4db3377467
Don't use mj_stackAlloc for int allocations.
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PiperOrigin-RevId: 559846094
Change-Id: I43eeec0b1970b2c6047be4e7c3548a4ce9aa6f5f
2023-08-24 13:09:51 -07:00
5c9b222566
Fix typo.
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PiperOrigin-RevId: 559799961
Change-Id: Ic80a27160cbc2a28f59e91958fd3a2de40f539e2
2023-08-24 10:41:02 -07:00
b0077e4052
Use geom margin in the midphase.
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At the leaves of the midphase trees in `mj_collideTree`, a bounding sphere test is performed. The margin was incorrectly set to zero instead of reading it from `geom_margin`.
PiperOrigin-RevId: 559782262
Change-Id: Icfceb8445bbf6977582e0061566d7bd4def2f0ae
2023-08-24 09:45:10 -07:00
9255cc58a9
Update style guide.
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PiperOrigin-RevId: 559743120
Change-Id: I6073911526bef9a9cc72d95122c4e8b9993b22ba
2023-08-24 07:10:27 -07:00
1dad5993f0
Refactor constraint island representation.
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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
b92a9d599c
Fix type errors in mujoco Python library.
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PiperOrigin-RevId: 559473920
Change-Id: I45056b4a86a062f223d39c60fbc849ef69a5866b
2023-08-23 10:38:50 -07:00
a2de04f5be
Sanitize function parameter names that are Python keywords.
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PiperOrigin-RevId: 559436458
Change-Id: I56b8a595885f3f3d3ecb7a00db5f1bd70e5f95d9
2023-08-23 08:34:41 -07:00
1f5a9e8c70
Reinstate max_align_t alignment in mj_stackAllocByte.
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PiperOrigin-RevId: 559433104
Change-Id: I891a6a0562cab1c3af0e3dc395304207ca3a3190
2023-08-23 08:22:31 -07:00
b7cf479abe
Add flag for disabling implicit integration of joint damping in the Euler integrator.
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PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
2023-08-23 05:51:37 -07:00
5f2a2a325c
Fix typo.
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PiperOrigin-RevId: 559393250
Change-Id: Ibe257d7db371868d87fbea56111972d3f96f7147
2023-08-23 05:20:50 -07:00
e4c3e1468b
Fix typo
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PiperOrigin-RevId: 559383537
Change-Id: I9510970c26b94b8e8bb90423d6164fc82b9bd016
2023-08-23 04:25:22 -07:00
90f58ebe5d
Rename mj_stackAllocBytes to mj_stackAllocByte
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PiperOrigin-RevId: 559071711
Change-Id: I19072e07ac86ee0486703aa48b0dceb297f5f893
2023-08-22 04:43:53 -07:00
dae74030fe
Handle initial_capacity = 0 in mju_arrayListCreate.
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Add const to ArrayList function arguments where appropriate.
PiperOrigin-RevId: 559064386
Change-Id: I8763974a60a05f34dadd56e953cefa40fe78df42
2023-08-22 04:04:02 -07:00
1d36b57d83
Switch from max_align_t to mjtNum until we sort out the git builds
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PiperOrigin-RevId: 558982369
Change-Id: I24d9fd6400dae5e1bc1753ee74484da635ea8ecd
2023-08-21 21:30:49 -07:00
c2e586f303
add c stddef to engineio
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PiperOrigin-RevId: 558949604
Change-Id: Ibe7fbb1a7fb3fcc9258bff3aae260a805eb853dd
2023-08-21 17:51:08 -07:00
4b983e8439
Add an ArrayList container type.
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PiperOrigin-RevId: 558887266
Change-Id: I201978bfa5e6cfa2f4e495feaecf61374baf7b7b
2023-08-21 13:38:45 -07:00
59138af10b
Refactor stack allocations to have a clean byte allocation interface.
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PiperOrigin-RevId: 558881470
Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
2023-08-21 13:18:29 -07:00
22fd0586b1
Move core_constraint arena allocations to local function.
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PiperOrigin-RevId: 558823297
Change-Id: I4a564f0d05c17634e70fbff16e8bdca2e7d7fb63
2023-08-21 10:07:10 -07:00
8e54516071
Fix broken links in changelog.
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PiperOrigin-RevId: 558767417
Change-Id: Ifa2a9fd3f146a0660658099eb9417f866af07cae
2023-08-21 06:13:17 -07:00
8421544add
Added elasticity and sensor subfolders in model/plugin.
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PiperOrigin-RevId: 558751363
Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
2023-08-21 04:48:45 -07:00
ef699d4b6d
Allow mocap bodies to be loaded by the Unity plugin.
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PiperOrigin-RevId: 558735711
Change-Id: Ibc9a81cbf8ec4b979d5b325c822c1bffc1408509
2023-08-21 03:28:45 -07:00
ed4bb2aab5
Change _Alignof to alignof in functions.cc
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PiperOrigin-RevId: 558388811
Change-Id: I40f394d6dd05215a7499ede5903841a07cd1c9f0
2023-08-19 05:11:40 -07:00
488041d362
Add a private function for resizing contact and efc-sized arrays in Python.
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This function is currently used for internal experimentation.
PiperOrigin-RevId: 558238153
Change-Id: I32eec8f13ac2d995e90c5421f2a157412e2148f2
2023-08-18 13:53:04 -07:00
b5f9628dd7
Reduce mjMAXCONPAIR to 50.
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Use only the first `mjMAXCONPAIR` contacts in SDF-mesh collisions after sorting them using the penetration depth.
