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158 Commits

Author SHA1 Message Date
Yuval Tassa 2b192cebb6 PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1. 
This makes mj_forward calls idempotent if warmstart is disabled and quats in qpos are normalized.

PiperOrigin-RevId: 564442666
Change-Id: I9c43add82bcfb4101c19fbfbfc8c30091b8906d5
 2023-09-11 11:09:53 -07:00
Saran Tunyasuvunakool a07e172770 Make MuJoCo work with -fsanitize=alignment. 
PiperOrigin-RevId: 563702045
Change-Id: Ieca69595b7e2fc1e35ca69754d7cc7971825f48b
 2023-09-08 03:29:34 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool 329ed193ac Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC. 
PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
 2023-09-05 11:05:04 -07:00
Saran Tunyasuvunakool 94a8705ad0 Add mj_markStack and mj_freeStack as public API functions. 
Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).

PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
 2023-09-04 17:04:11 -07:00
Yuval Tassa 1aa375ef9a Allow RHS vector in mj_mulM_island to use uncompressed memory. 
PiperOrigin-RevId: 562605681
Change-Id: If34bceed9eade59957ac9fd9b6a41fb736b58024
 2023-09-04 13:56:54 -07:00
Yuval Tassa 600c12533d Add mj_constraintUpdate_island. 
PiperOrigin-RevId: 562581620
Change-Id: If156a02873168127e2c5f2f377532fd45f7eec1c
 2023-09-04 10:33:34 -07:00
Yuval Tassa 5cef4708f2 Allow mj_mulJac(T)Vec_island to read and write from uncompressed vectors (length nv or nefc). 
PiperOrigin-RevId: 562547310
Change-Id: Id517c1842e711639f4113d23cc364945839a3759
 2023-09-04 06:51:51 -07:00
Yuval Tassa feb8aa2fbb Fix bugs in engine_island.c 
PiperOrigin-RevId: 562519702
Change-Id: I3075e539ccc1cef92485152721a9344f180aa4b1
 2023-09-04 04:06:39 -07:00
Yuval Tassa 29aa5e4a41 Allow dot products with sparse vectors to specify that one vector uses uncompressed memory. 
PiperOrigin-RevId: 561951337
Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
 2023-09-01 07:40:16 -07:00
Yuval Tassa 70c5fa50f2 Improve island-constraint testing model. 
PiperOrigin-RevId: 561931744
Change-Id: I2826d4c5b987cc6edd761026f6734fe40fb31278
 2023-09-01 05:52:00 -07:00
Yuval Tassa eaa2572a8b Add private function mj_mulJacTVec_island for Jacobian transpose multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561672392
Change-Id: Ic72fd7de2a542603cc42e1c15ecb4edd27a9a986
 2023-08-31 09:12:34 -07:00
Yuval Tassa 85fd922b37 Add private function mj_mulJacVec_island for Jacobian multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561648540
Change-Id: I8080a620807e824b40b5d6ba484beb06d081d444
 2023-08-31 07:28:24 -07:00
Yuval Tassa 9fd186ac2b Add private function mj_mulM_island for mass matrix multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561639405
Change-Id: I3777cea51ef22f6847b3cf3e17bdac5cf621c019
 2023-08-31 06:42:33 -07:00
Yuval Tassa 129abc6bca Add private function mj_solveM_island for mass matrix solve with sub indices corresponding to one island. 
PiperOrigin-RevId: 561622962
Change-Id: Ib43f03b3dd0c7456c57d4ba45a68e0708bf1c91c
 2023-08-31 05:11:00 -07:00
Kyle Bayes f86e8b449f Refactor VFS logic out of ResourceProvider plugin code. 
PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
 2023-08-30 04:47:24 -07:00
Saran Tunyasuvunakool 4c899b92cc Rename mj_stackAllocByte to mj_stackAlloc and make it public. 
PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
 2023-08-29 14:07:54 -07:00
Yuval Tassa d3ed16e78f Add mjData.dof_islandind, indexing from dofs into islands. 
Also fix bug in allocation for constraint islands, added allocation for limit constraints.

PiperOrigin-RevId: 561083128
Change-Id: I9e01d5a5b7454ec3cf60bccadaa0f96f2c0d87d1
 2023-08-29 11:06:17 -07:00
Saran Tunyasuvunakool daa2ac7f8b Rename nstack to narena, change it and pstack to count bytes. 
PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
 2023-08-29 10:13:33 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Kyle Bayes ea5e00cad8 Move mju_combineSparseCount into engine_util_sparse. 
PiperOrigin-RevId: 561025741
Change-Id: I0bdc48554928fc4545a38a8cea3bdeb593bd7ecd
 2023-08-29 07:40:53 -07:00
Kyle Bayes 389736f5a1 Add Base64, defined by RFC 4648, encoding and decoding to MuJoCo engine. 
PiperOrigin-RevId: 561008882
Change-Id: I494eb163bc82e8a5c9ad2116ef119072b08a9f48
 2023-08-29 06:14:02 -07:00
Tom Erez 819b5cb982 Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse. 
PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
 2023-08-25 12:08:37 -07:00
Yuval Tassa 1dad5993f0 Refactor constraint island representation. 
Required for constraint solver islanding.

