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1d64362adc003fc45c514a557368baf59efc6cb5
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569 Commits

Author SHA1 Message Date
Yuval Tassa 1d64362adc Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization. 
This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.

PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
 2024-11-22 09:38:08 -08:00
Yuval Tassa cedd602bc1 Compress dense rows in mjData.actuator_moment 
PiperOrigin-RevId: 698516133
Change-Id: Idd861c2b63d77748a6282d72f8241eaeeb88006c
 2024-11-20 14:10:28 -08:00
Yuval Tassa 1767c11d46 Direct assignment of mjData.moment_rownnz 
This allows for better sanitizer coverage, errors will be caught upon read rather than upon use.

PiperOrigin-RevId: 698458735
Change-Id: I3003f3a122b83bbf42a6510260abbb8353c56a40
 2024-11-20 11:24:36 -08:00
Taylor Howell a1b18e707a Compress actuator_moment memory using nJmom <= nu x nv. 
PiperOrigin-RevId: 698446692
Change-Id: I49c9633e12129a1e690724db82d1f11204e41d9c
 2024-11-20 10:53:07 -08:00
Kyle Bayes 0cb35a0fe1 Populate missing fields in mjCCDStatus in GJK code. 
PiperOrigin-RevId: 696965759
Change-Id: Idf0799a44876e95fc8d688dd39663a34f1808b27
 2024-11-15 12:24:37 -08:00
Kyle Bayes f91588a171 Fallback to polytope3 if tetrahedron from GJK has the origin on a face (most likely due to a numerical issue). 
PiperOrigin-RevId: 696872633
Change-Id: I58edb0fdc30ad472c8f1338df728e8d42c25fc39
 2024-11-15 06:53:00 -08:00
Kyle Bayes 0a0de6615d Back out of gjkIntersect when convergence fails due to algorithm oscillating between two support points. Also, fix related bug in box support function. 
PiperOrigin-RevId: 696482893
Change-Id: Icedaf5489b761b8bf03ec30558b5d1128668a647
 2024-11-14 05:12:32 -08:00
Yuval Tassa 536c60a0ac Print arena usage percentage in mjData print. 
PiperOrigin-RevId: 696464274
Change-Id: Ib794148e037521118138bd72c021dbe086c9681a
 2024-11-14 03:52:41 -08:00
Kyle Bayes 0e8cca93e1 Refactor nativeccd interface. 
- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).

PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
 2024-11-13 10:28:45 -08:00
Kyle Bayes eb77d5b933 Fix bug in mesh hillclimbing support function. 
PiperOrigin-RevId: 695710616
Change-Id: I2127aee584c13efb44d70cc4e267354ca0b80bf0
 2024-11-12 06:36:55 -08:00
Yuval Tassa 414b677eb8 print memory footprint of model and data 
PiperOrigin-RevId: 694088011
Change-Id: I3b743df2a59f554414b440aebfa6bf0d0e29b2d8
 2024-11-07 05:56:02 -08:00
Yuval Tassa 18f88efe17 Contact visualization: if penetration is deeper than height, extend cylinder to show computed depth. 
PiperOrigin-RevId: 693869892
Change-Id: I1c873e3803286d6a636336246f498552617e978b
 2024-11-06 14:46:31 -08:00
Kevin Sayed 276f5b04cd Bump MuJoCo version to 3.2.6. 
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
 2024-11-05 14:13:08 -08:00
Taylor Howell a51f346059 Use sparse (uncompressed) actuator_moment in mj_transmission. 
PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
 2024-11-01 08:06:28 -07:00
Yuval Tassa c9f78ad8a8 Rename nnzJ to nJ in mjData. 
This naming is more consistent.

PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
 2024-10-31 10:43:10 -07:00
Kyle Bayes 18682aac6a Fix function definition formatting. 
PiperOrigin-RevId: 691782530
Change-Id: Ib1611285e77e274b17074d5f09ede00cdc0c6f0f
 2024-10-31 06:45:41 -07:00
Alessio Quaglino 94bbf297fc Replace flex_xvert0 with flex_vert0 
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.

PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
 2024-10-31 06:30:36 -07:00
Yuval Tassa 70d944b458 micro-optimization to mju_mulMatTVecSparse 
PiperOrigin-RevId: 691431137
Change-Id: I95f94ff38ae911194b21aa220af35c7374af9739
 2024-10-30 08:41:18 -07:00
Taylor Howell ce5f8b4728 Fix typo in mju_muscleDynamics comments. 
PiperOrigin-RevId: 690949399
Change-Id: I8102fb72cce909786eab0771467c7f6f751792bf
 2024-10-29 03:31:28 -07:00
Yuval Tassa 864b805a6e Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179 
The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.

PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
 2024-10-28 10:44:04 -07:00
Copybara-Service d95befaddd Merge pull request #2180 from pschmutz:schmutz/error_handling_when_loading_plugins 
PiperOrigin-RevId: 690567811
Change-Id: I2d2c4e37e74ab4d97c0add5633feb766ef66dd08
 2024-10-28 05:11:14 -07:00
Yuval Tassa d8494fef3b Remove deprecated mjv_makeConnector function. 
PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
 2024-10-28 04:51:47 -07:00
Taylor Howell a36f2cccb6 Add nnz argument for size of allocated memory to mju_dense2sparse and check if this number is too small for number of non-zeros. 
PiperOrigin-RevId: 690545825
Change-Id: I0e31cb907a1151cb2e4766d5f0cdfecb5629a2a6
 2024-10-28 03:46:50 -07:00
Philipp Schmutz 7cf457286d Print error instead of failing silently when loading plugins 
Previously the return value of dlopen was ignored, meaning a failed load of a shared library would stay unnoticed
 2024-10-26 16:22:47 +02:00
Yuval Tassa a3ea01e57e Remove deprecated mju_rotVecMat and mju_rotVecMatT functions. 
PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
 2024-10-24 09:15:23 -07:00
Yuval Tassa e14aebfd16 Expose mju_sparse2dense to public API. 
PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
 2024-10-23 09:01:25 -07:00
Kyle Bayes 0c97dcf1fd Avoid overflowing the stack when allocating memory for polytope in EPA. 
PiperOrigin-RevId: 688641864
Change-Id: I3eef7e821ffbfa8d97a946ecf86d098cb4f0c233
 2024-10-22 12:11:22 -07:00
Kyle Bayes 708fd83a49 Remove goto statement from engine collision code. 
PiperOrigin-RevId: 688539516
Change-Id: I29b5dd39acccde59df2dbcaf5e866eb6a0406c43
 2024-10-22 07:22:18 -07:00
Taylor Howell 94e9912d28 Add mju_mulMatTVecSparse to multiply transposed sparse matrix and dense vector. 
PiperOrigin-RevId: 688535240
Change-Id: I0bacf1e911cde99014b2dcb0a1434e61a4f41d51
 2024-10-22 07:06:29 -07:00
Kyle Bayes 2b0629d75f Replace mjQUICKSORT with faster, native sorting function. fixes #1638 
PiperOrigin-RevId: 688519096
Change-Id: I05ab1576703c2458968ef81915ac682a8beac391
 2024-10-22 06:05:12 -07:00
Yuval Tassa aa91f3c047 Fix bug in slider-crank transmission. 
The associated row in `actuator_moment` was not cleared before being updated.

