48e95817e4
Don't compute sensors in mjd_transitionFD, if not requested.
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PiperOrigin-RevId: 507878658
Change-Id: I97ece521fd177d97fa5758dda1eb012ba26bcabe
2023-02-07 14:02:45 -08:00
dd632b7ccc
Bump MuJoCo version to 2.3.2.
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PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
2023-02-07 02:35:17 -08:00
6b80b010af
Merge pull request #705 from hartikainen:bug/mj_deleteFileVFS-infinite-loop
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PiperOrigin-RevId: 507544780
Change-Id: Ie5819d4cc567dce44ceb59624a889a06ecdd7c1b
2023-02-06 12:01:11 -08:00
9a7f4a768a
Remove control plugin API.
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This is a rollback of f937ffd93326b2964e33689b0dc6024124776a9e.
PiperOrigin-RevId: 507456400
Change-Id: I2026510e6065eb440c0c899fcc5a2cc8ff5afd49
2023-02-06 05:52:17 -08:00
dc3a900809
Apply body pair filtering at broadphase.
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mj_contactFilter removed geom pairs where their bodies share the same weldid, but this check can be applied at broadphase instead of at geom-geom level.
PiperOrigin-RevId: 507435848
Change-Id: Ia37c741071dc5e1c26686dd319f42c9bd334d305
2023-02-06 03:46:20 -08:00
79fffdc0ae
Draw body label at the body frame rather than inertial frame, unless inertia is being visualised.
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PiperOrigin-RevId: 507424290
Change-Id: I72ca68e2e47f76c0f70959a1a2c8b5f4b6b6b290
2023-02-06 02:38:51 -08:00
7251e7b900
Remove superfluous TINYXML2_LIB declaration.
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PiperOrigin-RevId: 506867694
Change-Id: I701def961046c46f3cffe4fad2b1b9436bc1deef
2023-02-03 04:24:36 -08:00
ffe27d9680
Extract AVX code from sparse utils.
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PiperOrigin-RevId: 506851218
Change-Id: I23cc3ffb26face97fc2380bc9cb702cc41b8b29d
2023-02-03 02:42:39 -08:00
a7888d473c
mju_transposeSparse: extract local integer, remove extra blank line.
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PiperOrigin-RevId: 506243573
Change-Id: Ia573c9289ef1deb1cc7b5477d441752370caa470
2023-02-01 01:27:46 -08:00
7feecf6e94
Improve behaviour of set-pose mouse interactions with free and mocap bodies.
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PiperOrigin-RevId: 506051745
Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
2023-01-31 10:57:19 -08:00
929e09f84a
Improve URDF geom name loading API.
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PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
2023-01-27 07:29:45 -08:00
c741dfce7d
Implement a more performant mju_transposeSparse that doesn't require dense memory allocation.
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PiperOrigin-RevId: 505044194
Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
2023-01-27 00:20:01 -08:00
d35670932f
Fix for-loop syntax to match style convention
2023-01-25 19:11:13 +00:00
436fc6e77c
Fix infinite loop in mj_deleteFileVFS
2023-01-21 17:26:01 +00:00
6ba4d6f0de
Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates.
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PiperOrigin-RevId: 502624466
Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
2023-01-17 10:31:50 -08:00
06557c1489
Set time correctly in mjd_transitionFD, to support time-dependent user code.
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PiperOrigin-RevId: 502380864
Change-Id: Ief36135a900c091d95e4450992c7c73e86de267c
2023-01-16 07:52:17 -08:00
6e02c19ebb
Print contacting geom names, if non-empty, in mj_printData output.
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PiperOrigin-RevId: 502340142
Change-Id: I6359a1ea8fb515e13cb434e31d9592b9d6ce9181
2023-01-16 03:08:33 -08:00
5b942329d2
Fix various typos.
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PiperOrigin-RevId: 500951615
Change-Id: I3c61ef4328d77457d12091bbf75514872b53c2d0
2023-01-10 03:59:27 -08:00
703b33c064
Add geom names to URDF parsing in MuJoCo.
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Fixes #566
PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
2023-01-09 10:34:22 -08:00
19b6c70e13
Use global coordinates for computing the frame position of a primitive geom fitted to a mesh.
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PiperOrigin-RevId: 500720200
Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
2023-01-09 08:29:27 -08:00
f19d5d2f28
Fix typo in mujoco.h
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PiperOrigin-RevId: 500675056
Change-Id: Ie4958609563b2826cc4965b42ad4d22248c733ef
2023-01-09 04:04:25 -08:00
1215067f5c
Add an option in mjrContext for mjr_readPixels output format.
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PiperOrigin-RevId: 500342924
Change-Id: I43e8c6208db341e2bdbef10382b7293c35bdca65
2023-01-07 00:11:01 -08:00
048bd43724
Fix various typos.
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PiperOrigin-RevId: 499888205
Change-Id: I38ccf9edb2a745fe8087f14b67ecccca872f7743
2023-01-05 08:29:49 -08:00
f85f3fba2f
Avoid duplicate contact points in compound bodies.
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Sometimes broadphase returns the same body pair multiple times. In those cases, avoid creating every contact twice.
PiperOrigin-RevId: 499869235
Change-Id: I58606168b0723d40b4fdd43b1fafad79bf35d76d
2023-01-05 07:28:05 -08:00
0c463366a0
Reduce internal names hash map from factor of 1 to 0.5.
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PiperOrigin-RevId: 499762072
Change-Id: Id4ea606b5c534c55665485c9f71412523164d2ed
2023-01-05 01:29:14 -08:00
f1007df013
Implement hash map for mj_name2id using djb2 and linear probing.
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PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
2023-01-04 07:57:55 -08:00
5261cceb30
Fix typo in engine_io.c.
