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901 Commits

Author SHA1 Message Date
Alessio Quaglino 2da15cf137 Add flex elasticity stiffness matrix to mjModel. 
PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
 2024-09-16 05:00:54 -07:00
Alessio Quaglino c77babe046 Fix a bug in MuJoCo's user_mesh.cc that caused meshdir_ to be overwritten when a model was loaded with a nested model. 
PiperOrigin-RevId: 675092713
Change-Id: Iad6336141749510bf5544cab9c06533ee1589c08
 2024-09-16 04:22:13 -07:00
Yuval Tassa fd17b2144a Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
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Also, minor type-related fixes in `user_mesh.cc`.

PiperOrigin-RevId: 675082329
Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
 2024-09-16 03:40:17 -07:00
Kyle Bayes 9f8f6947fc Remove global linear search in favor of (almost constant time) local search when finding the convex hull of the polytope and new point in EPA for NativeCCD. 
PiperOrigin-RevId: 673852140
Change-Id: Ib2ab64bad3cd2aa7d252b4016754f37ea30e1077
 2024-09-12 08:11:30 -07:00
Kyle Bayes 8d165d5cc7 Fix early termination in GJK. It's possible for x_k to be the origin, so we should run the previous test to conclude that the objects are colliding. 
PiperOrigin-RevId: 673834101
Change-Id: I596b30d2847670261f8067840b34dc13de401ecb
 2024-09-12 07:17:53 -07:00
Kyle Bayes 14f420069e Make projectOriginPlane in NativeCCD numerically robust. 
PiperOrigin-RevId: 673761409
Change-Id: I64304c89f768414d60e2dcf2e71feb8a6f9b2635
 2024-09-12 03:01:15 -07:00
Alessio Quaglino 567793c26f Store model paths in assets. 
This enables to preserve the paths of the child spec during `attach`.

PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
 2024-09-11 05:20:14 -07:00
Yuval Tassa e4d4153352 Move sanitizer instrumentation to a separate header file. Fixes #2049. 
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
 2024-09-10 09:05:35 -07:00
Alessio Quaglino 4862b9e765 Remove plugin support from Composite particles. 
This functionality is replaced by FlexComp.

PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
 2024-09-09 04:58:26 -07:00
Kyle Bayes 44145742a7 Exit GJK early if geom distance doesn't need to be recovered. 
PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
 2024-09-08 14:57:50 -07:00
Kyle Bayes 61721f8d3c Set tolerance in GJK to zero for colliding discrete geoms. 
PiperOrigin-RevId: 672326091
Change-Id: Iddec335272461c9aee13c1960640a453ff59f841
 2024-09-08 13:49:58 -07:00
Kyle Bayes 4fc6fb179b Remove libccd compatibility layer from native ccd. 
PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
 2024-09-06 06:56:01 -07:00
Yuval Tassa 621ea29382 Improve error message for keyframe size mismatch. Fixes #2041 
PiperOrigin-RevId: 671069582
Change-Id: Ie63d3bf2b543f7bb5e3c123093095e76a95b7b48
 2024-09-04 12:58:31 -07:00
Kyle Bayes b9822e4347 Check hexahedron in polytope3 to make sure it contains the origin. Otherwise, EPA can return invalid results. 
PiperOrigin-RevId: 671057312
Change-Id: Ieb21a77ea679ee5c18972d3a0375578d9a98405e
 2024-09-04 12:17:54 -07:00
Kyle Bayes 79a5bd0915 Add better boundary tests in polytope3 for EPA. 
PiperOrigin-RevId: 671038835
Change-Id: I259260a7b40e825678b52187bee4791266ae10c4
 2024-09-04 11:25:44 -07:00
Yuval Tassa 8954a088ce Add automatic free-joint alignment. 
PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
 2024-09-04 10:07:33 -07:00
Alessio Quaglino ae4987026c Add tree element support to mjs_firstElement() and mjs_nextElement(). 
PiperOrigin-RevId: 671003046
Change-Id: I9e07d7c85c7218e9bded0f50af9db62d0f1e21e1
 2024-09-04 09:46:24 -07:00
Alessio Quaglino d3dfa6f970 Add mjs_findElement() to find any element in a spec by name. 
Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
 2024-09-04 08:24:22 -07:00
Alessio Quaglino 0e8c0b80eb add content_type to model in the XML schema. 
PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
 2024-09-04 07:25:55 -07:00
Kyle Bayes e9a85764ea Native CCD: Replace mju_malloc with C standard malloc, fix bug in computing v5 in polytope3, and add another warning in EPA. 
PiperOrigin-RevId: 670939250
Change-Id: Ia0d8b7c78ed2ef7019f2a691c066b20e98dc1889
 2024-09-04 05:53:31 -07:00
Yuval Tassa 3437361bfb Add reduced sparse dof-dof matrix structures to mjData. 
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
 2024-09-04 04:24:02 -07:00
Yuval Tassa 42eb669e4e Precompute mappings between M <-> D sparse representations. 
PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
 2024-09-04 02:57:13 -07:00
Yuval Tassa 2d3d5415b7 Add mj_jacDot: Time derivative of kinematic Jacobian. 
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
 2024-09-03 04:49:47 -07:00
Taylor Howell 9cab5a42a4 Remove unnecessary normal vector computation from mju_wrap cylinder case. 
PiperOrigin-RevId: 669010760
Change-Id: Ie3869a9f112ca88b2a7ec4990c402ef3e92d36a8
 2024-08-29 11:46:38 -07:00
Yuval Tassa a1036b86d3 Allow connect constraints to be specified using sites. 
PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
 2024-08-29 07:10:51 -07:00
Yuval Tassa f3cfe7a84a Minor clean up in mj_jac. 
PiperOrigin-RevId: 668395751
Change-Id: I5c3104ad59a5a709cf1639df663c864fa9d02399
 2024-08-28 04:45:40 -07:00
Taylor Howell 3e701b2125 Fix tendon sphere wrapping when using external sidesite. 
PiperOrigin-RevId: 668391942
Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
 2024-08-28 04:30:07 -07:00
Yuval Tassa 72a0ab145d Refactor frustum drawing to use a local makeTriangle function. 
PiperOrigin-RevId: 668168658
Change-Id: I0ee9038c36eb28e2c4a0a8c94bea7430f68c6b77
 2024-08-27 15:42:31 -07:00
Kyle Bayes ddb29e9293 Fix bug in computing pos in EPA by replacing S2D with computing affine coordinates directly to recover the witness points. 
PiperOrigin-RevId: 668006152
Change-Id: I1de33c5bb94de1a14523a88a5dff7d6ec984628e
 2024-08-27 08:55:40 -07:00
Kyle Bayes cad8ca6ffd Do pre-checking when creating initial polytope for EPA. 
PiperOrigin-RevId: 666807572
Change-Id: I64c3715dc72c24f9b6b2206b3568951bd8c2384a
 2024-08-23 08:37:34 -07:00
Yuval Tassa 9d4f8edad9 Avoid pointer access in loop conditionals in engine_core_smooth.c 
PiperOrigin-RevId: 666800203
Change-Id: Iec6ce752d0cac1a98809ab085ed8f94416f79e95
 2024-08-23 08:13:52 -07:00
Kyle Bayes d360ea1ce6 Minor GJK + EPA improvements: 
1. Correct stopping criteria for GJK.
2. Store witness points from EPA in mjCCDObj,
3. Get dir directly from EPA instead of computing dir from witness points.

PiperOrigin-RevId: 666791852
Change-Id: I6a168f635b57c17692d31da6f6076b48c32ff2e3
 2024-08-23 07:44:30 -07:00
Alessio Quaglino 505d01a1c1 Add error handling to mj_recompile. 
This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception.

