
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Fast lookup is not possible since mjOBJ_FRAME > mjNOBJECT, which is the size of the objects maps used for the search.
Fixes #2328 .
PiperOrigin-RevId: 712479460
Change-Id: I7bcfa75ff8a1e288183d60ed4a44cab5bc6f4173
2025-01-06 04:17:41 -08:00
f882f4b065
Remove requirement to specify a name prefix or suffix during attach.
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PiperOrigin-RevId: 703049862
Change-Id: I5fd6da0581331b1b716110292a8160ae16934157
2024-12-05 03:19:57 -08:00
10239a673b
Change from parent ID to parent pointer in mjCBody.
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This is required to have parent body info during attach and during body to frame tranformation for uncompiled models.
PiperOrigin-RevId: 703038426
Change-Id: Ib482059ba419a020860c649d6ea1b1088045f2e1
2024-12-05 02:32:56 -08:00
977fb913cf
Remove hanging vertex from flexcomp circle type.
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PiperOrigin-RevId: 702777882
Change-Id: I3ce09c0ed81a9b153c606debc8c22fbb47c93e8b
2024-12-04 10:37:42 -08:00
afc86ac1b3
Associate children of deleted body to the newly created frame in mjs_bodyToFrame.
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Also associate all children that need a parent body to the parent of the deleted body.
This is a bug that was causing the former children of the body that gets transformed to a frame to not be children of the new frame.
PiperOrigin-RevId: 702702853
Change-Id: I36d48f0446bc87c665b18d34e0b0609d82c70f51
2024-12-04 06:30:21 -08:00
82b6dbeb40
Copy attached spec before attaching anything else.
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Spec were copied after bodies are attached, so the reference to the source spec got lost during mj_copySpec().
PiperOrigin-RevId: 701287267
Change-Id: I55eff53c7ae9d42b03957be48ea506b80d274e03
2024-11-29 07:41:49 -08:00
300450f8b8
Add circle to flexcomp and remove rope and loop from composite.
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Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
2024-11-27 10:14:25 -08:00
203602b01f
Move computation of flex_vert0 to user_mesh.cc.
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This removes the dependency of flex_vert0 from mj_flex and mjData.
PiperOrigin-RevId: 700382297
Change-Id: I0b6d023c2e1ba14fa92417b65bfc288f37c223ae
2024-11-26 10:17:16 -08:00
13b6055098
Add material namespacing to sites.
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Fixes #2243 .
PiperOrigin-RevId: 699713625
Change-Id: I1b45e43f2a6ccfa64c46489c9426fcc2acdc94c3
2024-11-24 08:39:29 -08:00
a1b18e707a
Compress actuator_moment memory using nJmom <= nu x nv.
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PiperOrigin-RevId: 698446692
Change-Id: I49c9633e12129a1e690724db82d1f11204e41d9c
2024-11-20 10:53:07 -08:00
aae5fd6906
Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.
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PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:30:47 -08:00
58d68d08d3
Refactor CopyPlugins() out of TryCompile()
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PiperOrigin-RevId: 698072233
Change-Id: I2138d9d8383838328611eef463448fe2f15bd173
2024-11-19 10:46:53 -08:00
821f1d3f98
Do not namespace empty actuator strings during attach.
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Fixes #2233 .
PiperOrigin-RevId: 698070772
Change-Id: I19613acfd407ba6a8ede40dad85324a70db480a8
2024-11-19 10:42:24 -08:00
45f908c165
Enable attaching plugins not instantiated in the extension section.
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Fixes #2217 .
PiperOrigin-RevId: 695766524
Change-Id: I534b63400810bd6ef888f39f6665213280fd93ac
2024-11-12 09:36:06 -08:00
831d9881d3
Remove box, cylinder and ellipsoid composite types.
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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013 .
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
2024-11-02 11:14:13 -07:00
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
18682aac6a
Fix function definition formatting.
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PiperOrigin-RevId: 691782530
Change-Id: Ib1611285e77e274b17074d5f09ede00cdc0c6f0f
2024-10-31 06:45:41 -07:00
b941e994d9
Move keyframe resizing from compilation to attach (mjCModel::operator+=).
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This allows to resize parent keyframes also when the child has no keyframes.
