b3f79e561d
Fix bug in pre-counting equality constraints.
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PiperOrigin-RevId: 654031345
Change-Id: If8c660b3e6fed78d8fd8de470f1cf2a709ac1244
2024-07-19 09:33:59 -07:00
796173170c
Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.
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PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
2024-07-19 09:29:22 -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
e92af73cbf
Add mjmodel support for textures with different number of channels.
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PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:22:19 -07:00
c198a69bbf
Return null pointer from mjs_firstChild and mjs_firstElement when the requested list is empty.
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Fixes #1824 .
PiperOrigin-RevId: 653758711
Change-Id: I6ede762cafd88dcbb0dfc9c2999b7aee24bd2e2a
2024-07-18 14:35:36 -07:00
ffb50b7b67
Improve readability of body transmission code.
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(code block mentioned in #1790 )
PiperOrigin-RevId: 653601254
Change-Id: Ibee727ab668b690c3b9a55c39110c6219cca17fa
2024-07-18 06:43:40 -07:00
231d9632cd
Avoid duplicated code in mjCModel by adding ResetTreeLists().
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PiperOrigin-RevId: 653575505
Change-Id: I61ee1462deae2a371cf6f36ca1cf3dbbd88d174c
2024-07-18 05:08:18 -07:00
dd9dd295ba
Prevent uninitialized memory during a copy of joints and actuators.
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PiperOrigin-RevId: 653340718
Change-Id: Icc5ada05abd590504c157311a309f9b8493feac9
2024-07-17 13:22:11 -07:00
dd25973481
Remove unnecessary def_map copying.
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Introduced in 5b080bacc427b9ddda5bhttps://github.com/google-deepmind/mujoco/commit/27b9ddda5bdd12345abdfbc0a6efce121d40cd6c#r144157607 )
PiperOrigin-RevId: 653254345
Change-Id: Ie944d2c3924d3eb91f7743c0d0c8413cd2cd79cc
2024-07-17 09:10:31 -07:00
2664cc1391
Allow passing a null pointer in mj_recompile.
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Fixes #1819 .
PiperOrigin-RevId: 653242587
Change-Id: I36dbd6ed54abdf21abeb62cf41ee88f159008d01
2024-07-17 08:29:01 -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
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
9a7c1df130
Set unused inherited opaque pointers to nullptr.
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PiperOrigin-RevId: 652444674
Change-Id: I3e82b1e1ae029f2f01ddcdf5ce2ccb45624e7062
2024-07-15 05:15:45 -07:00
cf61d88e41
Move pointer assignments from CopyFromSpec() to PointToLocal().
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Note that these internal pointers are inherited from the public structs and are unused internally.
PiperOrigin-RevId: 652414750
Change-Id: I5e42503bce8e9019291ec0a1f8c4278438474e9b
2024-07-15 02:47:32 -07:00
22a10fd2ff
Minor documentation improvements.
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PiperOrigin-RevId: 652064694
Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
2024-07-13 08:36:47 -07:00
5d51b4cd5f
Check that element is a nullptr before casting.
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The bug was caused by the fact that the `mjs_as*` functions would return a pointer to a `mjC*` object, even if the input `mjsElement` pointer was null. This would cause a segfault.
PiperOrigin-RevId: 651802736
Change-Id: Ibec00d269a4befadff8a68e0513fd381c7e38a2a
2024-07-12 09:46:16 -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
84108589c4
Move the map lookup outside of the mesh processing loop. Change to unordered_map.
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PiperOrigin-RevId: 651745837
Change-Id: Ibfcbe4b8cefa53a3dbaa99c4ca68442e2e10bc5d
2024-07-12 05:45:25 -07:00
6e64dd10e8
Fix bug in RemoveFromList.
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The function was interpreting that the elements that were expected to be detached contained useful user errors, and therefore it was not detaching them. Also, the function tried to compare the namespace between two models, but the namespace is already fused in the references at detach time.
PiperOrigin-RevId: 651738364
Change-Id: Ifdaa9bd5b658bfd18b544b7138a5c2c56b66e936
2024-07-12 05:08:00 -07:00
f1aa52aa9b
Never use more threads than meshes for multi-threaded compile.
