80810391ab
Add defaults to attach tests.
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PiperOrigin-RevId: 627526669
Change-Id: I5fc7955bacc459c637fce8e88e9da7bbfd7fb011
2024-04-23 15:40:54 -07:00
546a27ca72
Fix memory allocation error when memory size is larger than 2G. Fixes #1606
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PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
2024-04-22 09:15:46 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
cc78db41f4
Add mjs_detachBody to C API.
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PiperOrigin-RevId: 626947850
Change-Id: I7c897048098ecd4f2247725ef2d378dbd00ef4a0
2024-04-22 01:11:13 -07:00
4b7b40d329
Add test for saving and loading binary models.
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PiperOrigin-RevId: 626019520
Change-Id: I1e349921b3408bee288c52d9e52b29006ff3fda4
2024-04-18 06:55:07 -07:00
c331d18a6e
Support nested frames in mjs_attachFrame.
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PiperOrigin-RevId: 626001651
Change-Id: I3dc52baa6aad875504dd4c7d969a4091f52c4c16
2024-04-18 05:37:12 -07:00
81feadad5c
Add mjs_attachFrame to user_api.
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PiperOrigin-RevId: 625648309
Change-Id: I4d6dfc4d38ad6ce688df83eb7cc2c34676076193
2024-04-17 05:25:16 -07:00
4b6c07cd7d
Prevent bodies from overwriting the frame names in xml_native_writer.
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PiperOrigin-RevId: 625632369
Change-Id: If3bd048ac40e116fcb97beb3dca3d99826fe4ad0
2024-04-17 04:07:50 -07:00
b33230210a
Disable precise error message check in LoadMSHASCII_22_MissingNumElements_Fail
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For some reason, this check fails on Windows on GH Actions.
PiperOrigin-RevId: 625396036
Change-Id: I96bf233dcd61e7a64f817da41e47ea39e0c5c157
2024-04-16 11:22:54 -07:00
f086dc9b4b
Better parsing for GMSH2.2
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PiperOrigin-RevId: 625267106
Change-Id: Iecf767c43cee1067fdab3859df28050f8a365e2b
2024-04-16 03:23:52 -07:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
7b3f1a0261
Add mjModel.mesh_scale: scaling applied to asset vertices.
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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:26:06 -07:00
70f00b05a1
Allow attaching a model to itself.
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PiperOrigin-RevId: 623806812
Change-Id: I9b0e36308be754e838790ead8ec717953e4b2350
2024-04-11 06:28:48 -07:00
5a365603f8
Add mju_euler2Quat.
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PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
2024-04-10 06:02:50 -07:00
7d3b662d5b
Check for invalid node tags in gmsh parser.
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PiperOrigin-RevId: 621538409
Change-Id: I91ba56b931d815fccd65ae32281bc19ae3a45ee7
2024-04-03 08:56:57 -07:00
47ba72ea59
Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.
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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
4f0293c6cb
Added support for msh2.2
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Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.
Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark
PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
2024-03-26 10:12:13 -07:00
7875e93fea
Improve error text when a mesh face references an invalid vertex.
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PiperOrigin-RevId: 618715730
Change-Id: I28fae1e1570d359db4be98e9c5b7713169eaf34f
2024-03-24 20:59:16 -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
c3fb8e7f35
Do not attach elements not referenced in the subtree.
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PiperOrigin-RevId: 617849280
Change-Id: I391fe7c00f67d020d7394ddd31219d727b2eaa94
2024-03-21 08:22:03 -07:00
b0daccc234
Allow meshes with flipped faces if exactmeshinertia is false.
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Fixes #1529 .
PiperOrigin-RevId: 617824308
Change-Id: I926c385475dd79f07e88fe1925ecbb2adb4f8917
2024-03-21 06:36:07 -07:00
cc85a38f3c
Add mjm_attachBody to the C API.
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PiperOrigin-RevId: 617207000
Change-Id: I1fe59ba0d79938a4a383b115997c31dd6c71b8e5
2024-03-19 10:01:00 -07:00
91192393a0
Add material and nonzero elevation data to hfield in testdata/model.xml
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PiperOrigin-RevId: 617011327
Change-Id: I46f4fdbd67027003a710a365d0ad29f9158ff85f
2024-03-18 18:26:13 -07:00
372aa021d0
Add copy constructor and assignment to mjCModel.
