249c4b3f4f
Prevent attaching models with different eulerseq, autolimits, or angle options.
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PiperOrigin-RevId: 681801855
Change-Id: Iaf107853797768270319e971a3e318db0703bca0
2024-10-03 03:27:47 -07:00
36ee89d6da
Copy only referenced plugins.
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Fixes #2111 .
PiperOrigin-RevId: 681486400
Change-Id: I384ac63fa76b27d6e84d91fa857127c42ff52e34
2024-10-02 09:40:48 -07:00
dfe8e45101
Namespace plugin instances when attaching.
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Fixes #2112 .
PiperOrigin-RevId: 681045462
Change-Id: I2c945c5405fcb91e0f9a1b0b1e94f68d174c84ee
2024-10-01 09:14:37 -07:00
89aea5e217
Add body.find_all() to Python bindings.
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This enables to generate a list of all body children of a given type.
Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112 .
PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
2024-10-01 08:57:25 -07:00
6832df3091
Replace mjs_setActivePlugins with mjs_activatePlugin.
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PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
2024-09-30 09:46:47 -07:00
e6e6e3b51b
Copy plugins when attaching a model.
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Before this CL, the same mjCPlugin objects were referenced by both models.
Fixes #2100 .
PiperOrigin-RevId: 680579479
Change-Id: Ida3459f78f9fa4a942cea31b3d5d3e8da2832feb
2024-09-30 08:08:12 -07:00
f0d52813b8
Copy joint state to the modified mjSpec when detaching bodies.
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Fixes #2085 .
PiperOrigin-RevId: 678351210
Change-Id: I2a546877dd50abc7805099f8d5c40807ffe780e6
2024-09-24 12:26:29 -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
4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
f4381e12a2
Delete plugins when their corresponding objects are deleted, if their instance belonged the object.
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Fixes #2061 .
PiperOrigin-RevId: 676402701
Change-Id: Ia4807d57a3763e2100702b7e7ec96c300d0a9cfb
2024-09-19 07:21:42 -07:00
aca4b3324d
Resolve default asset names while attaching a spec.
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PiperOrigin-RevId: 676053538
Change-Id: I717b87be4bc18a5d9f8e5f2dc071bd93409eea81
2024-09-18 10:58:12 -07:00
ddbc083810
Move elasticity computation to mjCFlex.
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PiperOrigin-RevId: 675949380
Change-Id: Ia48f4fd6ae1ede206ccacd1205914e7e4b3c7aec
2024-09-18 05:23:10 -07:00
2ffa0fe942
Avoid freeing model and/or data twice in case of errors during the compilation process.
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PiperOrigin-RevId: 675136721
Change-Id: Ibe01216f86893db44a8279c560c307726fb03f81
2024-09-16 07:18:15 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
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PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
015bdeb756
Disallow repeated nameless assets that use the same file, except for URDFs.
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PiperOrigin-RevId: 675114055
Change-Id: I142811ac2d8ef9e12bb8a06d5f3a2fdac02946da
2024-09-16 05:50:50 -07:00
2da15cf137
Add flex elasticity stiffness matrix to mjModel.
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PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 05:00:54 -07:00
c77babe046
Fix a bug in MuJoCo's user_mesh.cc that caused meshdir_ to be overwritten when a model was loaded with a nested model.
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PiperOrigin-RevId: 675092713
Change-Id: Iad6336141749510bf5544cab9c06533ee1589c08
2024-09-16 04:22:13 -07:00
ae4987026c
Add tree element support to mjs_firstElement() and mjs_nextElement().
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PiperOrigin-RevId: 671003046
Change-Id: I9e07d7c85c7218e9bded0f50af9db62d0f1e21e1
2024-09-04 09:46:24 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
0e8c0b80eb
add content_type to model in the XML schema.
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PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
2024-09-04 07:25:55 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
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PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
2efbd31762
Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts.
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PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
2024-08-22 06:08:25 -07:00
8b03daa09b
Add mjtSameFrame enum to specify frame alignment of bodies with their children.
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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:17:06 -07:00
4b88e9bebf
Do not delete keyframes during mjs_detachBody.
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PiperOrigin-RevId: 663281082
Change-Id: I6eedf8c5a3a422bcd78086f2fe30c2099f0b9d16
2024-08-15 06:10:43 -07:00
4c64e6f036
Add mocap state to SaveState/RestoreState and attached keyframes.
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PiperOrigin-RevId: 662975257
Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab
2024-08-14 10:42:49 -07:00
5927b3d4d9
Add time to attached keyframes.
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PiperOrigin-RevId: 662886533
Change-Id: If9118a226250d2e806d184c9715c7e6a1390fd95
2024-08-14 05:47:43 -07:00
7be4df7e03
Add ctrl to attached keyframes.
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PiperOrigin-RevId: 662878508
Change-Id: Ie273fae0220c8b257766cbbd90a880d44b901725
2024-08-14 05:14:49 -07:00
afd7c73f44
Attach multiple keyframes.
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Still missing: support for ctrl, mocap, and time.
PiperOrigin-RevId: 662871569
Change-Id: I8a418c4007663e3063d7146bd72db4eba78ddc5d
2024-08-14 04:42:54 -07:00
19aa68c2b2
Add keyframe support to attach.
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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
39896f8064
Restructure mjCMesh for caching.
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PiperOrigin-RevId: 662496475
Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f
2024-08-13 06:40:36 -07:00
851bb6eef4
Add option to mjspec for creating a texture directly from a buffer.
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PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
2024-08-12 12:29:08 -07:00
20cae556ee
Encapsulate BVH class members.
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PiperOrigin-RevId: 662141171
Change-Id: Ica202d31dacc9cc500d0aeecded941b79002b9a1
2024-08-12 10:27:03 -07:00
d3a976e10d
Fix indent.
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PiperOrigin-RevId: 662035313
Change-Id: I30ec124e8144b8130623daa6b0802a46de124aec
2024-08-12 04:23:48 -07:00
ec43ec7c30
Remove hard-coded nPOS and nVEL from mjCModel.
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PiperOrigin-RevId: 661370196
Change-Id: Ib2c1876dfea55dbf496e2358000f24bbde29fc52
2024-08-09 12:53:55 -07:00
b341bd391d
Fix a bug with mjs_delete functions.
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PiperOrigin-RevId: 657615906
Change-Id: Ic70eaa9a5c20337db3897cf882a60e9d94f2869b
2024-07-30 09:13:57 -07:00
3f0749a0f7
Do not remove elements that contain user errors when detaching a subtree.
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PiperOrigin-RevId: 657190780
Change-Id: I073a437013f80596a341f7b80bed991536efeb43
2024-07-29 07:19:12 -07:00
33e5960653
Allow multiple textures per material in MJCF.
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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
2024-07-22 09:57:51 -07:00
e79efa60d6
Reset tree indices before recompiling.
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Fixes #1822 .
PiperOrigin-RevId: 654762203
Change-Id: I7f656f7dad376d4899229a8741315c8f821bfa56
2024-07-22 08:30:29 -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
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
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
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
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
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
3d1d1d0718
Multithreaded mesh compilation.
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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
2024-07-11 04:21:49 -07:00
Alessio Quaglino