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52a0149cd1676170a1987fa84c3cdfa8e23254fd
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975 Commits

Author SHA1 Message Date
Alessio Quaglino 52a0149cd1 Resizes keyframes before storing them during attach/detach. 
Improve keyframe tests.

PiperOrigin-RevId: 685450257
Change-Id: I97aa129c4d7a66f613290605b85657e8081700b6
 2024-10-13 10:02:35 -07:00
Taylor Howell 99259eb0d3 Fix typos in engine_ray.c. 
PiperOrigin-RevId: 685273762
Change-Id: I6812a83ef2d84fa07a42812acb87c363a3e1a11d
 2024-10-12 16:05:43 -07:00
Taylor Howell 78ade58aff Remove rootid from touch sensor (unused). 
PiperOrigin-RevId: 685196948
Change-Id: Ifd574165717f07a58a13ae187bc1c63527c986e7
 2024-10-12 08:10:09 -07:00
Yuval Tassa 5fe2b88726 Print ASCII sparse matrix structures in mj_printData. 
Also: don't print sparse matrices if they have more than 300 rows.
PiperOrigin-RevId: 684843230
Change-Id: If91d0b56cbbb6565904c3ee55857999e21b0cc62
 2024-10-11 08:17:25 -07:00
Kyle Bayes 70d6655434 Add faster support functions for NativeCCD. 
PiperOrigin-RevId: 684809392
Change-Id: I5125d4bb74c167d370aa919befba9d356c7162da
 2024-10-11 05:59:30 -07:00
Yuval Tassa 2dd518734f Stop over-allocating memory in Newton solver. 
PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
 2024-10-11 05:09:33 -07:00
Yuval Tassa 9aca4bccac Fix stack usage reporting under ASAN. 
PiperOrigin-RevId: 684790558
Change-Id: Ifc206bb0653c1fa3052621f0d3d80cb10671b77f
 2024-10-11 04:37:12 -07:00
Kyle Bayes 1d57099e98 Add internal return codes in polytope2 and polytope3 to make debugging in NativeCCD easier. 
PiperOrigin-RevId: 684776411
Change-Id: Ie0ab278b449ded0ec67ddc89569443d542bf93e0
 2024-10-11 03:36:18 -07:00
Alessio Quaglino ae9ec24d3a Add dm_control creature example to mjSpec tutorial. 
PiperOrigin-RevId: 684764674
Change-Id: If7f8b7b29587f9c50e2cb8e155484bc7f3f18b0f
 2024-10-11 02:46:25 -07:00
Alessio Quaglino cdb167f275 Add mjs_attachToSite for attaching a body to a site. 
PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
 2024-10-10 07:12:49 -07:00
Mohammad Hamid 694bdebc19 Fixed a bug that caused dim to be necessary in flexcomp even when it was inferred from GMSH files. 
Fixes #2107.

Co-authored-by: Alessio Quaglino <quaglino@google.com>
PiperOrigin-RevId: 684419740
Change-Id: Ia73e719bd37503563223ed92f4dbe0ae07eef300
 2024-10-10 06:20:43 -07:00
Alessio Quaglino a26ba2012e Return 0 on success from mjs_activatePlugin instead of using mju_error. 
PiperOrigin-RevId: 684102823
Change-Id: I86b7702094ae886539e1dfb6294381952d507bc1
 2024-10-09 11:09:33 -07:00
Yuval Tassa 9a0dc20821 Move Newton Hessian memory allocation from stack to arena. 
PiperOrigin-RevId: 684054446
Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
 2024-10-09 08:54:54 -07:00
Alessio Quaglino 8256546432 Fix bug in xml_native_writer that was causing frames to be skipped. 
PiperOrigin-RevId: 683721505
Change-Id: I8622f4ea42ecda934fbc805c429de40e7717fdef
 2024-10-08 12:23:17 -07:00
Yuval Tassa b66da3d369 Add mjData.L, sparse Cholesky factor of Newton solver Hessian. 
PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
 2024-10-08 10:13:08 -07:00
Alessio Quaglino 1f9dca8bc4 Do not expose plugin_slot. 
PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
 2024-10-07 09:38:01 -07:00
Alessio Quaglino 66faba9aa5 Avoid changing semantics of mjsPlugin.name across XML sections. 
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.

PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
 2024-10-07 07:57:03 -07:00
Kyle Bayes 5bfc7da7de Inline small vector util functions in NativeCCD. 
PiperOrigin-RevId: 683121207
Change-Id: Idf83e2d18d725665bf626c2c3269c81048076a1a
 2024-10-07 04:11:36 -07:00
Kyle Bayes 6be5decf6c Check for OOM errors once per EPA iteration. 
PiperOrigin-RevId: 682447186
Change-Id: I55031da8cf2335d5771bb54b32b7e1f696aa80f2
 2024-10-04 14:15:29 -07:00
Alessio Quaglino 6e66cafe76 Capture mjs_attach error message in the Python bindings. 
PiperOrigin-RevId: 682409212
Change-Id: I391ee48626e7dcd985f65a231370ef5ec16124d7
 2024-10-04 12:19:42 -07:00
Yuval Tassa 3f3fe92860 Remove unused argument in mju_sqrMatTDSparseInit 
PiperOrigin-RevId: 682375566
Change-Id: If05f5d15a2f8925eee9dd0ebc5d485164d90d787
 2024-10-04 10:45:33 -07:00
Kyle Bayes eb095b276c Switch to collision boolean only GJK for contacts instead of using S3D. 
PiperOrigin-RevId: 682329224
Change-Id: I3db141b0482610a0a88854f47a46b0b7b694b361
 2024-10-04 08:25:14 -07:00
Kyle Bayes dba32e827c Exit recursion gracefully when horizon reaches empty polytope in EPA. 
PiperOrigin-RevId: 682050023
Change-Id: I8e04f00e6ab3e15e177d1902889441cdbf11cafd
 2024-10-03 15:18:05 -07:00
Kyle Bayes 9d91703871 Replace heap with linear map in EPA. 
PiperOrigin-RevId: 681911349
Change-Id: Iffe2d3ff57b9a4cfcc223ea5d5d29e2e6696e1cf
 2024-10-03 09:27:02 -07:00
Kyle Bayes a02c37cf12 Use faster cross product in projectOriginPlane for NativeCCD. 
PiperOrigin-RevId: 681909044
Change-Id: I5d275a30bce4f24f2e4c205b9a9eb321a5a98b43
 2024-10-03 09:20:44 -07:00
Kyle Bayes dc995ad341 Remove unnecessary norm calculation in EPA. 
PiperOrigin-RevId: 681906350
Change-Id: Ib6a13ca170a8071adde0771c6ba2b38fb4fd4da4
 2024-10-03 09:12:51 -07:00
Alessio Quaglino dfd1f8fefc Fixed a bug causing an early stop of tree traversal. 
Fixes #2112.

PiperOrigin-RevId: 681804470
Change-Id: I15a6f010db1a97931438fa6d8fd1d5cda6863c32
 2024-10-03 03:38:17 -07:00
Alessio Quaglino 249c4b3f4f Prevent attaching models with different eulerseq, autolimits, or angle options. 
PiperOrigin-RevId: 681801855
Change-Id: Iaf107853797768270319e971a3e318db0703bca0
 2024-10-03 03:27:47 -07:00
Alessio Quaglino 36ee89d6da Copy only referenced plugins. 
Fixes #2111.

PiperOrigin-RevId: 681486400
Change-Id: I384ac63fa76b27d6e84d91fa857127c42ff52e34
 2024-10-02 09:40:48 -07:00
Alessio Quaglino dfe8e45101 Namespace plugin instances when attaching. 
Fixes #2112.

PiperOrigin-RevId: 681045462
Change-Id: I2c945c5405fcb91e0f9a1b0b1e94f68d174c84ee
 2024-10-01 09:14:37 -07:00
Alessio Quaglino 89aea5e217 Add body.find_all() to Python bindings. 
This enables to generate a list of all body children of a given type.

Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112.

PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
 2024-10-01 08:57:25 -07:00
Alessio Quaglino 6832df3091 Replace mjs_setActivePlugins with mjs_activatePlugin. 
PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
 2024-09-30 09:46:47 -07:00
Yuval Tassa cf13413c0b Clean up dual solver functions. 
PiperOrigin-RevId: 680587029
Change-Id: I20c78e96785af94634361d7823b1e5caba08800d
 2024-09-30 08:31:40 -07:00
Alessio Quaglino e6e6e3b51b Copy plugins when attaching a model. 
Before this CL, the same mjCPlugin objects were referenced by both models.

Fixes #2100.

PiperOrigin-RevId: 680579479
Change-Id: Ida3459f78f9fa4a942cea31b3d5d3e8da2832feb
 2024-09-30 08:08:12 -07:00
Alessio Quaglino 40b2ae92e5 Reset pending keyframes in source model after attaching. 
Fixes #2101.

