- 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
- Add basic test for keyframes.
- Add missing documentation for keyframe mocap positions and quaternions.
PiperOrigin-RevId: 459021649
Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
When using MSAN, mjData->buffer is marked as poisoned, despite being initialized with zeroes.
This is useful for catching computations that accidentally use uninitialized values.
However, when using engine_print, it's OK to assume the buffer is initialized to zeros.
PiperOrigin-RevId: 456085776
Change-Id: I9d85e37fa82958eb54ac413140543a6581aa46ad
This will allow us to add fields that can't be cast to int or double, without breaking print.
PiperOrigin-RevId: 456005913
Change-Id: I1fccfd11466f4745f69172af0ae61be07642927c
I am running through simulate.swift (my port of simulate.cc) with
address sanitizer to discover related bugs.
Besides ones in my port, there are two in MuJoCo:
1. in maketext, the logic to find . is not protected against j is less
than 0 (due to the decreasing logic above), creating out of bound
access.
2. in mj_printFormattedData, qfrc_applied should use length nv not nq,
otherwise out of bound access could be triggered.
Test Plan:
Run through the simulate.cc with asan. Before this fix, when presenting
profiler view, it will trigger bug #1. When print data, it will trigger
bug #2. Both are using model/humanoid/22_humanoids.xml.
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
- Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
- Damping and fluid-drag passive forces.
- Actuation forces.
A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost.
PiperOrigin-RevId: 450377010
Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
Yuval Tassa