efe213a7b3
Cosmetic improvements to src/xml/ source files.
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PiperOrigin-RevId: 738010419
Change-Id: Idb90a42a374682450737684e67388329c184c777
2025-03-18 08:12:29 -07:00
5ac5cfb618
Support directories in VFS via mj_addBufferVFS.
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PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
2024-07-23 13:39:18 -07:00
2746cb8559
Support FilePaths instead of raw strings in XML code.
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PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
2024-07-23 08:36:53 -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
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
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
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
a56b9c8bbd
Roll back workaround for upcoming libc++ bug which has since been fixed upstream.
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PiperOrigin-RevId: 640479545
Change-Id: I8a3700ef0b52f5364dcd0903aba196293a96c220
2024-06-05 04:31:48 -07:00
f616975e28
Forward fix for MJCF parsing: A recent libc++ update does not natively accept ".x" float format ('.' being the first character) but rather requires "0.x".
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PiperOrigin-RevId: 638946382
Change-Id: I3ccb1b5fedc6749a3459916b41148629933fb8c4
2024-05-31 01:17:52 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
709719911e
Make SameVector return early.
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PiperOrigin-RevId: 619128273
Change-Id: Ic47613b8322b9ff5a6a1f557cc9626a20aaee794
2024-03-26 03:19:30 -07:00
31384bdfeb
Speed up String2Vector.
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PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
2024-03-05 02:50:26 -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
f9f7827a64
Trim trailing default values in saved xmls.
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For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:
- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.
PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
2024-02-16 01:36:06 -08:00
eabd4c06f9
Move schema definition validation from runtime to a test.
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PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
2024-02-12 09:49:48 -08:00
ff39d0b812
Keep include elements while parsing XML. No change in behavior.
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PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
2024-02-12 03:54:44 -08:00
3b2dd06c54
Add compiler C API for mjmSite.
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PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
2024-02-06 01:50:47 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
5b2c98f8f1
When saving XMLs, don't round floats that are bigger than INT_MAX. Fixes #1278
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PiperOrigin-RevId: 590692020
Change-Id: Icd11d20f47bc4163eb4378f4cb031b8fd9d13612
2023-12-13 13:13:15 -08:00
eb9568a48b
Add frame element to MJCF.
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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
2023-11-27 03:32:18 -08:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
cf310079e2
Don't allow quat="0 0 0 0" in XML.
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PiperOrigin-RevId: 557535436
Change-Id: Ie71246da5fff67a7cc37cb1801dd88d4a79b5766
2023-08-16 10:47:23 -07:00
efca1a76aa
Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names ), and fix a couple of typos.
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PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
2023-08-02 16:07:44 +01:00
5f246ef210
Add ReadAttrVec, ReadAttrArr, ReadAttrStr, and ReadAttrNum to XML utils.
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Moving forward, the compiler objects should have encapsulated data, therefore the old ReadAttr* methods are being deprecated as they require raw pointers to read into.
No external changes other than minor improvements to ReadAttr and ReadVector.
PiperOrigin-RevId: 550880401
Change-Id: I632f40322ccd935f9af9b69e66b056c5cda6face
2023-07-25 07:31:23 -07:00
e4d27d4b90
Remove unnecessary null check.
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This checked that individual char arrays in the MJCF schema were not null, which would never really happen, and triggered some compiler warnings
PiperOrigin-RevId: 520348916
Change-Id: Ic8b82737460ed3bcf44d9629cd0c7de5782bee8c
2023-03-29 08:54:15 -07:00
0e7e299bf6
Declare loop variables inside for loop in C++ files.
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PiperOrigin-RevId: 518852339
Change-Id: I0174d873d89e48f11b816d337728f213c2798248
2023-03-23 07:22:36 -07:00
893942a729
Allow tendon springlength attribute to take two values between which the spring produces no force (a deadband).
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If given two non-decreasing values, `springlength` specifies a deadband for spring stiffness, inside of which the force is 0 and outside of which force behaves like a regular spring, with the setpoint corresponding to the nearest value. This can be used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See test/engine/testdata/tendon_springlength.xml example model.
Spring-limited spatial tendons whose lower range value is 0 are rendered as catenaries.
Fixes #520 .
PiperOrigin-RevId: 484509706
Change-Id: I6698e94ee36168f52d501e83057559805e05172d
2022-10-28 05:57:37 -07:00
0e5ce18cff
Manually parse inf and nan.
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The C++ standard library `std::istringstream` is not guaranteed to parse "inf" and "nan" as valid floating point numbers. In our testing, libc++ does this, but libstdc++ and MSVCRT do not.
PiperOrigin-RevId: 455435431
Change-Id: I99c00303b08c2e4e62acfa3ca52a21a3008f4545
2022-06-16 11:57:52 -07:00
e0b6ba4a13
Raise warning if there are NaNs in the XML.
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For Windows, throw an error if NaNs are present.
PiperOrigin-RevId: 455340787
Change-Id: Ibd95e2335ab15b706ee3328816983e5b57b2315e
2022-06-16 03:09:24 -07:00
d61a575a8c
Replace fabs with std::abs.
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Using fabs with int arguments broke the clang build on GitHub Actions, with a `-Wabsolute-value` error.
PiperOrigin-RevId: 453872474
Change-Id: I5c1278e9e628b0ea3d6f26c7ee7d6925c6276850
2022-06-09 02:31:18 -07:00
c7c765b6eb
Refactor mjXUtil::WriteAttr using templates.
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PiperOrigin-RevId: 453848941
Change-Id: I1f87f0c20f0c89caab89ea4891aee7583a92534e
2022-06-08 23:33:49 -07:00
6faf1d93de
Use explicit template instantiation for mjXUtil::ReadAttr.
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PiperOrigin-RevId: 451481936
Change-Id: Ib26e41823606e612f017db0f606983262713066e
2022-05-27 14:35:05 -07:00
f3453cf87f
Stricter parsing of XML array attributes.
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PiperOrigin-RevId: 451456510
Change-Id: I2556d4365762378261c04d3c9f1942166fbd156e
2022-05-27 12:51:02 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Yuval Tassa