PiperOrigin-RevId: 691045299
Change-Id: I3ab6509b13b5754e937ec77daf9efe697cabf1bc
2024-10-29 09:17:55 -07:00
7dc8aef807
Remove the convexhull compiler option.
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PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
2024-10-27 04:31:10 -07:00
159f23e6b4
Remember compiler options during attach.
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Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
2024-10-24 08:31:15 -07:00
ed7655cf97
Store a copy of the attached specs in the destination spec.
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PiperOrigin-RevId: 689013340
Change-Id: I2cb7a1f3850f0e3592834b355d35dcc2cd8f150f
2024-10-23 10:20:42 -07:00
d17d9e835c
Do not delete attached specs after compilation.
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Also, copy them when copying the spec.
PiperOrigin-RevId: 688998464
Change-Id: I7229fd8032eafede582194ccf73ab4160fe06768
2024-10-23 09:42:05 -07:00
b598d79b3f
Move mesh inertia specification from global <compiler> to <asset/mesh>.
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Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)
Fixes #2152
PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
2024-10-23 07:06:31 -07:00
4a3f77dd1f
Add missing default namespaces.
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Fixes #2162 .
PiperOrigin-RevId: 688575676
Change-Id: I6c43e33ebead68dece0f779e6f031e90a5e19096
2024-10-22 09:16:31 -07:00
bfa78614c8
Require prefix for the attach tag.
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For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162 ), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
2024-10-22 07:08:33 -07:00
9e1aa37b55
Do not self-attach custom tags.
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Fixes #2162 .
PiperOrigin-RevId: 688518165
Change-Id: Iad90e159514c96635676a8dd53fca41e3998d8fc
2024-10-22 06:04:07 -07:00
a70aea918c
Prevent duplicated pairs in active_pugins vector.
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Fixes #2150
PiperOrigin-RevId: 688164615
Change-Id: I9a5434a9dda28a399ffccfe0c4b31fa64400b85f
2024-10-21 09:30:27 -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
8740533644
Check obj and ref types before casting them to a geom.
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PiperOrigin-RevId: 686616350
Change-Id: I43b14344df6324b371c6bb2447c63197b88178d5
2024-10-16 13:16:01 -07:00
11af1e2a95
Fix a bug in mj_recompile.
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The qposadr_ and dofadr_ variables of the joints were not being reset to -1 when a joint is copied. This could lead to errors when calling mj_recompile after attaching a compiled spec.
PiperOrigin-RevId: 686152004
Change-Id: I9e058089ce87ea0d8e51a7f43475bc48c6527a26
2024-10-15 10:24:32 -07:00
8d84b5f693
Disable hfields for collision sensors.
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PiperOrigin-RevId: 685730321
Change-Id: Ib1d4a90b7b31ca388e018076a274e25c40409080
2024-10-14 09:19:11 -07:00
1e7c109887
Raise warning when attaching a spec with pending keyframes to a different spec.
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PiperOrigin-RevId: 685677622
Change-Id: Iba522c523ebd2afe64d6ab28c6b6b4b3cd399cf8
2024-10-14 05:54:18 -07:00
c84f35b425
Do not delete pending keyframes during body detachment.
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PiperOrigin-RevId: 685670895
Change-Id: Iadd0ba8ca7e74a280559168ac0ac855405a1cfd9
2024-10-14 05:23:46 -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
52a0149cd1
Resizes keyframes before storing them during attach/detach.
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Improve keyframe tests.
PiperOrigin-RevId: 685450257
Change-Id: I97aa129c4d7a66f613290605b85657e8081700b6
2024-10-13 10:02:35 -07:00
ae9ec24d3a
Add dm_control creature example to mjSpec tutorial.
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PiperOrigin-RevId: 684764674
Change-Id: If7f8b7b29587f9c50e2cb8e155484bc7f3f18b0f
2024-10-11 02:46:25 -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
694bdebc19
Fixed a bug that caused dim to be necessary in flexcomp even when it was inferred from GMSH files.
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Fixes #2107 .
Co-authored-by: Alessio Quaglino <quaglino@google.com >
PiperOrigin-RevId: 684419740
Change-Id: Ia73e719bd37503563223ed92f4dbe0ae07eef300
2024-10-10 06:20:43 -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
Alessio Quaglino