PiperOrigin-RevId: 680526395
Change-Id: I3bd06db5231d653b1c5bc1c2ba6b03b52e65f288
 2024-09-30 05:05:21 -07:00
Alessio Quaglino 58a49bad96 Add nested keyframes attachment test. 
This is a no-op change for keyframes but it shows an example of behavior.

Also, fixed two bugs:
- Missing namespace when attaching frames.
- Incorrect body id and subtreedof when attaching a compiled spec. Fixes #2063.

PiperOrigin-RevId: 680289467
Change-Id: I2ddaa7ad2226fa466ec3bbf74a7553d497bb4bb9
 2024-09-29 11:57:56 -07:00
Copybara-Service 807ee852d0 Merge pull request #2097 from emotodorov:ui 
PiperOrigin-RevId: 679704368
Change-Id: Iae396a134e6019c8cdb935a306f097f9427e134c
 2024-09-27 13:16:01 -07:00
Alessio Quaglino 25e4d75a07 Return attached body/frame in mjs_attachBody/Frame. 
PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
 2024-09-27 08:34:00 -07:00
Yuval Tassa 176345b4e1 Remove meaningless const qualifier for scalar arguments in sparse function signatures. 
PiperOrigin-RevId: 679568516
Change-Id: I910626cd9555966c3b0a9ffba4064d263b2c16e1
 2024-09-27 06:37:18 -07:00
Taylor Howell 6a6e10d779 Add mju_cholFactorNNZ to compute the number of non-zeros per row for sparse Cholesky factorization. 
PiperOrigin-RevId: 679553197
Change-Id: I6f92deec347dae97d2e219cfb5376f92e777da1a
 2024-09-27 05:39:08 -07:00
Alessio Quaglino bb6da503dc Make 3 the default number of channels in mjsTexture. 
PiperOrigin-RevId: 679521155
Change-Id: Ie6c962e75983c8bf8323170338b3d480be3a1117
 2024-09-27 03:33:04 -07:00
Emo Todorov a985faef51 section checkbox highligting 2024-09-26 22:22:02 -04:00
Alessio Quaglino 6a415da267 Make from_file() and from_string() classmethod functions. 
This prevents the user from modifying an mjSpec and then calling the functions to load it from string/file.

PiperOrigin-RevId: 679311284
Change-Id: I4f1ae3cc8f15bece245f624303470d538deec410
 2024-09-26 15:16:10 -07:00
Alessio Quaglino 1eb6fc2285 Disallow using elasticity and edge constraints at the same time. 
Fixes #2084.

PiperOrigin-RevId: 678614880
Change-Id: I44eead3dc4edf82d725a3063b927a421c660721a
 2024-09-25 02:56:20 -07:00
Alessio Quaglino f0d52813b8 Copy joint state to the modified mjSpec when detaching bodies. 
Fixes #2085.

PiperOrigin-RevId: 678351210
Change-Id: I2a546877dd50abc7805099f8d5c40807ffe780e6
 2024-09-24 12:26:29 -07:00
Yuval Tassa 5219893813 Replace mjQUICKSORT with std::stable_sort in user_mesh.cc 
PiperOrigin-RevId: 677864209
Change-Id: I1cca8e1ae8c84e652b12c24cfddfbca97d8c6841
 2024-09-23 11:06:46 -07:00
Yuval Tassa 84e0e2839d Improve error message when requested stack allocation is larger than 2^64 bytes. 
PiperOrigin-RevId: 677851110
Change-Id: Iaef92f7f48f41f3a4bfaae9c517ff6664afed039
 2024-09-23 10:34:33 -07:00
Kyle Bayes 04f8403d8e Add unit tests for NativeCCD to produce better test coverage. 
PiperOrigin-RevId: 677793306
Change-Id: I435865f00553c74d1d0c0fa86d9c41fb1e5497ff
 2024-09-23 07:55:39 -07:00
Alessio Quaglino 0ba11b9623 Add plugins list to mjSpec Python API. 
Fixes #2061.

PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
 2024-09-23 06:13:42 -07:00
Yuval Tassa 91cedfd65c Avoid square roots in barycentric coordinate computation. 
Also add some `inline` qualifiers.

PiperOrigin-RevId: 676873457
Change-Id: I76f57dc870a8714bd86749a7dee1f10fc5e4be1c
 2024-09-20 09:37:40 -07:00