e8c67ca586
Allow orientation for user composite.
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PiperOrigin-RevId: 740909723
Change-Id: Id38a55114d4257a461bbced57d35d6bb42a2597d
2025-03-26 14:44:51 -07:00
5c955b8fe2
Add frame support to the cable composite.
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Also cleanup user_composite.cc includes.
PiperOrigin-RevId: 740730596
Change-Id: I05df59926d8e61de45fd6b2a3a63121b7a390448
2025-03-26 05:36:36 -07:00
205599ac1a
Cosmetic improvements to src/user/ source files.
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PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958
2025-03-18 02:59:12 -07:00
109a223cf6
Narrow some includes in src/user/
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PiperOrigin-RevId: 734389490
Change-Id: I2834aadbbb38b396536e467c0dfea11dcc21972f
2025-03-06 20:45:18 -08:00
b3aa5df68a
Improve composite docs and changelog.
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PiperOrigin-RevId: 730394496
Change-Id: Ie993214deb82b526a96510e02f6ecff103c58607
2025-02-24 04:26:35 -08:00
c52d1b3941
Remove the particle composite (replaced by replicate).
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PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
2025-02-23 03:14:11 -08:00
0fcd20f0da
Remove grid from composite types.
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Replaced it with flexcomp in the models.
PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
2025-02-23 01:31:41 -08:00
893a993bf6
Fix typos.
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PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
2025-01-16 06:28:54 -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
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
66faba9aa5
Avoid changing semantics of mjsPlugin.name across XML sections.
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The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.
PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
2024-10-07 07:57:03 -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
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
8a8a44a4db
Refactor numerical parsing in XML.
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PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
2024-07-19 05:42:02 -07:00
462cfa5ceb
Attach the tree of defaults recursively and with namespacing.
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PiperOrigin-RevId: 650664018
Change-Id: I17751a02a406dcb2a2ca218c316b5eb0370071b8
2024-07-09 09:54:09 -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
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
f15b6e5e21
Set orientation type in composite box. Fixes #1732 .
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PiperOrigin-RevId: 643937520
Change-Id: I9ba9d9a8feae6815df35c5d21b0314165713c9d6
2024-06-17 03:07:16 -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
f6084b4328
Change user_api handle types.
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PiperOrigin-RevId: 640978033
Change-Id: I53496671ac823b50e6f90ceee15bf3b314b06db8
2024-06-06 12:06:10 -07:00
e885a3dc3d
Make default class members private.
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PiperOrigin-RevId: 634288934
Change-Id: I1b7a5ec8dd51c65377b09bcb85c56a849573cac7
2024-05-16 03:22:31 -07:00
13bf9ae6bd
Encapsulate mjCModel internal lists.
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PiperOrigin-RevId: 631760335
Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
2024-05-08 05:02:21 -07:00
1b70907060
Convert user_api header and user_init source files to valid C code.
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PiperOrigin-RevId: 629691192
Change-Id: I9be78aca27ae584fff0b733e9015b2bb3b927ca4
2024-05-01 04:53:01 -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
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
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
31384bdfeb
Speed up String2Vector.
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PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
2024-03-05 02:50:26 -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
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
478ce0c8d8
Use previous edge length when setting the position of a cable body.
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Fixes #1440 .
PiperOrigin-RevId: 610690343
Change-Id: I0d5288e68069d1117c0c674530e0644960bab06c
2024-02-27 02:55:14 -08:00
0ae9ba37f9
Replace PointToLocal with operator overload in mjCDef.
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PiperOrigin-RevId: 609376948
Change-Id: Id69909d06ab48824a9cbe0d5a305e8f8b72a193d
2024-02-22 08:12:52 -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
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
80a986c0f5
Add mjmBodyPair to C API.
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PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
2024-02-14 08:40:05 -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
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
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
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
01439f28b3
Add AddFreeJoint and remove isfree from AddJoint.
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PiperOrigin-RevId: 604597442
Change-Id: I2fe03cf0f9a59b425080cc5cc12b236fea9c020d
2024-02-06 03:49:49 -08:00
b3f93d436b
Convert mjmStruct to a C-struct.
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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
2024-02-01 06:57:47 -08:00
7a98038e88
Move mjCSite attributes to mjmSite struct.
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PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948
2024-01-31 08:07:48 -08:00
f8c5ad2ba8
Check for errors when calling std::stod in XML loading.
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PiperOrigin-RevId: 576608985
Change-Id: I148ca67d8960d73c281df2d6f2440d47940a6369
2023-10-25 12:26:43 -07:00
110ade1435
Update Solid and Shell plugins to use FlexComp.
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PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:03:06 -07:00
d3d46e16a4
Remove cloth and rope composites and deprecate loop.
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PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
2023-09-25 03:38:43 -07:00
Alessio Quaglino