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PiperOrigin-RevId: 499422793
Change-Id: Ic3a0d6dcc9119041267555efd6a8addb944d6639
2023-01-04 01:35:28 -08:00
4bc76c93ae
Remove "name" attribute from plugin specifiers.
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PiperOrigin-RevId: 499187319
Change-Id: I0755a071eb4eee917fdf32db49a47fd16afa58f9
2023-01-03 05:03:20 -08:00
45184bfa55
Fix Typo.
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PiperOrigin-RevId: 499185052
Change-Id: I159271a229c90f38836d607511459edbe1d501bb
2023-01-03 04:49:48 -08:00
95b9a0f215
Fix typo, improve error message.
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PiperOrigin-RevId: 498473694
Change-Id: I9b04df14f4afbe7148c3083da26451020bd2ebc9
2022-12-29 17:15:10 -08:00
bc02c2455e
Sensor plugin parsing: Ensure sensor reftype is only assigned if a value in the XML exists.
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PiperOrigin-RevId: 495314131
Change-Id: I5f955c435474de1dd1d75f7a7492e3a21ea9d289
2022-12-14 07:57:29 -08:00
30b4309af9
Rename mjpPlugin.capabilities -> mjpPlugin.capabilityflags
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PiperOrigin-RevId: 495080532
Change-Id: I81743472b816a331890a7cb05bfb7a89ebf07ff9
2022-12-13 11:33:27 -08:00
5c021d042b
Modify signature of plugin reset callback.
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The `reset` function is called inside `mj_resetData`, before any physics forwarding call has been made. It is therefore an error to read anything from mjData at this stage.
The only valid operation on mjData during `reset` is for a plugin to write into its own state variable slots and data struct. We modify the function signature to only provide access to these.
PiperOrigin-RevId: 495032492
Change-Id: Ic6d2967d2571a9083cbca1ba239ca70a8a51f474
2022-12-13 08:41:35 -08:00
093125c2bd
Fix incorrect plugin error message during model compilation.
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PiperOrigin-RevId: 495023028
Change-Id: Iec0fa213235793c1b96409d86b9e2af1055404b2
2022-12-13 08:03:36 -08:00
3de2873883
Add deprecation warning for the Rope Composite type.
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PiperOrigin-RevId: 494985209
Change-Id: I6ce7ca2aeae6f1e798bd4bda9b755852add26a36
2022-12-13 04:35:48 -08:00
7076da6909
Correctly validate the size of user sensors in mj_validateReference.
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PiperOrigin-RevId: 494877162
Change-Id: I0a070d7813efea6216d15270f62b6009c55e1a54
2022-12-12 17:49:06 -08:00
946c12faae
Add missing semicolons after mjFREESTACK.
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The code is already well-formed since the macro itself contains a semicolon, however this is stylistically inconsistent with the rest of the codebase. The missing semicolon is also problematic for automated code transformations.
PiperOrigin-RevId: 494734527
Change-Id: I9aef5844c8c3cce6eefea8f8bf13a4ab3dd79878
2022-12-12 08:22:37 -08:00
e9869d3bf3
Add a missing TM_END call when mj_fwdConstraint returns early.
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PiperOrigin-RevId: 494375187
Change-Id: I013b6cdac06350a6c563fb686df9104dfb7258dd
2022-12-10 04:13:58 -08:00
2d304d65e5
Use memcmp for mju_compare if no AVX. 15% faster on Humanoid.
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PiperOrigin-RevId: 493324356
Change-Id: I5f71dc1a8ae40c18864ea80f00a5f86ff952f72c
2022-12-06 09:14:33 -08:00
7f459ab8ca
Print vertex IDs when inconsistent face is found.
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PiperOrigin-RevId: 493311839
Change-Id: I0283d86bc6092fbe4f47b845fa8ec212bffdfa1a
2022-12-06 08:24:46 -08:00
e4f1d584ad
Add control plugin API.
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PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
2022-12-06 08:23:49 -08:00
73fb61e3e2
Bump version number to 2.3.1.
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PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
2022-12-05 12:13:55 -08:00
dee1d6020a
Make "acc" the default computation stage for sensors of type user.
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PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
2022-12-03 07:50:15 -08:00
0d52feaa94
Add updateScene callback for plugins.
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PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
2022-12-02 10:11:32 -08:00
89185b4af2
Using full path when adding a file to VFS. Fixes #616 .
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PiperOrigin-RevId: 492204185
Change-Id: If2b2230c095fe0bb776fcc3ffda48f13d0be5cb2
2022-12-01 08:34:20 -08:00
26f71e2f6c
Check that spacing is greater than geometry size for Composite particles and grid.
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PiperOrigin-RevId: 491858371
Change-Id: I03a669286c283a72947705463426badcfc9b0bfd
2022-11-30 02:17:42 -08:00
df25d7d602
Raise an informative error when running on macOS under Rosetta 2.
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Current users only get a cryptic "Illegal instruction" crash.
Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
2022-11-29 12:19:06 -08:00
d0b1a97338
Deformable solid plugin for particles.
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Using coordinate-free formula equivalent to linear finite elements.
PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
2022-11-28 05:32:30 -08:00
165e72f798
Apply force perturbations at selection point rather than body center-of-mass.
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PiperOrigin-RevId: 489996756
Change-Id: I87870a0c1d173449f15a7249f2459a6b726ff417
2022-11-21 09:13:16 -08:00
638c9a6994
Support capsules in URDF import.
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PiperOrigin-RevId: 489980760
Change-Id: I1c21e736a86f6637a00e2062727d2e6fd5694c42
2022-11-21 07:58:42 -08:00
Nimrod Gileadi