The normal component of the tactile sensor now reports the maximum penetration depth at each taxel, instead of a derived normal force. The depth is negated so that positive values indicate penetration.
PiperOrigin-RevId: 921980899
Change-Id: Ide4103c0aff465e25a81cfdda650f6a0e2da9e0b
Per-parameter scaling via change of variables z = x / D. Supports
'jac' (adaptive D_i = 1/||J(:,i)|| per iteration, matches scipy's TRF),
explicit array, or a positive scalar. Default 1.0 is a no-op.
The prefetcher asks mju_getXMLDependencies for the transitive asset
list, fetches every URL with Promise.all, and primes the bytes into the
WASM-side FetchCache. When the compiler runs, every resource it opens
is already in memory. Cold-load on a typical Menagerie model drops from
~9 s to ~2 s.
The function called tinyxml2's LoadFile directly, which only works on
the OS file system. Reading through mju_openResource lets it work
against any registered backend (VFS, HTTP, github:, ...).
Support Ctrl+Option+Left Click Drag (maps to Ctrl+Alt+Left Click Drag in the application) to apply point force perturbations (translation) on the robot in the WebGL live viewer. This matches the Mac experience in the native MuJoCo simulate app and provides a fallback for Mac users where Right Click is difficult to trigger.
PiperOrigin-RevId: 919767954
Change-Id: I4a1d1c05784a8257d13f64f738af5b4841a615b3
This provides visual feedback to the user while loading large models.
PiperOrigin-RevId: 918708877
Change-Id: I77ea475cce6d9718e6cf8b33cb72b3f524a6ee63
* Changed window.cc to not pass `SDL_WINDOW_OPENGL` for headless opengl graphics modes since this requests a [GLX visual](https://tronche.com/gui/x/xlib/window/visual-types.html#Visual) but CRD's virtual X11 display has no GLX visuals causing window creation to fail with "Couldn't find matching GLX visual".
* Changed `TryLoadEgl` so it fails if `eglBindAPI(EGL_OPENGL_API)` does not return true, causing `CreateFilamentPlatform` to fallback to OSMesa on CRD.
PiperOrigin-RevId: 918029935
Change-Id: Id88338811949b1402578de19bc4d31f4ee1783c1
For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs
```
Compile 1 (cold cache):
total: 317.2 ms
assets: 284.8 ms (wall clock)
load: 616.1 ms
hull: 26.4 ms
poly: 137.8 ms
inert: 177.8 ms
bvh: 568.2 ms
octr: 1.6 ms
tex: 25.3 ms
other: 32.4 ms
Compile 2 (warm cache):
total: 79.9 ms
assets: 54.5 ms (wall clock)
load: 888.5 ms
hull: 0.0 ms
poly: 0.0 ms
inert: 0.0 ms
bvh: 0.0 ms
octr: 0.0 ms
tex: 21.4 ms
other: 25.3 ms
```
PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
Renames MjrFilamentRenderer to CompatContext and makes it an
internal detail of the compatibility layer. This allows us to
remove all legacy functions from the mjrf namespace, making
them available only in the compatibility layer.
Update studio to use non-legacy mjrf APIs. This requires it to
use some of the compat helper classes. These will be refactored
in the future to make them reusable components.
PiperOrigin-RevId: 917730783
Change-Id: Ic8f68e6e75059f7d394ea3266a346cbd6c1fcaed
Warp is not a true stretch mode but a parasitic shear mode so it should be scaled like bending (~thickness^3) rather than stretching (~thickness). The thickness parameter can therefore be used to set the stretch to warp stiffness ratio of the strain constraints.
PiperOrigin-RevId: 916900311
Change-Id: I52e54210fbb2a6d309abc1f084934830adce3423
mju_boxQP documents that only the lower triangle of the Hessian H is
read, but the gradient and search-direction updates inside
mju_boxQPoption still called the dense mju_mulMatVec, which reads the
upper triangle as well. This violated the documented contract and
prevented callers from safely leaving the upper triangle uninitialized.
Add a file-local mulMatVecSym helper that computes res = H*vec while
reading only the lower triangle of H (mirroring the convention of the
existing mulVecMatVecSym quadratic-form helper), and use it in place of
mju_mulMatVec in both call sites. Extend the BoxQP test suite with
UpperTrianglePoisoned, which fills the strict upper triangle of H with
NaN and verifies that the solver produces the same result as on the
clean symmetric input.
Reported by @lshdlut.
Fixes#3275
Michael Moss