Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.
- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.
https://youtu.be/H9qG9Zf2W44Fixes#1092.
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
- Improved Help overlay text, mention shortcuts for UI toggle.
- Removed buttons for UI toggle.
- Moved Spacing / Color / Font to the end of the Option section.
PiperOrigin-RevId: 576480554
Change-Id: Ie1427b97cb784421490c276a8544d570a6042188
Fixes#1110.
The code was using outdated indices since 48eb75ae92. It now uses the more stable pdata pointer.
PiperOrigin-RevId: 574805349
Change-Id: If6112fb2af7d60f17b35599233b24f33b6a8cac6
The segfault is caused by a call to mjui_update outside of the macOS main thread, introduced in 3e12f0d50c.
PiperOrigin-RevId: 572531447
Change-Id: Ib8424c746d18a776c0b91087d9501aa8ee463026
- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.
BEGIN_PUBLIC
Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.
- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.
END_PUBLIC
PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
Before this change timing plots would report zeros if the render thread was faster than the physics thread, making them unreadable when slowdown was used.
PiperOrigin-RevId: 557432042
Change-Id: Ie9a18fb84cab788d11dfbede4e3052f24441b4c4
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.
To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.
Fixes https://github.com/deepmind/mujoco/issues/796
PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
- Before this change, the y-axis scale had only one digit, leading to user confusion. Small changes in senor values could appear as if the values remained at the nearest integer value, while in fact the y-axis itself was changing, but this was not evident in the GUI due to the reduced precision.
- Fixes#719.
PiperOrigin-RevId: 506841881
Change-Id: I583036bba389cef8d9ecf1c1bbcfb573ef2285e6
Note that The GLFW adapter currently assumes that a GPU is always present, so this new code path is never reached at the moment.
PiperOrigin-RevId: 504617048
Change-Id: I04a323c33d9cff73686d39e4a6676ca6a4484c98
Current users only get a cryptic "Illegal instruction" crash.
Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.
PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
Yuval Tassa