PiperOrigin-RevId: 666784579
Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48
 2024-08-23 07:18:28 -07:00
Yuval Tassa 088079eff0 Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations. 
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
 2024-08-22 12:01:54 -07:00
Yuval Tassa 2efbd31762 Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts. 
PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
 2024-08-22 06:08:25 -07:00
Yuval Tassa 8b03daa09b Add mjtSameFrame enum to specify frame alignment of bodies with their children. 
PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
 2024-08-22 05:17:06 -07:00
Kyle Bayes f986a52e1e Compute witness points from EPA, and use witness points to determine pos and dir for contact. 
PiperOrigin-RevId: 665791337
Change-Id: If33ca1f455804c4cda534508803f5c3e99c3c52a
 2024-08-21 03:06:17 -07:00
Yuval Tassa ad9cd7301e Correctly apply frame transform to light direction. 
PiperOrigin-RevId: 665340267
Change-Id: Ida16ddbf3a057ffd3e260b71180a45acbf749931
 2024-08-20 06:48:11 -07:00
Yuval Tassa 5d91231d31 Rename mjBuffer to mjByteVec. 
PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
 2024-08-19 10:40:26 -07:00
Yuval Tassa 4aab00fa2d Minor cleanups to body and joint compilers. 
PiperOrigin-RevId: 664824939
Change-Id: I6014ff10683849e2926f1b1c8df8b6862192cd00
 2024-08-19 08:43:10 -07:00
Yuval Tassa 0fa39164f7 Speed up mesh support function with warmstarts. 
PiperOrigin-RevId: 664807396
Change-Id: I9124e65efd9140a8e858b7b6be0867c26961477b
 2024-08-19 07:54:50 -07:00
Kyle Bayes 0bffd744f9 Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd. 
PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
 2024-08-16 14:08:35 -07:00
Yuval Tassa f864108c23 using for std::{string, string_view}, where helpful for readibility. 
PiperOrigin-RevId: 663707900
Change-Id: Icbea374d5f99c7d267140d83f541f0ee872de8c1
 2024-08-16 06:14:54 -07:00
Yuval Tassa e0e08aa597 Rename xml_native_writer variables to be consistent with xml_native_reader. 
PiperOrigin-RevId: 663699130
Change-Id: If11ed48d3b30d3c6d09ca77e3d8048c2a3d9f054
 2024-08-16 05:34:30 -07:00
Yuval Tassa 0bcaa85650 Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed. 
PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
 2024-08-16 04:07:23 -07:00
Michael Ahn 9924d9ca89 Fixed incorrect mesh face circumradius calculation 
- In 8e2f830, this was changed from `mju_norm3` to `mjuu_normvec`, but the
  latter will mutate its input to be normalized instead of just
returning the norm (the former was likely mistaken as `mju_normalize3`
which does mutate its input).
 2024-08-15 20:53:57 -07:00
Alessio Quaglino e0e134ca63 Add plugin tests for mjSpec. 
Fixes #1903.

PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
 2024-08-15 10:19:53 -07:00
Kyle Bayes 64575f399b Add heightfield collision support for GJK + EPA implementation. 
PiperOrigin-RevId: 663321119
Change-Id: I01a85ae15386c997bff4e9c6d71555a4380dfffe
 2024-08-15 08:50:09 -07:00
Alessio Quaglino 4b88e9bebf Do not delete keyframes during mjs_detachBody. 
PiperOrigin-RevId: 663281082
Change-Id: I6eedf8c5a3a422bcd78086f2fe30c2099f0b9d16
 2024-08-15 06:10:43 -07:00
Yuval Tassa b2018ff506 Replace function with static array in engine_forward.c 
PiperOrigin-RevId: 663268322
Change-Id: Ibd161a8eda55fc04cf37e465f0d0ac0adcfc7847
 2024-08-15 05:11:38 -07:00