a4c31c09a8
Clean up user_api.h
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PiperOrigin-RevId: 625693719
Change-Id: I8e75abb9a38bd45ba7a81938eda3baf68b878d4a
2024-04-17 08:35:37 -07:00
81feadad5c
Add mjs_attachFrame to user_api.
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PiperOrigin-RevId: 625648309
Change-Id: I4d6dfc4d38ad6ce688df83eb7cc2c34676076193
2024-04-17 05:25:16 -07:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -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
dfe2b75378
Convert mjElement to struct rather than opaque pointer.
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By making mjElement the parent of mjCBase, mjCModel, and mjCDef, this CL enables safer casting using static_cast instead of reinterpret_cast and C-style casting.
PiperOrigin-RevId: 619526291
Change-Id: Ifa2b4bd3ecd95bade61f41a7005c62212f456c00
2024-03-27 07:37:49 -07:00
4d2aa46e56
Rename mjmDefault -> mjsDefault
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PiperOrigin-RevId: 619180662
Change-Id: Id7cedf82fbb022f08accc7c9a547495ed8eecba0
2024-03-26 07:20:03 -07:00
357ff8bbdc
Remove mjCAlternative and user_objects dependency from xml_urdf.
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PiperOrigin-RevId: 618832482
Change-Id: I626bb956cd3eb35317811b9b577cc7db128262ea
2024-03-25 07:21:03 -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
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
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
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
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -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
1bd44e73bb
Replace mjCModel with mjmModel in mjXBase.
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PiperOrigin-RevId: 611762880
Change-Id: I22254689b6cbf10fe7b61f9742b6ffd6c2074477
2024-03-01 03:38:28 -08:00
1f2d673c7b
Add missing global fields to mjmModel.
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PiperOrigin-RevId: 610415124
Change-Id: I07f284804bf73cb67703597973b50b8c00ea8deb
2024-02-26 08:25:08 -08:00
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
c248beb7e2
Remove name and classname from mjmWrap.
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PiperOrigin-RevId: 609563968
Change-Id: Ic69b95412ec5914fb5a8dcd134c7e6e733bc05b0
2024-02-22 18:14:33 -08:00
34d4a69027
Remove user_objetcs and user_model includes from xml_urdf.
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PiperOrigin-RevId: 609330384
Change-Id: I19b330e4063d3be4401dcf1b2b957b55e0616037
2024-02-22 04:54:49 -08:00
5fe3e169ab
Remove mjm_finalize.
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PiperOrigin-RevId: 609284351
Change-Id: I066332784d8210de6fec5aa718e097c9ef67903c
2024-02-22 01:27:06 -08:00
7edacd39cd
Add engine settings to mjmModel.
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PiperOrigin-RevId: 608915453
Change-Id: Ic58566d7a9cdb57e25954caec69f595c8c9ee88a
2024-02-21 02:26:57 -08:00
042760eba8
Add compiler settings to mjmModel.
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PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
2024-02-21 01:58:22 -08:00
78dc5aee9f
Remove mjCPlugin from xml_native_reader.
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PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
2024-02-20 03:46:42 -08:00
b77dfc683a
Use OnePlugin for parsing Composite and Flexcomp plugins.
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PiperOrigin-RevId: 608265172
Change-Id: I053441a9e534d81c4847ad60fe4a3f7dce87350c
2024-02-19 02:02:29 -08:00
d7c47de353
Add mjStatistic to mjmModel.
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PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
2024-02-16 05:17:35 -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
414a67640a
Add mjmDef to C API.
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PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
2024-02-15 06:17:58 -08:00
6f958bc404
Add mjmSkin to C API.
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PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
2024-02-15 05:09:10 -08:00
ddabfb9b6a
Clean up handling of auto-limits.
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PiperOrigin-RevId: 607266967
Change-Id: Iec8332cc8467ea3c2dc046acf87d221b5af67259
2024-02-15 02:43:53 -08:00
80a986c0f5
Add mjmBodyPair to C API.
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PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
2024-02-14 08:40:05 -08:00
c9e7586499
Add mjmHField to C API.
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PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
2024-02-14 04:12:29 -08:00
2ee8a4dabd
Add mjmNumeric, mjmText, mjmTuple, mjmKey to C API.
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PiperOrigin-RevId: 606919327
Change-Id: I477f6cd8beefcb3962238722565e3b398b73446c
2024-02-14 03:10:38 -08:00
9ecd700923
Add mjmMesh to C API.
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PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
2024-02-13 09:09:59 -08:00
06505f49f9
Add mjmTexture to C API.
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PiperOrigin-RevId: 606543622
Change-Id: I2db743c1c40116f0503329fb1d004d9b041e83e7
2024-02-13 02:09:39 -08:00
13d6eeacdd
Add mjmPair to C API.
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PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
2024-02-12 09:25:33 -08:00
b224367a9b
Add mjmFlex to C API.
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PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
2024-02-12 08:48:11 -08:00
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
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
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
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
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
Yuval Tassa