PiperOrigin-RevId: 558176217
Change-Id: Ia1ee12bd5ceb81e4c52f143831ad00426e8cf174
2023-08-18 10:02:44 -07:00
ba12a1354b
Optimize and refactor combineSparse and combineSparseCount.
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PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
2023-08-18 06:14:09 -07:00
b1ecc943bb
Fix multiple bugs related to mjvSceneState.
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PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
2023-08-17 10:25:39 -07:00
cf310079e2
Don't allow quat="0 0 0 0" in XML.
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PiperOrigin-RevId: 557535436
Change-Id: Ie71246da5fff67a7cc37cb1801dd88d4a79b5766
2023-08-16 10:47:23 -07:00
15d74ba939
Add missing include to sdf.cc.
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PiperOrigin-RevId: 557529739
Change-Id: Iff85d95b35977f7c329baf9a938f4580efd4b606
2023-08-16 10:30:09 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
6245edae28
Improve island discovery performance
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PiperOrigin-RevId: 557444755
Change-Id: I22a2093b563e8e144de9534917955ac403fa5599
2023-08-16 04:55:42 -07:00
ac3ac0d28f
Fix timing plots issue in simulate.
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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
2023-08-16 04:03:50 -07:00
8ea690ed70
Remove unused parameters from mju_sqrMatTDSparseInit.
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PiperOrigin-RevId: 557114227
Change-Id: Ia7d3fedfba612a68ff01d68f1b9dadb45bd76e85
2023-08-15 06:30:19 -07:00
3f6c694e75
Fix typo in changelog
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PiperOrigin-RevId: 557071510
Change-Id: I96eaf5d0eba91c6f2c85797b186af3bdb7ed3a7a
2023-08-15 02:48:31 -07:00
3e034e38b2
Add constraint island discovery
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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
e4dddea42a
Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage.
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PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
2023-08-14 11:17:47 -07:00
13490962a8
Merge pull request #1015 from aikkala:update-readme-myoconverter
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PiperOrigin-RevId: 556826813
Change-Id: I8f2abff550c2a5ce74db38cb7eb521f9711158a6
2023-08-14 09:59:50 -07:00
f34cb22bd3
Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM.
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PiperOrigin-RevId: 556823353
Change-Id: I650ac83767d60c69859aae6e38aa331f43814378
2023-08-14 09:49:34 -07:00
7e1c65b10e
Improve CRB code:
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- remove mj_crbSkip since this was only utilized during compile time to compute m->dof_m0, replaced with mj_crbDiag to compute only the diagonals for dof_m0,
- change row backward pass to forward pass to optimize processing diagonal blocks,
- and various code refactoring.
PiperOrigin-RevId: 556799924
Change-Id: I0a18d7a45862860fdddd7150540ddc8d64b01b29
2023-08-14 08:32:12 -07:00
8ddef7007f
Disable convex hull visualization for visual geoms.
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This additional check in engine_vis_visualize is necessary for meshes that are shared between visual and colliding geoms.
PiperOrigin-RevId: 556786969
Change-Id: I8270d3f2c0ce497c79b24b282f2f15ece44a423b
2023-08-14 07:45:53 -07:00
a276c49c30
Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively.
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PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
2023-08-14 07:18:57 -07:00
abfa08f6cd
Improve schema order in XML reference
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PiperOrigin-RevId: 556726473
Change-Id: I157dd170d66708a59510e5656468aef498bff7be
2023-08-14 03:17:01 -07:00
81d0e56185
Reduce font size in schema reference, make 4 columns
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PiperOrigin-RevId: 556719771
Change-Id: Ie1cf7ef02dab7fdd1eed40ce77ddaa71918a9754
2023-08-14 02:45:59 -07:00
6862cd7d1b
Fix broken link in README
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PiperOrigin-RevId: 556158264
Change-Id: Ib9292b384b50c4116d490992df2f8d443cff478f
2023-08-11 18:01:27 -07:00
70952f5f1c
Updates to README
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PiperOrigin-RevId: 556018026
Change-Id: I1feee93727a92079905d80288b5fd706e3ce800c
2023-08-11 11:07:15 -07:00
5b65f91bb9
Replace O2MConverter with improved MyoConverter
2023-08-11 10:02:14 +03:00
93012bf164
Remove legacy MacOS support in mju_alignedMalloc. As of MuJoCo 2.3.7, MacOS 11 is the oldest supported version of MacOS.
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PiperOrigin-RevId: 555090388
Change-Id: I57d7abf17952da250f1165f24dfcbb112aea92f9
2023-08-09 01:58:10 -07:00
631b16e7ad
Add better user error messages to Python renderer update_scene along with missing unit tests.
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PiperOrigin-RevId: 554482720
Change-Id: Ief3ba496fb5720668f98fb9d44a5c82e6a14b9cc
2023-08-07 08:22:34 -07:00
2d7d5319f7
Rework sparse addM function to support compressed sparse matrices.
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Note:
- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.
PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
2023-08-07 06:07:24 -07:00
6d7b49ccf5
Remove collision pruning statistics from simulate info panel.
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PiperOrigin-RevId: 554452244
Change-Id: I4f9f1d5e38d4b4bc37b5a2f0980b352db04a73c6
2023-08-07 06:05:13 -07:00
574ae6ab91
Add an actuator with actearly and dyntype="filterexact" to the test model.
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PiperOrigin-RevId: 554441792
Change-Id: Ibd67b2516bf0f01417936ce183856756885002c2
2023-08-07 05:08:46 -07:00
Yuval Tassa