d77126dc58
Add vertcollide option for adding spheres at flex vertices.
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PiperOrigin-RevId: 757789990
Change-Id: I8ccba52b13e8c02a7be78f992297d6f414d98f8e
2025-05-12 09:13:48 -07:00
924ee3070a
Modify user values in mujoco to allow users to provide cleanup functions to avoid memory leaks.
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For the MJCF -> USD plugin, and I suspect other usecases for user values, it's necessary to give ownership of the object to Mujoco. However since they get type erased, we can't clean up the data automatically for the user. Instead this allows c++ clients to provide a cleanup function with their data.
PiperOrigin-RevId: 756832010
Change-Id: I80b8e7822e1a0e399a0d19dcaa57ee69b3ccc16a
2025-05-09 11:03:06 -07:00
ad80a4625b
Always generate a BVH in flex.
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The BVH is used also for computing normalized vertex coordinates in the trilinear interpolation, so we need to compute it also when the flex cannot collide.
PiperOrigin-RevId: 756349244
Change-Id: Ib397c472e31251df5a7ea85850d83a62f3b2c949
2025-05-08 09:46:47 -07:00
f4774a5449
Fix bug in cached meshes where convex hull was missing. Previously if a mesh was copied from the cache it would not have its convex hull if the original mesh that was cached didn't previously compute it.
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Fixes #2609
PiperOrigin-RevId: 756223337
Change-Id: I54705456636c270607a17340b249047e0df75d0b
2025-05-08 02:42:15 -07:00
3e9d130092
Add mjs_getPluginAttributes.
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PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
2025-04-29 05:19:09 -07:00
75f196c7ef
Add missing PointToLocal call in mjCPlugin copy constructor.
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PiperOrigin-RevId: 752486555
Change-Id: I08b14476b9098e6473a4c00918ef3f9a287f35f6
2025-04-28 16:23:45 -07:00
3429a4881a
Detect mismatch between maxNodes and Nodes in a gmsh block. Fixes #2342
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PiperOrigin-RevId: 745967745
Change-Id: If1b5fcd71079a0e6a6def9b442758678e31a5828
2025-04-10 04:15:21 -07:00
96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
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PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
d7027fb1c0
Do not skip mjSpec's with repeated model names when attaching a new mjSpec.
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PiperOrigin-RevId: 744705838
Change-Id: Ie47a3c029f443910629619b7f9ff43ab07646725
2025-04-07 06:52:12 -07:00
cc2f57d820
Change mjSpec and mjModel signature mechanism.
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The signature now contains the necessary information to safely perform `bind`. The private UIDs are now removed.
Fixes an issue of changing signature when compiling a copy of an mjSpec.
PiperOrigin-RevId: 744670626
Change-Id: Id3c66419cf2afbe78e91bc4b37d2299f5ec00ab1
2025-04-07 04:21:27 -07:00
d05251af2a
Add tendon armature
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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
2025-04-04 07:44:04 -07:00
e1f5ceb65a
Add mjModel.tendon_armature (in preparation, not yet implemented)
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PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:06:27 -07:00
f96f3e1c22
Add XML compiler/saveinertial flag. Fixes #2405
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PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
2025-04-03 10:12:42 -07:00
8941f56e86
Copy UIDs during mj_copySpec.
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This will produce the same mjSpec signature after a deep copy.
PiperOrigin-RevId: 743538018
Change-Id: Ic0f5b06a00e8883cb92dc98159db3bea02cb7a36
2025-04-03 06:29:07 -07:00
b839fe79e1
Allow to attach an entire mjSpec in mjs_attach.
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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
2025-04-01 09:51:52 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
2025-04-01 08:05:58 -07:00
c0a7ea1edb
Added the element type mjOBJ_SPEC for mjSpec.
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PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
2025-04-01 06:51:49 -07:00
648a03c2cf
Override inertia of body with visual geoms if discardvisual is true.
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Fixes #2546 .
PiperOrigin-RevId: 742650702
Change-Id: I753c1e1c89da732ece100676644bbecf9d6373bb
2025-04-01 05:21:48 -07:00
86c970bc23
Add error checking in mjs_setFrame.
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Also raise error if the frame is not found in the mjCBody copy constructor.
Fixes #2543 .
PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
2025-04-01 03:34:48 -07:00
01d4c46753
Store the mjsCompiler -> appended mjSpec map when appending an mjSpec.
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Previously, we stored the source `mjSpec` during a copy as a hack for having access to the compiler options, but this is not robust since we cannot guarantee that 1) the source `mjSpec` is not destroyed before we need to look up the compiler options nor 2) that the `mjSpec` was appended without a copy.
While 2) could be solved by simply handling an additional case in `mjCModel::FindSpec`, using a map also solves 1) and it is easier to understand.
PiperOrigin-RevId: 741504264
Change-Id: Iab1bfd9e61299a94fa8caf3a244c067b09d54384
2025-03-28 06:27:22 -07:00
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
69f8349203
Add signature error checking at the end of compilation.
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Fixed some edge cases that caused the new error to be triggered.
PiperOrigin-RevId: 740483759
Change-Id: I6ced3ba55476d5c18103e205151ecace94f2b29b
2025-03-25 14:22:58 -07:00
157b074116
Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.
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PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:37:49 -07:00
4e206c29c1
Keep tree lists updated at all times.
