This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
This will fetch and call the build_usd.py build helper for OpenUSD and build within the MuJoCo _deps folder. Simplifying the build process for MuJoCo with USD. Users can still provide their own USD build, but must now do so via pxr_DIR.
PiperOrigin-RevId: 846735578
Change-Id: I0da7eb2da6465e2d518084340e762bf370adb6d5
The new symbolic function is a generalization of the function it replaces. In this CL it takes two unused temp arrays. The actual change in behavior happens in the followup.
New benchmark test output below ("L" is 2 humanoids and 100 free objects, "XL" is 100 humanoids). Note that `symbolic` is only ever called once per Newton iteration, while `numeric` is sometimes called multiple times (when the rank-1 update fails), hence timing them separately is valuable.
```
Benchmark Time(ns) CPU(ns) Iterations
--------------------------------------------------------------
BM_old_L_mean 84382 84703 19547 11.807k items/s
BM_symbolic_L_mean 16345 16381 88414 61.055k items/s
BM_numeric_L_mean 10986 10994 120000 90.999k items/s
BM_old_XL_mean 1241208 1244212 1200 803.924 items/s
BM_symbolic_XL_mean 130917 131042 12720 7.631k items/s
BM_numeric_XL_mean 77004 76767 21116 13.029k items/s
```
PiperOrigin-RevId: 846704054
Change-Id: Ib0c365724d63bf2b81606ca5353756a6496c3a26
This enables decoders to leverage their own file resolution systems. For example: USD can compose a stage (scene) from memory, via a file on disk, or via custom asset resolver.
Passing it through to the decoder reduces the need for custom resource providers that wrap these other resolution systems.
This will also enable a fun, but likely niche usecase where the decoder does procedural generation and does not have to be backed by a resource. See the tests for an example of this.
PiperOrigin-RevId: 828939899
Change-Id: Ic319a685332d91198a4ae926867c834bf7f7f724
- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
- The returned spec is then composed into the referencing spec.
- This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.
Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.
The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.
In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.
PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.
PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.
PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.
Fixes#2881.
PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
This is a no-op "prefactor" of `mj_crb` to reduce the number of lines changed in the upcoming sleeping CL. The main change here is that `mj_crb` now avoids accessing the model and data pointer repeatedly, but instead has the input and output pointers explicitly declared as local variables. A benchmark test found a healthy **14% perf bump** due to two changes:
- Adding `restrict` to `mju_mulInertVec`
- The function-local pointers.
Adding `restrict` to the local pointers had no effect. Note that `mj_crb` is not a particularly expensive function so these speed bumps are not significant per se, but rather indicative of possible future gains with these techniques.
```
Benchmark Time(ns) CPU(ns) Iterations
---------------------------------------------------------------
ORGINAL BASELINE
BM_CRB_BASELINE_mean 4325 4348 993200 230.052k items/s
BASELINE + RESTRICT
BM_CRB_BASELINE_mean 4057 4090 1186150 244.573k items/s
LOCAL POINTERS + RESTRICT
BM_CRB_mean 3772 3800 1001750 263.209k items/s
```
PiperOrigin-RevId: 815798225
Change-Id: Iffdf57b544e8e10562807c617f73ca4ccd1c614f
Yuval Tassa