7d3b662d5b
Check for invalid node tags in gmsh parser.
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PiperOrigin-RevId: 621538409
Change-Id: I91ba56b931d815fccd65ae32281bc19ae3a45ee7
2024-04-03 08:56:57 -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
4f0293c6cb
Added support for msh2.2
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Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.
Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark
PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
2024-03-26 10:12:13 -07:00
7875e93fea
Improve error text when a mesh face references an invalid vertex.
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PiperOrigin-RevId: 618715730
Change-Id: I28fae1e1570d359db4be98e9c5b7713169eaf34f
2024-03-24 20:59:16 -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
c3fb8e7f35
Do not attach elements not referenced in the subtree.
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PiperOrigin-RevId: 617849280
Change-Id: I391fe7c00f67d020d7394ddd31219d727b2eaa94
2024-03-21 08:22:03 -07:00
b0daccc234
Allow meshes with flipped faces if exactmeshinertia is false.
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Fixes #1529 .
PiperOrigin-RevId: 617824308
Change-Id: I926c385475dd79f07e88fe1925ecbb2adb4f8917
2024-03-21 06:36:07 -07:00
cc85a38f3c
Add mjm_attachBody to the C API.
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PiperOrigin-RevId: 617207000
Change-Id: I1fe59ba0d79938a4a383b115997c31dd6c71b8e5
2024-03-19 10:01:00 -07:00
91192393a0
Add material and nonzero elevation data to hfield in testdata/model.xml
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PiperOrigin-RevId: 617011327
Change-Id: I46f4fdbd67027003a710a365d0ad29f9158ff85f
2024-03-18 18:26:13 -07:00
372aa021d0
Add copy constructor and assignment to mjCModel.
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PiperOrigin-RevId: 616850780
Change-Id: I7fedab2efa2a90fd7ce952eac4e195f77c5ff5bc
2024-03-18 09:25:27 -07:00
8afcfd0fa1
Add custom elements to testdata/model.xml
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PiperOrigin-RevId: 616752352
Change-Id: Iaaee19657e97f4962d9a2fe6e7671f3ce832264a
2024-03-18 01:58:52 -07:00
dd2580e546
Add internal functions for 3x3 matmul.
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PiperOrigin-RevId: 616749614
Change-Id: I7f3ac2ffc826076b6c97424324f03ecd9ccd4655
2024-03-18 01:44:10 -07:00
74d3d8cb4e
Cache OBJ files in MuJoCo compiler.
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PiperOrigin-RevId: 616211896
Change-Id: I3b765f4529957914e6154f0e62ef36fd9df93c96
2024-03-15 12:32:06 -07:00
c7a8b104f9
Add modified callback for VFS resource provider.
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PiperOrigin-RevId: 616152275
Change-Id: I417f9b204eaa1eb9fc68a15927f86031dcd20575
2024-03-15 09:23:29 -07:00
c42868a91b
Update logic for OS filesystem timestamps for caching.
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PiperOrigin-RevId: 616138153
Change-Id: I0ce966546bc4af04e57b983e27bbd75a94377237
2024-03-15 08:31:56 -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
a2a770453e
Copybara import of the project:
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--
1fcff13dfdc70519c4d33e17ade4be6afb2960a2 by Alexis <cuatroalejandro@gmail.com >:
add multipleBodies test for mj_loadXML
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34270fa57946e68a82fa55313b64a5a56e5aa080 by Alexis <cuatroalejandro@gmail.com >:
add some space
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3594020eb9be57cb6a2eef0baeca97cee8f25aab by Alexis <cuatroalejandro@gmail.com >:
remove TODO comment in xml_api_test
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1487 from alefram:alexis-test 3594020eb9be57cb6a2eef0baeca97cee8f25aab
PiperOrigin-RevId: 615033458
Change-Id: I05fe5659b07b3226b82d2562e31bcd73f150b089
2024-03-12 07:31:11 -07:00
655e3d0914
Renamed Model to Spec in C API function names.
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PiperOrigin-RevId: 613922860
Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92
2024-03-08 07:05:44 -08:00
ef3cb7ec2e
Renamed mjmModel to mjSpec.
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PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
2024-03-07 02:48:32 -08:00
9ac048e262
Add recompilation test to user_api_test.