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PiperOrigin-RevId: 651728817
Change-Id: Ib607d528c25a10e2cdb8c2b0b0da2189683d2691
2024-07-12 04:18:35 -07:00
9c9faa02d5
Add FilePath utility class for handling resource / file paths in MuJoCo user code.
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PiperOrigin-RevId: 651716008
Change-Id: I250b8cec32aab538f5862f8a05f42d1fae698307
2024-07-12 03:21:21 -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
3d1d1d0718
Multithreaded mesh compilation.
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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
2024-07-11 04:21:49 -07:00
e7301edd20
Copy arena contents in mj_copyData.
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Fixes #1710 .
PiperOrigin-RevId: 651351384
Change-Id: I56e3204b30bb18f48278117e85e90464177da973
2024-07-11 03:54:44 -07:00
f9ab89b205
Refactor user cache to just support void pointers so user objects can be cached whole.
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PiperOrigin-RevId: 651307384
Change-Id: I92c058a900727070235d00b6d2165c29fd12e7b0
2024-07-11 01:01:27 -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
5b080bacc4
Merge pull request #1799 from JewelryForge:main
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PiperOrigin-RevId: 651069985
Change-Id: I758e27e2f4bf19bba38d9e1189a41accae40d028
2024-07-10 10:29:22 -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
b483ce608e
Use std::thread in compiler on all platforms.
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PiperOrigin-RevId: 651005412
Change-Id: I8dfb142dc2d87ab0af79583f2df168c105b50138
2024-07-10 07:10:45 -07:00
5bd13b4982
Copy all keys of def_map when copying a mjCModel. Fixes #1798
2024-07-10 16:40:36 +08:00
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
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
c5f958bdff
When reporting compilation errors, include warning strings.
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This allows plugins to call mju_warning, and have the string propagate to users.
PiperOrigin-RevId: 650621601
Change-Id: I608e7a3a1ad126ab8da2ff0634fa708458fb9ccc
2024-07-09 07:33:11 -07:00
450e7ff777
Move user_resource.c to C++.
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PiperOrigin-RevId: 650592110
Change-Id: I5e043970e3aa722e3961e478334cad4f3f1c191e
2024-07-09 05:33:38 -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
57e6760ec9
Re-implement VFS internals in C++, removing the constraints of the previous implementation.
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PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
2024-07-04 09:22:23 -07:00
f8b944bf7f
Fix missing fclose when resource is closed without being read. Fixes #1685 .
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PiperOrigin-RevId: 649416747
Change-Id: I05eeb1071868116b6e5be76e26b465788e4d35b1
2024-07-04 08:07:34 -07:00
a5a3c9efc7
Discard all keyframes when attaching models.
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PiperOrigin-RevId: 649415647
Change-Id: Ie2defe248df7078684d987351985cb66bd754e5b
2024-07-04 08:04:40 -07:00
a0945e4b5a
Add non-tree element lists to python bindings.
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Fixes #1752 .
PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
2024-07-04 07:24:02 -07:00
d831153401
Reorganize GJK support logic.
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PiperOrigin-RevId: 649361144
Change-Id: I9868377cf36cccdcf66de3bc27afb872a164da8d
2024-07-04 03:48:52 -07:00
5cce67439b
Clean up user_util.
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PiperOrigin-RevId: 649166858
Change-Id: I79423dda628fb4bf3ceae438dd8dc5b96d69d2a9
2024-07-03 12:38:36 -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
9107d3b507
Add mjs_findKeyframe.
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PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
2024-07-03 05:17:41 -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
df7ea3ed33
Add support for multiple textures in one material (mjModel).
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PiperOrigin-RevId: 648732764
Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b
2024-07-02 08:50:23 -07:00
3b73dfe33b
Add textured materials to render context, and refactor mjvGeom to refer to those textures.
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PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
2024-07-02 08:01:40 -07:00
af3233f98d
Delete unused code.
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PiperOrigin-RevId: 648658198
Change-Id: I1bec6b07becd7cec22af4c67e9cc1a9bcda669b0
2024-07-02 03:32:55 -07:00
9106f40e2b
Add mjSpec bindings.
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Co-authored-by: Saran Tunyasuvunakool <stunya@google.com >
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
2024-07-01 12:05:50 -07:00
Kyle Bayes