387 Commits

Author	SHA1	Message	Date
Alessio Quaglino	d3dfa6f970	Add mjs_findElement() to find any element in a spec by name. ... Also, remove mjs_findMesh() and mjs_findKeyframe(). PiperOrigin-RevId: 670978980 Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0	2024-09-04 08:24:22 -07:00
Alessio Quaglino	0e8c0b80eb	add content_type to model in the XML schema. ... PiperOrigin-RevId: 670961443 Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da	2024-09-04 07:25:55 -07:00
Yuval Tassa	3437361bfb	Add reduced sparse dof-dof matrix structures to mjData. ... PiperOrigin-RevId: 670919263 Change-Id: I3592de802ae84648d97230115c2e9c3437424968	2024-09-04 04:24:02 -07:00
Yuval Tassa	a1036b86d3	Allow connect constraints to be specified using sites. ... PiperOrigin-RevId: 668925419 Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa	2024-08-29 07:10:51 -07:00
Alessio Quaglino	505d01a1c1	Add error handling to mj_recompile. ... This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception. PiperOrigin-RevId: 666784579 Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48	2024-08-23 07:18:28 -07:00
Yuval Tassa	2efbd31762	Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts. ... PiperOrigin-RevId: 666318799 Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d	2024-08-22 06:08:25 -07:00
Yuval Tassa	8b03daa09b	Add mjtSameFrame enum to specify frame alignment of bodies with their children. ... PiperOrigin-RevId: 666303674 Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0	2024-08-22 05:17:06 -07:00
Yuval Tassa	ad9cd7301e	Correctly apply frame transform to light direction. ... PiperOrigin-RevId: 665340267 Change-Id: Ida16ddbf3a057ffd3e260b71180a45acbf749931	2024-08-20 06:48:11 -07:00
Yuval Tassa	5d91231d31	Rename mjBuffer to mjByteVec. ... PiperOrigin-RevId: 664872558 Change-Id: I7b003374c390958667635fb21089faf2ece54b14	2024-08-19 10:40:26 -07:00
Yuval Tassa	4aab00fa2d	Minor cleanups to body and joint compilers. ... PiperOrigin-RevId: 664824939 Change-Id: I6014ff10683849e2926f1b1c8df8b6862192cd00	2024-08-19 08:43:10 -07:00
Michael Ahn	9924d9ca89	Fixed incorrect mesh face circumradius calculation ... - In 8e2f830, this was changed from `mju_norm3` to `mjuu_normvec`, but the latter will mutate its input to be normalized instead of just returning the norm (the former was likely mistaken as `mju_normalize3` which does mutate its input).	2024-08-15 20:53:57 -07:00
Alessio Quaglino	e0e134ca63	Add plugin tests for mjSpec. ... Fixes #1903. PiperOrigin-RevId: 663352920 Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17	2024-08-15 10:19:53 -07:00
Alessio Quaglino	4b88e9bebf	Do not delete keyframes during mjs_detachBody. ... PiperOrigin-RevId: 663281082 Change-Id: I6eedf8c5a3a422bcd78086f2fe30c2099f0b9d16	2024-08-15 06:10:43 -07:00
Yuval Tassa	d932faa1d4	Flip order of cases in user_objects.cc (readability) ... PiperOrigin-RevId: 663040865 Change-Id: I27d06a6a769d5bfc41189d270021b4fc1d4b5932	2024-08-14 13:49:11 -07:00
Alessio Quaglino	4c64e6f036	Add mocap state to SaveState/RestoreState and attached keyframes. ... PiperOrigin-RevId: 662975257 Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab	2024-08-14 10:42:49 -07:00
Alessio Quaglino	5927b3d4d9	Add time to attached keyframes. ... PiperOrigin-RevId: 662886533 Change-Id: If9118a226250d2e806d184c9715c7e6a1390fd95	2024-08-14 05:47:43 -07:00