PiperOrigin-RevId: 688207085
Change-Id: I2f925e984c5c493e64ead66667aef57c4844acfe
 2024-10-21 11:21:15 -07:00
Google DeepMind ffdb800e45 Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release. 
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
 2024-10-16 14:24:06 -07:00
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Yuval Tassa 0ffaeb4d56 Improve comments in mju_cholFactorNNZ, clarify that this function reads from the upper triangle of the source matrix. 
PiperOrigin-RevId: 686113654
Change-Id: I029f9279d177f4cb9ff60396a26d64821aee3a6c
 2024-10-15 08:26:07 -07:00
Kyle Bayes 5a95d601ed Use GJK for geom distance when the nativeccd flag is enabled. 
PiperOrigin-RevId: 686035648
Change-Id: Ib6121394b420df4ba431c38443479d33eeaf1dd9
 2024-10-15 03:25:18 -07:00
Yuval Tassa 400d2edc21 Clean up mj_transmission. 
PiperOrigin-RevId: 685770636
Change-Id: I03d46d136118a5e6da61f6924ccae65bf0d81dfb
 2024-10-14 11:15:06 -07:00
Yuval Tassa ee7b994021 Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369. 
PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
 2024-10-14 09:07:22 -07:00
Yuval Tassa 7ec94f46d4 Refactor Newton solver: move Hessian from arena back to the stack. 
The changes in 9a0dc20821, moving the Hessian from the stack to the arena, should be rolled back: they prevent future threading over islands. Unlike the stack, arena allocations are not thread-friendly. The reason for the original move was to save memory, but the savings are small: `O(ctx->nH)` and only linear in `nv`. The significant reduction of the Cholesky factor, from quadratic in `nv` to quadratic in the largest dof island — the reduction afforded by 2dd518734f — remains in place.

Also refactor and improve readability.

PiperOrigin-RevId: 685717356
Change-Id: Ia9ec3e44a62d459a3b9cffb578cf6479d5aa1d7f
 2024-10-14 08:34:16 -07:00
Taylor Howell 99259eb0d3 Fix typos in engine_ray.c. 
PiperOrigin-RevId: 685273762
Change-Id: I6812a83ef2d84fa07a42812acb87c363a3e1a11d
 2024-10-12 16:05:43 -07:00
Taylor Howell 78ade58aff Remove rootid from touch sensor (unused). 
PiperOrigin-RevId: 685196948
Change-Id: Ifd574165717f07a58a13ae187bc1c63527c986e7
 2024-10-12 08:10:09 -07:00
Yuval Tassa 5fe2b88726 Print ASCII sparse matrix structures in mj_printData. 
Also: don't print sparse matrices if they have more than 300 rows.
PiperOrigin-RevId: 684843230
Change-Id: If91d0b56cbbb6565904c3ee55857999e21b0cc62
 2024-10-11 08:17:25 -07:00
Kyle Bayes 70d6655434 Add faster support functions for NativeCCD. 
PiperOrigin-RevId: 684809392
Change-Id: I5125d4bb74c167d370aa919befba9d356c7162da
 2024-10-11 05:59:30 -07:00
Yuval Tassa 2dd518734f Stop over-allocating memory in Newton solver. 
PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
 2024-10-11 05:09:33 -07:00
Yuval Tassa 9aca4bccac Fix stack usage reporting under ASAN. 
PiperOrigin-RevId: 684790558
Change-Id: Ifc206bb0653c1fa3052621f0d3d80cb10671b77f
 2024-10-11 04:37:12 -07:00
Kyle Bayes 1d57099e98 Add internal return codes in polytope2 and polytope3 to make debugging in NativeCCD easier. 
PiperOrigin-RevId: 684776411
Change-Id: Ie0ab278b449ded0ec67ddc89569443d542bf93e0
 2024-10-11 03:36:18 -07:00
Yuval Tassa 9a0dc20821 Move Newton Hessian memory allocation from stack to arena. 
PiperOrigin-RevId: 684054446
Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
 2024-10-09 08:54:54 -07:00
Yuval Tassa b66da3d369 Add mjData.L, sparse Cholesky factor of Newton solver Hessian. 
PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
 2024-10-08 10:13:08 -07:00
Kyle Bayes 5bfc7da7de Inline small vector util functions in NativeCCD. 
PiperOrigin-RevId: 683121207
Change-Id: Idf83e2d18d725665bf626c2c3269c81048076a1a
 2024-10-07 04:11:36 -07:00
Kyle Bayes 6be5decf6c Check for OOM errors once per EPA iteration. 
PiperOrigin-RevId: 682447186
Change-Id: I55031da8cf2335d5771bb54b32b7e1f696aa80f2
 2024-10-04 14:15:29 -07:00
Yuval Tassa 3f3fe92860 Remove unused argument in mju_sqrMatTDSparseInit 
PiperOrigin-RevId: 682375566
Change-Id: If05f5d15a2f8925eee9dd0ebc5d485164d90d787
 2024-10-04 10:45:33 -07:00