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PiperOrigin-RevId: 613192683
Change-Id: Ibb44e1c2d63ac0afb7b5f3a15dff26378deb6c82
2024-03-06 06:27:28 -08:00
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
31384bdfeb
Speed up String2Vector.
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PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
2024-03-05 02:50:26 -08:00
9efa4ebe0b
Move CompareModel to fixture.
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PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
2024-03-05 02:24:32 -08:00
9e1d7d6ab8
Fix typo in flex and composite error message.
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PiperOrigin-RevId: 611115238
Change-Id: Iadb9b4b078e60bca15184f3435380eb67b2da8a9
2024-02-28 08:45:11 -08:00
93f9154d44
Merge branch 'google-deepmind:main' into angmomMat
2024-02-26 20:18:38 +05:30
3fd0fe7884
corrections
2024-02-26 20:15:22 +05:30
8679c9fc59
Fix null pointer deref for unknown class names.
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PiperOrigin-RevId: 610391077
Change-Id: I5abd62ff46e31e788f06fe111adb3c25287d4fdc
2024-02-26 06:38:52 -08:00
b47d97652e
Load from VFS in parsing benchmark.
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PiperOrigin-RevId: 610384849
Change-Id: Id226c30f1629d6b4bbc2231c1e998e733c27772e
2024-02-26 06:08:11 -08:00
ebf9d63702
changed the model, using central differences in CompareAngMomMats test
2024-02-26 14:48:47 +05:30
41e41b538d
added two tests for the mj_subtreeAngMomMat() function
2024-02-26 01:23:55 +05:30
a4a621f6e3
Add checksums (used as a timestamp) to VFS.
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Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.
PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
2024-02-21 02:25:36 -08:00
24eb4c9f09
Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.
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PiperOrigin-RevId: 608312069
Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
2024-02-19 05:40:31 -08:00
c146bb4003
BEGIN PUBLIC
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Remove incorrectly added test files.
END PUBLIC
Correct typo in copy.bara.sky
PiperOrigin-RevId: 607930101
Change-Id: Ib2c75d00e65f11c30be2ea0b3fdbb0c24bd3a164
2024-02-17 02:57:02 -08:00
dbf7afaeaa
Canonical USD example for MuJoCo Physics. This contains three items:
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floor - a static floor centered at origin of sides 100m x 100m
two_cubes - a standard example where 2 cubes have a hinge joint between them.
two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30).
PiperOrigin-RevId: 607809323
Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb
2024-02-16 14:56:39 -08:00
f1d4f8f0a1
Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset.
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PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
2024-02-16 05:09:05 -08:00
05150546e3
Add inheritrange attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:42:44 -08:00
5e353efaaf
Add mjmModel opaque pointer to C API.
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PiperOrigin-RevId: 607619891
Change-Id: Ic1eaaa842438d9c2e19f742deff41967287853f5
2024-02-16 02:21:25 -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
414a67640a
Add mjmDef to C API.
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PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
2024-02-15 06:17:58 -08:00
266161ee4c
Convert mju_openResource to write warnings to a given error string.
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PiperOrigin-RevId: 606907392
Change-Id: Ic70e980aa9ba2bdbe1787773f51749b34f74afed
2024-02-14 02:17:40 -08:00
eabd4c06f9
Move schema definition validation from runtime to a test.
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PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
2024-02-12 09:49:48 -08:00
ff39d0b812
Keep include elements while parsing XML. No change in behavior.
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PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
2024-02-12 03:54:44 -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
1fe258fb60
Add mjmGeom to C API.
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PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
2024-02-08 06:53:01 -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
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
f75923a48d
Updated version numbers to cmake files
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build / windows-2022 (push) Has been cancelled
build / macos-12 (push) Has been cancelled
build / ubuntu-20.04-clang-10 (push) Has been cancelled
build / ubuntu-20.04-clang-11 (push) Has been cancelled
build / ubuntu-20.04-clang-12 (push) Has been cancelled
build / ubuntu-22.04-clang-13 (push) Has been cancelled
build / ubuntu-22.04-clang-14 (push) Has been cancelled
build / ubuntu-22.04-gcc-10 (push) Has been cancelled
build / ubuntu-22.04-gcc-11 (push) Has been cancelled
build / ubuntu-22.04-gcc-12 (push) Has been cancelled
build / ubuntu-22.04-gcc-9 (push) Has been cancelled
PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
2024-02-05 12:55:30 -08:00
Nimrod Gileadi