Alessio Quaglino	7be4df7e03	Add ctrl to attached keyframes. ... PiperOrigin-RevId: 662878508 Change-Id: Ie273fae0220c8b257766cbbd90a880d44b901725	2024-08-14 05:14:49 -07:00
Alessio Quaglino	afd7c73f44	Attach multiple keyframes. ... Still missing: support for ctrl, mocap, and time. PiperOrigin-RevId: 662871569 Change-Id: I8a418c4007663e3063d7146bd72db4eba78ddc5d	2024-08-14 04:42:54 -07:00
Alessio Quaglino	19aa68c2b2	Add keyframe support to attach. ... Limitations: - Supports attaching a single keyframe. If multiple keyframes are present in the child, only the first one will be attached. - Does not support time, ctrl, mpos, mquat. - If mjs_detachBody is used, all keyframes are removed. PiperOrigin-RevId: 662517666 Change-Id: If6e3839471e1884afc14e1a75e7ce1957c2f3581	2024-08-13 08:00:01 -07:00
Kyle Bayes	39896f8064	Restructure mjCMesh for caching. ... PiperOrigin-RevId: 662496475 Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f	2024-08-13 06:40:36 -07:00
Saran Tunyasuvunakool	acab66d799	Remove superfluous break statements.	2024-08-13 10:46:35 +01:00
Alessio Quaglino	851bb6eef4	Add option to mjspec for creating a texture directly from a buffer. ... PiperOrigin-RevId: 662186527 Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d	2024-08-12 12:29:08 -07:00
Kyle Bayes	20cae556ee	Encapsulate BVH class members. ... PiperOrigin-RevId: 662141171 Change-Id: Ica202d31dacc9cc500d0aeecded941b79002b9a1	2024-08-12 10:27:03 -07:00
Alessio Quaglino	648fd56ed1	Preserve time when recompiling a model. ... Fixes #1890. PiperOrigin-RevId: 662084324 Change-Id: I6aed40761cee5044e63426935d102123db295b25	2024-08-12 08:00:36 -07:00
Yuval Tassa	d3a976e10d	Fix indent. ... PiperOrigin-RevId: 662035313 Change-Id: I30ec124e8144b8130623daa6b0802a46de124aec	2024-08-12 04:23:48 -07:00
Yuval Tassa	d45d13e5ad	Remove uses of mjtNum-typed functions from user_objects.cc ... PiperOrigin-RevId: 662026275 Change-Id: Idfb2b6ced6eac4b4b60079e219aac63fc1d00b89	2024-08-12 03:45:43 -07:00
Yuval Tassa	02ffaa8248	Yet another GCC-related fix. ... PiperOrigin-RevId: 661595661 Change-Id: Ib66a0d891533be50451adc850d7350532fc39d67	2024-08-10 05:32:28 -07:00
Yuval Tassa	d72f01bad4	Add break statements in user_objects.cc to appease persnickety GCC ... PiperOrigin-RevId: 661590599 Change-Id: I2d167ca92cc4d5230922d221c9267a2e8d018b40	2024-08-10 04:56:18 -07:00
Yuval Tassa	e397fcb5a5	Add return values to private mjJCJoint methods. ... PiperOrigin-RevId: 661438758 Change-Id: I08a77eb878703610ead526040d86f3f3fccb080b	2024-08-09 16:09:17 -07:00
Taylor Howell	466368efc6	Add shellinertia support for primitives: sphere, capsule, cylinder, ellipsoid, and box. ... PiperOrigin-RevId: 661407997 Change-Id: Icddac58c540c71ea26ac7a3be874788443bd1122	2024-08-09 14:40:13 -07:00
Alessio Quaglino	ec43ec7c30	Remove hard-coded nPOS and nVEL from mjCModel. ... PiperOrigin-RevId: 661370196 Change-Id: Ib2c1876dfea55dbf496e2358000f24bbde29fc52	2024-08-09 12:53:55 -07:00
Taylor Howell	82c27165f2	mjQUICKSORT uses std::sort with C++. ... fixes #1638 PiperOrigin-RevId: 660887790 Change-Id: Ia3b493feda98b246d963aa749bc81b96c42fddaa	2024-08-08 10:24:34 -07:00
Nimrod Gileadi	6a8e28f0e9	Prevent integer overflow when computing texture sizes and allocating memory for them. ... Correctly check for failed allocations when resizing std::vector PiperOrigin-RevId: 659488680 Change-Id: I7bf4c0b416e96eda2baec32b21be78456604f4b0	2024-08-05 02:58:46 -07:00
