bb6da503dc
Make 3 the default number of channels in mjsTexture.
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PiperOrigin-RevId: 679521155
Change-Id: Ie6c962e75983c8bf8323170338b3d480be3a1117
2024-09-27 03:33:04 -07:00
1eb6fc2285
Disallow using elasticity and edge constraints at the same time.
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Fixes #2084 .
PiperOrigin-RevId: 678614880
Change-Id: I44eead3dc4edf82d725a3063b927a421c660721a
2024-09-25 02:56:20 -07:00
0ba11b9623
Add plugins list to mjSpec Python API.
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Fixes #2061 .
PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
2024-09-23 06:13:42 -07:00
50f43b8745
Fix various issues with body inertial parsing and compiling.
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- Add errors in body compiler for incorrect mixing of specifiers.
- Correctly process inertia orientation specifiers.
PiperOrigin-RevId: 676843326
Change-Id: I7e7eb22e25a6769754794f98fad5e0dcc0e5946f
2024-09-20 07:53:42 -07:00
ddbc083810
Move elasticity computation to mjCFlex.
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PiperOrigin-RevId: 675949380
Change-Id: Ia48f4fd6ae1ede206ccacd1205914e7e4b3c7aec
2024-09-18 05:23:10 -07:00
b15de2c951
Add elasticity parameters to the schema.
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PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:56:36 -07:00
015bdeb756
Disallow repeated nameless assets that use the same file, except for URDFs.
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PiperOrigin-RevId: 675114055
Change-Id: I142811ac2d8ef9e12bb8a06d5f3a2fdac02946da
2024-09-16 05:50:50 -07:00
60a1921b34
Add site semantics to weld constraint. Fixes #1896
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PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:46:01 -07:00
c77babe046
Fix a bug in MuJoCo's user_mesh.cc that caused meshdir_ to be overwritten when a model was loaded with a nested model.
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PiperOrigin-RevId: 675092713
Change-Id: Iad6336141749510bf5544cab9c06533ee1589c08
2024-09-16 04:22:13 -07:00
4862b9e765
Remove plugin support from Composite particles.
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This functionality is replaced by FlexComp.
PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
2024-09-09 04:58:26 -07:00
8954a088ce
Add automatic free-joint alignment.
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PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
0e8c0b80eb
add content_type to model in the XML schema.
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PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
2024-09-04 07:25:55 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
0bffd744f9
Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.
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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:08:35 -07:00
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
1f5f9a8a67
Improve variable naming in xml_native_reader.cc
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PiperOrigin-RevId: 663236609
Change-Id: I0a3af8432054172a3fe687867706eeef14a2529d
2024-08-15 02:42:30 -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
da15aa6a0e
Improve error message for fullinertia and orientation specifiers.
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Fixes #1888 .
PiperOrigin-RevId: 661359190
Change-Id: Ibe38e88024b4a43922352b42347abf1026f168a2
2024-08-09 12:20:27 -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
6928e09f36
Small performance improvement: Parse body once during replicate.
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PiperOrigin-RevId: 657227162
Change-Id: I5b60c25ab4634a44ed0474fdbf22e676bcb8f6d7
2024-07-29 09:32:40 -07:00
5ac5cfb618
Support directories in VFS via mj_addBufferVFS.
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PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
2024-07-23 13:39:18 -07:00
2746cb8559
Support FilePaths instead of raw strings in XML code.
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PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
2024-07-23 08:36:53 -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
2cf352c2e6
Add VFS handling logic to mj_openResource.
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PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
2024-07-17 00:41:18 -07:00
e76f3ce1e3
Rename model to spec in xml_native_reader.cc.
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PiperOrigin-RevId: 651780148
Change-Id: I476c79af4b47bf763f1f3cb166d3f0897554a207
2024-07-12 08:22:54 -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
27b9ddda5b
Add attach tag to MJCF.
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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
2024-07-10 12:41:43 -07:00
7f9f8b5429
Catch errors in attach during replicate.
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PiperOrigin-RevId: 651041336
Change-Id: I59986e157b4e22c74f8b8493899cdd4a3d5df839
2024-07-10 09:04:37 -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
c6fd002f87
Move engine/engine_resource.{c,h} to user/user_resource.{c,h}.
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PiperOrigin-RevId: 649628768
Change-Id: Id90c983cf70c0f92c3b033ac1b1654c53696955d
2024-07-05 05:41:55 -07:00
2a4410e4e5
Fix bug with absolute meshdirs in included XML files. Fixes #1772 .
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PiperOrigin-RevId: 649150979
Change-Id: I5df08c689afc4f5bc625e989a8c0b9733fcfa3c2
2024-07-03 11:49:17 -07:00
8f16b72f44
Rename mjSpec.euler to eulerseq to match MJCF.
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PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
2024-07-03 03:10:02 -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
6be4e0697e
Simplify mjs_addDefault.
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PiperOrigin-RevId: 646534046
Change-Id: I658224e4800849231e68ed02d8fad07b8d796231
2024-06-25 10:51:57 -07:00
d8b85245a7
Informative error if mis-naming the top-level default class.
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Also:
- Move the the top-level default class name into the mjCModel constructor.
- Fix bug in default class propagation in frame elements.
PiperOrigin-RevId: 646384669
Change-Id: Icc6154124361a234b84a07e2b5ecaa7c8b18ebf7
2024-06-25 01:46:18 -07:00
7bd7065e0e
Renamed mjs_fullInertia to mjuu_fullInertia and moved it to user_util.
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PiperOrigin-RevId: 644769379
Change-Id: I83511eeb4c0972ce9f46f0e3443d438cccdd4d9f
2024-06-19 09:39:02 -07:00
8e2f830fd2
Fix type errors in compiler and tests.
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In preparation for a float32 build of MuJoCo.
PiperOrigin-RevId: 644407674
Change-Id: I60069f0f865ef89fbf613f5a2ca0c336cc63461e
2024-06-18 09:12:44 -07:00
5ed464b489
Support spherical joint in URDF.
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PiperOrigin-RevId: 642326650
Change-Id: Iec766800bc9ab7e022bd586fc5881df576d01331
2024-06-11 11:08:00 -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
ace0c8f0a3
Add maxhullvert.
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PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
2024-06-06 19:05:16 -07:00
Alessio Quaglino