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PiperOrigin-RevId: 616850780
Change-Id: I7fedab2efa2a90fd7ce952eac4e195f77c5ff5bc
2024-03-18 09:25:27 -07:00
8afcfd0fa1
Add custom elements to testdata/model.xml
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PiperOrigin-RevId: 616752352
Change-Id: Iaaee19657e97f4962d9a2fe6e7671f3ce832264a
2024-03-18 01:58:52 -07:00
dd2580e546
Add internal functions for 3x3 matmul.
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PiperOrigin-RevId: 616749614
Change-Id: I7f3ac2ffc826076b6c97424324f03ecd9ccd4655
2024-03-18 01:44:10 -07:00
74d3d8cb4e
Cache OBJ files in MuJoCo compiler.
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PiperOrigin-RevId: 616211896
Change-Id: I3b765f4529957914e6154f0e62ef36fd9df93c96
2024-03-15 12:32:06 -07:00
c7a8b104f9
Add modified callback for VFS resource provider.
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PiperOrigin-RevId: 616152275
Change-Id: I417f9b204eaa1eb9fc68a15927f86031dcd20575
2024-03-15 09:23:29 -07:00
c42868a91b
Update logic for OS filesystem timestamps for caching.
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PiperOrigin-RevId: 616138153
Change-Id: I0ce966546bc4af04e57b983e27bbd75a94377237
2024-03-15 08:31:56 -07:00
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
a2a770453e
Copybara import of the project:
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--
1fcff13dfdc70519c4d33e17ade4be6afb2960a2 by Alexis <cuatroalejandro@gmail.com >:
add multipleBodies test for mj_loadXML
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34270fa57946e68a82fa55313b64a5a56e5aa080 by Alexis <cuatroalejandro@gmail.com >:
add some space
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3594020eb9be57cb6a2eef0baeca97cee8f25aab by Alexis <cuatroalejandro@gmail.com >:
remove TODO comment in xml_api_test
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1487 from alefram:alexis-test 3594020eb9be57cb6a2eef0baeca97cee8f25aab
PiperOrigin-RevId: 615033458
Change-Id: I05fe5659b07b3226b82d2562e31bcd73f150b089
2024-03-12 07:31:11 -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
9ac048e262
Add recompilation test to user_api_test.
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PiperOrigin-RevId: 613192683
Change-Id: Ibb44e1c2d63ac0afb7b5f3a15dff26378deb6c82
2024-03-06 06:27:28 -08:00
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
31384bdfeb
Speed up String2Vector.
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PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
2024-03-05 02:50:26 -08:00
9efa4ebe0b
Move CompareModel to fixture.
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PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
2024-03-05 02:24:32 -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
93f9154d44
Merge branch 'google-deepmind:main' into angmomMat
2024-02-26 20:18:38 +05:30
3fd0fe7884
corrections
2024-02-26 20:15:22 +05:30
8679c9fc59
Fix null pointer deref for unknown class names.
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PiperOrigin-RevId: 610391077
Change-Id: I5abd62ff46e31e788f06fe111adb3c25287d4fdc
2024-02-26 06:38:52 -08:00
b47d97652e
Load from VFS in parsing benchmark.
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PiperOrigin-RevId: 610384849
Change-Id: Id226c30f1629d6b4bbc2231c1e998e733c27772e
2024-02-26 06:08:11 -08:00
ebf9d63702
changed the model, using central differences in CompareAngMomMats test
2024-02-26 14:48:47 +05:30
41e41b538d
added two tests for the mj_subtreeAngMomMat() function
2024-02-26 01:23:55 +05:30
a4a621f6e3
Add checksums (used as a timestamp) to VFS.
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Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.
PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
2024-02-21 02:25:36 -08:00
24eb4c9f09
Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.
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PiperOrigin-RevId: 608312069
Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
2024-02-19 05:40:31 -08:00
c146bb4003
BEGIN PUBLIC
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Remove incorrectly added test files.
END PUBLIC
Correct typo in copy.bara.sky
PiperOrigin-RevId: 607930101
Change-Id: Ib2c75d00e65f11c30be2ea0b3fdbb0c24bd3a164
2024-02-17 02:57:02 -08:00
dbf7afaeaa
Canonical USD example for MuJoCo Physics. This contains three items:
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floor - a static floor centered at origin of sides 100m x 100m
two_cubes - a standard example where 2 cubes have a hinge joint between them.
two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30).
PiperOrigin-RevId: 607809323
Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb
2024-02-16 14:56:39 -08:00
f1d4f8f0a1
Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset.
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PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
2024-02-16 05:09:05 -08:00
05150546e3
Add inheritrange attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:42:44 -08:00
Yuval Tassa