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This simplifies the compiler logic since an updated tree list was necessary at many stages (e.g. attach and keyframes resizing) and it will be anyway required when computing the mjSpec signature.
PiperOrigin-RevId: 740356447
Change-Id: I7f2ec25b27b8d4ca4364801c9a401c40c6d84569
2025-03-25 08:21:22 -07:00
dc96ed6bdb
Remove plugins that are not referenced after detaching a body.
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Fixes #2497 .
Also, use `Release()` instead of `delete` for removing elements when detaching a body in order to preserve correct reference count.
PiperOrigin-RevId: 739133888
Change-Id: I7ccfad84446fb15259bad30c4ba1e6f7fa601518
2025-03-21 04:34:05 -07:00
8d92a0fbe6
Clear body subtreedofs when compiling. Fixes issue when attaching previously compiled model.
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PiperOrigin-RevId: 738906593
Change-Id: I74875b4d07c422e397358dff5daf6682ec1bd655
2025-03-20 12:52:36 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
209d2bd2c5
Added functionality for user payload data in mjSpec.
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PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
2025-03-19 04:36:00 -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
1bf24e9f67
Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site.
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PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
2025-03-17 10:21:38 -07:00
35774706ee
Set parent frame of new frames after copying all frames.
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PiperOrigin-RevId: 737620918
Change-Id: I8f49570cab39bd84b2da908d3683dddc3b29cb3c
2025-03-17 08:19:04 -07:00
b10b0b7055
Cache all processed mesh data.
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PiperOrigin-RevId: 737576455
Change-Id: I87628ce7842d0d7d0e7fe02eb9afb2ddefa68ff8
2025-03-17 05:20:41 -07:00
1a67aaf1b7
Remove pointers from BVH for caching in mjCMesh.
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PiperOrigin-RevId: 736849392
Change-Id: I684cca918c65718b29a1bcb41ecd6bad8d88f8f9
2025-03-14 07:01:18 -07:00
f25fc63f0f
Default flex internal contacts to "false".
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This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500 , #2079 , #1900 , and #1433 . It should be used only if element inversion cannot be prevented otherwise.
PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
2025-03-14 04:55:09 -07:00
8e300eb628
Update list ids immediately during body detach.
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Fixes #2499 .
PiperOrigin-RevId: 736449320
Change-Id: Ieeae52bdbbbb896d886221ab088229c8287a32a3
2025-03-13 03:55:58 -07:00
5c3bab4d09
Change default metallic value to 0, as per the XMLreference doc.
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See https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-material-metallic
PiperOrigin-RevId: 736190166
Change-Id: Ic841df9510aff5df8f5ea3394732ab65b550aa65
2025-03-12 10:54:29 -07:00
775c45c60e
Do not lookup compiler options by name when attaching.
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Also, fix a pre-existing bug that caused incorrect compiler option propagation with nested attachments.
Fixes #2480 .
PiperOrigin-RevId: 736156202
Change-Id: Ib430493e8c60556c2312603198587b39de9b8a4a
2025-03-12 09:18:47 -07:00
995bbf0f0f
Refactor and fold in code into Process in mjCMesh for caching.
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PiperOrigin-RevId: 736052216
Change-Id: Ia0e055fd99ce429b9dee97f3f9effbf2fa1aa4f9
2025-03-12 02:12:53 -07:00
019e0a806c
Throw an error if a child attached by reference to a parent is compiled.
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Fixes #2482 .
PiperOrigin-RevId: 735665098
Change-Id: Ia3436fdd2ff572f8f0c1ded434742a4a9186f2f7
2025-03-11 01:24:17 -07:00
14dc6fd33b
Do not use inertia during mesh compilation.
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Fixes #2479 .
PiperOrigin-RevId: 735387473
Change-Id: Ib241f2a0efc100bbe2cec24e0399bfcc87268094
2025-03-10 08:35:33 -07:00
adc3cc06fa
Change private->public spec for error checking in mjCSkin recompilation.
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Fixes #2485 .
PiperOrigin-RevId: 735323174
Change-Id: Ifcc2055f6a74afaa18ad5228633f36f760adcffd
2025-03-10 04:19:40 -07:00
4d024f9421
Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.
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PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
2025-03-07 05:17:49 -08:00
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
e04e0e5c3d
Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency.
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PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b
2025-03-06 08:28:36 -08:00
7651cb1b33
Copy texture coordinates from OBJ into flex. Fixes #2464 .
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PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
2025-02-28 06:04:19 -08:00
ed7adf3d17
Do not namespace the body that contains the frame during mjs_attachFrame.
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PiperOrigin-RevId: 730912252
Change-Id: I026993af648766c09d569709d268430207d83169
2025-02-25 09:16:44 -08:00
ce82b63155
Add mjs_attachFrameToSite.
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This is required in preparation of changing the spec.attach behavior in the Python bindings.
PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
2025-02-25 03:21:05 -08:00
14c8dc62f0
Add termination character to flattened plugin attributes if empty.
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Fixes #2450 .
PiperOrigin-RevId: 730521722
Change-Id: Iec3fa377c65693d782eeb766a144a1c89096d1f3
2025-02-24 11:07:18 -08:00
ae1c3b7ec0
Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom.
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PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
2025-02-24 08:14:04 -08:00
Alessio Quaglino