Nimrod Gileadi	ff5d339e48	GMSH loading: Check that std::stoi isn't out of range. ... PiperOrigin-RevId: 659485119 Change-Id: I584ba33f87dbe3b87a8c4fb90feb8963106115da	2024-08-05 02:41:19 -07:00
Alessio Quaglino	b341bd391d	Fix a bug with mjs_delete functions. ... PiperOrigin-RevId: 657615906 Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b	2024-07-30 09:13:57 -07:00
Copybara-Service	123a01bd83	Merge pull request #1833 from JewelryForge:main ... PiperOrigin-RevId: 657249579 Change-Id: I11b9602ea685b22d0cc61add9e90e7a5c68559dd	2024-07-29 10:36:39 -07:00
Alessio Quaglino	3f0749a0f7	Do not remove elements that contain user errors when detaching a subtree. ... PiperOrigin-RevId: 657190780 Change-Id: I073a437013f80596a341f7b80bed991536efeb43	2024-07-29 07:19:12 -07:00
Kyle Bayes	5ac5cfb618	Support directories in VFS via mj_addBufferVFS. ... PiperOrigin-RevId: 655286683 Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f	2024-07-23 13:39:18 -07:00
Kyle Bayes	2746cb8559	Support FilePaths instead of raw strings in XML code. ... PiperOrigin-RevId: 655177026 Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d	2024-07-23 08:36:53 -07:00
Tom Erez	33e5960653	Allow multiple textures per material in MJCF. ... PiperOrigin-RevId: 654795013 Change-Id: I418b72533484d00accaf801a342aa183e602a2d0	2024-07-22 09:57:51 -07:00
Alessio Quaglino	e79efa60d6	Reset tree indices before recompiling. ... Fixes #1822. PiperOrigin-RevId: 654762203 Change-Id: I7f656f7dad376d4899229a8741315c8f821bfa56	2024-07-22 08:30:29 -07:00
Chengrui Zhu	cdd8531290	Fix typos and indents.	2024-07-22 13:45:15 +08:00
Tom Erez	796173170c	Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role. ... PiperOrigin-RevId: 654030065 Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596	2024-07-19 09:29:22 -07:00
Kyle Bayes	8a8a44a4db	Refactor numerical parsing in XML. ... PiperOrigin-RevId: 653979240 Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0	2024-07-19 05:42:02 -07:00
Tom Erez	e92af73cbf	Add mjmodel support for textures with different number of channels. ... PiperOrigin-RevId: 653974959 Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5	2024-07-19 05:22:19 -07:00
Alessio Quaglino	c198a69bbf	Return null pointer from mjs_firstChild and mjs_firstElement when the requested list is empty. ... Fixes #1824. PiperOrigin-RevId: 653758711 Change-Id: I6ede762cafd88dcbb0dfc9c2999b7aee24bd2e2a	2024-07-18 14:35:36 -07:00
Alessio Quaglino	231d9632cd	Avoid duplicated code in mjCModel by adding ResetTreeLists(). ... PiperOrigin-RevId: 653575505 Change-Id: I61ee1462deae2a371cf6f36ca1cf3dbbd88d174c	2024-07-18 05:08:18 -07:00
Alessio Quaglino	dd9dd295ba	Prevent uninitialized memory during a copy of joints and actuators. ... PiperOrigin-RevId: 653340718 Change-Id: Icc5ada05abd590504c157311a309f9b8493feac9	2024-07-17 13:22:11 -07:00
Yuval Tassa	dd25973481	Remove unnecessary def_map copying. ... Introduced in 5b080bacc4 Made obsolete by 27b9ddda5b [Context](https://github.com/google-deepmind/mujoco/commit/27b9ddda5bdd12345abdfbc0a6efce121d40cd6c#r144157607) PiperOrigin-RevId: 653254345 Change-Id: Ie944d2c3924d3eb91f7743c0d0c8413cd2cd79cc	2024-07-17 09:10:31 -07:00
Alessio Quaglino	2664cc1391	Allow passing a null pointer in mj_recompile. ... Fixes #1819. PiperOrigin-RevId: 653242587 Change-Id: I36dbd6ed54abdf21abeb62cf41ee88f159008d01	2024-07-17 08:29:01 -07:00