chenlin/Mujoco_WASM
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c6a41fbfe64ee7b2680a6bde90200ca660d08c2a
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111 Commits

Author SHA1 Message Date
Alessio Quaglino c6a41fbfe6 Copy default spec before assigning defaults. 
PiperOrigin-RevId: 609766747
Change-Id: I79ebff62928ac2ffa5133020ee8bd001b68cdcd3
 2024-02-23 10:24:13 -08:00
Alessio Quaglino c248beb7e2 Remove name and classname from mjmWrap. 
PiperOrigin-RevId: 609563968
Change-Id: Ic69b95412ec5914fb5a8dcd134c7e6e733bc05b0
 2024-02-22 18:14:33 -08:00
Alessio Quaglino 0ae9ba37f9 Replace PointToLocal with operator overload in mjCDef. 
PiperOrigin-RevId: 609376948
Change-Id: Id69909d06ab48824a9cbe0d5a305e8f8b72a193d
 2024-02-22 08:12:52 -08:00
Alessio Quaglino 5fe3e169ab Remove mjm_finalize. 
PiperOrigin-RevId: 609284351
Change-Id: I066332784d8210de6fec5aa718e097c9ef67903c
 2024-02-22 01:27:06 -08:00
Alessio Quaglino 042760eba8 Add compiler settings to mjmModel. 
PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
 2024-02-21 01:58:22 -08:00
Alessio Quaglino 78dc5aee9f Remove mjCPlugin from xml_native_reader. 
PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
 2024-02-20 03:46:42 -08:00
Alessio Quaglino b77dfc683a Use OnePlugin for parsing Composite and Flexcomp plugins. 
PiperOrigin-RevId: 608265172
Change-Id: I053441a9e534d81c4847ad60fe4a3f7dce87350c
 2024-02-19 02:02:29 -08:00
Yuval Tassa 05150546e3 Add inheritrange attribute to position and intvelocity actuators. 
PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
 2024-02-16 04:42:44 -08:00
Alessio Quaglino 414a67640a Add mjmDef to C API. 
PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
 2024-02-15 06:17:58 -08:00
Alessio Quaglino 6f958bc404 Add mjmSkin to C API. 
PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
 2024-02-15 05:09:10 -08:00
Yuval Tassa ddabfb9b6a Clean up handling of auto-limits. 
PiperOrigin-RevId: 607266967
Change-Id: Iec8332cc8467ea3c2dc046acf87d221b5af67259
 2024-02-15 02:43:53 -08:00
Alessio Quaglino 80a986c0f5 Add mjmBodyPair to C API. 
PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
 2024-02-14 08:40:05 -08:00
Alessio Quaglino c9e7586499 Add mjmHField to C API. 
PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
 2024-02-14 04:12:29 -08:00
Alessio Quaglino 2ee8a4dabd Add mjmNumeric, mjmText, mjmTuple, mjmKey to C API. 
PiperOrigin-RevId: 606919327
Change-Id: I477f6cd8beefcb3962238722565e3b398b73446c
 2024-02-14 03:10:38 -08:00
Kyle Bayes 266161ee4c Convert mju_openResource to write warnings to a given error string. 
PiperOrigin-RevId: 606907392
Change-Id: Ic70e980aa9ba2bdbe1787773f51749b34f74afed
 2024-02-14 02:17:40 -08:00
Alessio Quaglino 9ecd700923 Add mjmMesh to C API. 
PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
 2024-02-13 09:09:59 -08:00
Alessio Quaglino 06505f49f9 Add mjmTexture to C API. 
PiperOrigin-RevId: 606543622
Change-Id: I2db743c1c40116f0503329fb1d004d9b041e83e7
 2024-02-13 02:09:39 -08:00
Alessio Quaglino 13d6eeacdd Add mjmPair to C API. 
PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
 2024-02-12 09:25:33 -08:00
Alessio Quaglino b224367a9b Add mjmFlex to C API. 
PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
 2024-02-12 08:48:11 -08:00
Alessio Quaglino 4e5b194e88 Add mjmMaterial and mjmFrame to C API. 
PiperOrigin-RevId: 606191307
Change-Id: Iaf43f81522029002b28bba14ea046b1c968ab2e7
 2024-02-12 02:56:03 -08:00
Yuval Tassa 3601026b1d Refactor handling of auto-limits. 
PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
 2024-02-10 22:01:13 -08:00
Yuval Tassa 230f8c7b63 Increase maximum compiler error message length from 300 to 600. 
PiperOrigin-RevId: 605947931
Change-Id: I5564d0e2d6690ee75996a10e05cd6c7eca49f279
 2024-02-10 18:51:44 -08:00
Alessio Quaglino 1bd6a32af2 Add mjmEquality, mjmTendon and mjmWrap to C API. 
PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
 2024-02-10 03:30:31 -08:00
Alessio Quaglino 6fa139a693 Add mjmActuator and mjmSensor. 
PiperOrigin-RevId: 605600704
Change-Id: I0a2f5eb9d894c068ca9ee08940c752066021b6ec
 2024-02-09 05:11:13 -08:00
Alessio Quaglino e3cbad280c Add mjmJoint, mjmCamera, and mjmLight to C API. 
PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
 2024-02-09 04:44:58 -08:00
Alessio Quaglino 1fe258fb60 Add mjmGeom to C API. 
PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
 2024-02-08 06:53:01 -08:00
Matthew Bennice e4fada1963 Correct use of uninitialized value and clean up FullInertia function 
PiperOrigin-RevId: 605049375
Change-Id: I7ffb6bd56b08111036e8490bf767fb9393499f13
 2024-02-07 11:38:02 -08:00
Alessio Quaglino 8b17d260a3 Add user_init for setting default parameters. 
PiperOrigin-RevId: 604942840
Change-Id: I746ac7bb28f508b606bc0b8544136f523ce50d4c
 2024-02-07 04:42:41 -08:00
Alessio Quaglino a3e49d582e Add mjmBody and mjmPlugin and their compiler C APIs. 
PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
 2024-02-07 04:17:30 -08:00
Matthew Bennice b9c50ad79c Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias. 
PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
 2024-02-06 17:21:31 -08:00
Matthew Bennice 84f20ffb66 Automated g4 rollback of changelist 604607692. 
*** 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
Alessio Quaglino 737342bdfe Move fullinertia from mjCAlternative to mjCBody. 
PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
 2024-02-06 04:43:12 -08:00
Alessio Quaglino 01439f28b3 Add AddFreeJoint and remove isfree from AddJoint. 
PiperOrigin-RevId: 604597442
Change-Id: I2fe03cf0f9a59b425080cc5cc12b236fea9c020d
 2024-02-06 03:49:49 -08:00
Alessio Quaglino 3b2dd06c54 Add compiler C API for mjmSite. 
PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
 2024-02-06 01:50:47 -08:00
Alessio Quaglino 1ed8694dbe Replace xmlpos with info string for mjCError. 
PiperOrigin-RevId: 603759456
Change-Id: I0d86d8e61e31a70da77169107268728d6c052778
 2024-02-02 12:34:52 -08:00
Alessio Quaglino b3f93d436b Convert mjmStruct to a C-struct. 
PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
 2024-02-01 06:57:47 -08:00
Alessio Quaglino 7a98038e88 Move mjCSite attributes to mjmSite struct. 
PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948
 2024-01-31 08:07:48 -08:00
Yuval Tassa e143b3dbc0 Allow height-field elevation data to be specified in XML. 
PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
 2024-01-29 06:59:28 -08:00
Alessio Quaglino 1e2e0b3053 Remove all visual-only assets if discardvisual is selected, not only the geoms. 
PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
 2024-01-15 06:39:25 -08:00
Alessio Quaglino acf698e2df Store pointer to index in mjCBoundingVolume if possible. 
PiperOrigin-RevId: 598592242
Change-Id: I8dc20a8d8a9a0e967688839fa22d75263c226958
 2024-01-15 06:04:20 -08:00
Alessio Quaglino cab1c6bb39 Preallocate mjCBoundingVolumeHierarchy and avoid copies during MakeBVH. 
PiperOrigin-RevId: 598579741
Change-Id: Iac154affa6ee22994c571f2ec00ac602bfe7f4d6
 2024-01-15 04:48:44 -08:00
Alessio Quaglino 8a9b041388 Replace objid with obj pointers. 
This in preparation of adding functions to remove/add elements after compilation.

PiperOrigin-RevId: 597286844
Change-Id: I940103ade986c8d057db8cc1e9a98c073ddfab98
 2024-01-10 10:20:47 -08:00
Alessio Quaglino 889353dfa8 Replace meshid and hfieldid with mjCMesh and mjCHField pointers in mjCGeom. 
PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c
 2024-01-10 09:56:54 -08:00
Nimrod Gileadi 371da98d97 Avoid dynamically generated strings from being used as format strings in mjCError and mjXError. 
PiperOrigin-RevId: 597198372
Change-Id: I2f159436091c03c7454545877cd5f7e2383cd7c8
 2024-01-10 03:20:48 -08:00
Alessio Quaglino 1db0a9946f Fix frame accumulation order for <frame> meta-element. 
PiperOrigin-RevId: 588803425
Change-Id: Id0289c34d1a6cfb6007540a29cc1f32d879e43ed
 2023-12-07 08:37:20 -08:00
Yuval Tassa 762371c3e4 Add kv damping attribute to position and intvelocity actuator shortcuts. 
PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
 2023-12-06 04:28:30 -08:00
Yuval Tassa 21334ea704 Delete local frame members from MJC objects. 
PiperOrigin-RevId: 585629699
Change-Id: I12dbd235dee49223fa7b1a097f04561da69550a0
 2023-11-27 06:07:53 -08:00
Alessio Quaglino eb9568a48b Add frame element to MJCF. 
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
 2023-11-27 03:32:18 -08:00
Nimrod Gileadi f2025c6abf Allow plugin actuators to have activation state. 
Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
 2023-11-23 05:14:03 -08:00
Alessio Quaglino ffca553f64 Do not use the inertia box for volume computation. 
PiperOrigin-RevId: 582319067
Change-Id: I347d820f48faab15b609bcfc8295b07bd2d0f7ed
 2023-11-14 07:46:33 -08:00