Replace linked lists with `island_{dof,efc}_{num,adr,ind}`, corresponding to the standard `{rownnz,rowadr,colind}` sparse matrix representation. By effectively defining two sparse matrix structures of dimensions `nisland x nv` and `nisland x nefc`, respectively, this representation is more conducive to reuse of existing sparse matrix utility functions, while being cache-friendlier by making sequential indices adjacent in memory.

PiperOrigin-RevId: 559704957
Change-Id: I919362cbef0d5fe5acc4aa2bb4ffb17eee8223a2
 2023-08-24 03:48:57 -07:00
Saran Tunyasuvunakool 1f5a9e8c70 Reinstate max_align_t alignment in mj_stackAllocByte. 
PiperOrigin-RevId: 559433104
Change-Id: I891a6a0562cab1c3af0e3dc395304207ca3a3190
 2023-08-23 08:22:31 -07:00
Yuval Tassa b7cf479abe Add flag for disabling implicit integration of joint damping in the Euler integrator. 
PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
 2023-08-23 05:51:37 -07:00
Nimrod Gileadi dae74030fe Handle initial_capacity = 0 in mju_arrayListCreate. 
Add const to ArrayList function arguments where appropriate.

PiperOrigin-RevId: 559064386
Change-Id: I8763974a60a05f34dadd56e953cefa40fe78df42
 2023-08-22 04:04:02 -07:00
Matthew Bennice 1d36b57d83 Switch from max_align_t to mjtNum until we sort out the git builds 
PiperOrigin-RevId: 558982369
Change-Id: I24d9fd6400dae5e1bc1753ee74484da635ea8ecd
 2023-08-21 21:30:49 -07:00
Matthew Bennice 4b983e8439 Add an ArrayList container type. 
PiperOrigin-RevId: 558887266
Change-Id: I201978bfa5e6cfa2f4e495feaecf61374baf7b7b
 2023-08-21 13:38:45 -07:00
Yuval Tassa b1ecc943bb Fix multiple bugs related to mjvSceneState. 
PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
 2023-08-17 10:25:39 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00
Yuval Tassa 6245edae28 Improve island discovery performance 
PiperOrigin-RevId: 557444755
Change-Id: I22a2093b563e8e144de9534917955ac403fa5599
 2023-08-16 04:55:42 -07:00
Kyle Bayes 8ea690ed70 Remove unused parameters from mju_sqrMatTDSparseInit. 
PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
 2023-08-15 06:30:19 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -07:00
Kyle Bayes f34cb22bd3 Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM. 
PiperOrigin-RevId: 556823353
Change-Id: I650ac83767d60c69859aae6e38aa331f43814378
 2023-08-14 09:49:34 -07:00
Yuval Tassa a276c49c30 Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively. 
PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
 2023-08-14 07:18:57 -07:00
Nimrod Gileadi 2c3297b3e7 Add filterexact and actearly options to MuJoCo. 
When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.

When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.

PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
 2023-08-07 04:50:33 -07:00
Yuval Tassa a063e2f0ef Add private functions and associated tests related to constraint island discovery. 
PiperOrigin-RevId: 553156672
Change-Id: Ifd73e3df443f7955359c5243d5f7756069335c05
 2023-08-02 08:43:11 -07:00
Yuval Tassa 51aa375af0 Improvements related to models where joint-actuator relationship is not one-to-one: 
- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.

PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
 2023-07-19 10:29:32 -07:00
Yuval Tassa 5cfbb6ac8b Add mjd_quatIntegrate, expose mjd_subQuat. 
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
 2023-07-07 05:33:24 -07:00
Saran Tunyasuvunakool 7401d6786a Add a test to check that mjData values for the world body are initialized. 
PiperOrigin-RevId: 545493742
Change-Id: I502b57450ca858b0e96823a416cd7d930fd34489
 2023-07-04 12:56:56 -07:00
Kyle Bayes 95167fab2d Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly. 
PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
 2023-07-04 08:09:01 -07:00
Yuval Tassa a7021df63e Add primitive sphere-cylinder collider. 
PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
 2023-06-26 17:25:32 -07:00
Yuval Tassa f67e359532 Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions. 
PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
 2023-06-12 08:56:48 -07:00
Yuval Tassa d82f5ce5a4 Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -07:00
Saran Tunyasuvunakool 1d79657512 Fix out-of-bound read in mju_combineSparseCount. 
PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
 2023-05-26 07:44:47 -07:00
Yuval Tassa c66d79409c Change mj_ray behaviour to match geom visualisation conventions: 
- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.

Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.

PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
 2023-05-24 13:52:21 -07:00
Alessio Quaglino 03d6d27f64 Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
 2023-05-22 12:05:20 -07:00
Alessio Quaglino dab49d487c Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
 2023-05-16 11:10:38 -07:00
Alessio Quaglino 9d1a21f99d Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
 2023-05-16 08:17:50 -07:00