The test is meant to illustrate a failure of an incomplete actrange when the rest of the line is correct.
PiperOrigin-RevId: 451895379
Change-Id: I9782fae7055c9bed87ccbc0fda18495aacb2ae8a
This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.
PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
The introduction of additional mjData arrays for the implicit integrator caused in a shift in data alignment in memory. In certain combinations of machines and models, this change resulted in ~5% performance regression that appears to be attributable to L2 cache misses.
This change aligns all arrays in mjData to the boundary of a typical L2 cache line size. Benchmarking shows that this resolves the performance regression on a Broadwell machine.
PiperOrigin-RevId: 451652783
Change-Id: I4ed2c2d03453a83a0b4a9b8e224e2fd7c0dadea9
Inertias of moving bodies are enforced to be greater mjMINVAL at model compilation, there is no need to enforce inertias at mesh load time. Tiny meshes could be static or part of a larger geom assembly, in which case their tiny inertia is not a problem.
Also, make error message for small masses/inertias more precise.
PiperOrigin-RevId: 451625216
Change-Id: I4b48d7a881e620d6fbb591ec77fbdacc7c03496c
This allows us to detect reads and writes that are logically out of bounds.
PiperOrigin-RevId: 451520772
Change-Id: I614a8062c404d97148166bcd37db399420956d8b
Indiscriminate memset into d->buffer and m->buffer previously caused msan to not detect uninitialized reads.
Also fix tests with uninitialized read bugs that are detected by msan after this change.
PiperOrigin-RevId: 451508224
Change-Id: I1f4b080a8ef765c34ba7a0adc2c686419f6e5516
Before this change, xipos[0,1,2] was only set to 0 by mj_resetData zeroing the entire buffer.
When using mj_resetDataDebug, the value would be wrong.
PiperOrigin-RevId: 450939814
Change-Id: I887dd977161c7d132a80b766db7be23350ffb50b
We currently skip building the Python bindings on Windows since MSVC takes an hour+ on them. Internally, we use Clang for our Windows build, so are not affected by this issue.
PiperOrigin-RevId: 450914163
Change-Id: I329aab28f3a2aeb1896242a8712f89d8ecff2f92
Fixes a bug introduced in CL/432455486, which stopped saving explicit inertias if they were inferred from geoms. But if we don't save inertias then we need to save mass/density specifiers.
BEGIN_PUBLIC
xml_native_writer saves geom mass or density, if specified.
END_PUBLIC
PiperOrigin-RevId: 450667775
Change-Id: Ibb5b269b58f1143013091729642bb501243ed943
This PR added necessary annotations, following what we did for mjData
and mjModel for length of the given array.
This is useful because my parser used to generate Swift interface:
https://github.com/liuliu/swift-mujoco/blob/main/Sources/codegen/main.swift#L297
such that the access to underlying array is bound-checked.
Please let me know if this makes sense. After this change, I can
successfully generate all mj* struct interfaces in Swift without problem
(with notable exception of mjui): https://github.com/liuliu/swift-mujoco/tree/main/Sources
The previous commit missed out some recent changes in the internal repo. This commit brings the public GitHub repo in sync.
PiperOrigin-RevId: 450377010
Change-Id: I59a68ae4a39c5cd5ed5f7df77ba870273243d623
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
NumPy arrays with an empty shape cannot be assigned via the usual syntax.
Fixes: #238.
Related: #237.
PiperOrigin-RevId: 441265437
Change-Id: Ib0de22c83f9babe9a97682dc5a32660c198ad68c
GCC's linker drops dependency on libGL because neither MuJoCo, GLFW, nor the sample applications themselves explicitly depend on OpenGL symbols.
PiperOrigin-RevId: 439372170
Change-Id: I122d1d9658484e901f422d35395ad5929c7a9021
This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.
Fixes#217.
Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
Yuval Tassa