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6d8b6028e2fa8cc840100da75712c5a4e8fe89ee
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38 Commits

Author SHA1 Message Date
Yuval Tassa b466829482 Fix implicit integrator derivatives when actuator force is clamped. 
The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.

PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
 2026-02-11 13:31:07 -08:00
Yuval Tassa 7f74487a26 Fix implicit integrator derivatives for actearly actuators. 
The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.

PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
 2026-02-11 04:03:46 -08:00
Alessio Quaglino 0041fdcbb0 Add implicit stiffness for flex_interp to mj_implicitSkip. 
PiperOrigin-RevId: 867706885
Change-Id: Ic94c65b618a415609bffe3d69a86f9034f2d2400
 2026-02-09 11:54:27 -08:00
Yuval Tassa 769f37b653 Implement sleeping in engine 
PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
 2025-11-07 03:33:07 -08:00
Yuval Tassa 5a24eb2d34 Add error reporting to model loading in engine tests, where missing 
PiperOrigin-RevId: 795844607
Change-Id: I4163c53c05796c2e3036af28a98f58c15bb1c99c
 2025-08-16 08:11:49 -07:00
Yuval Tassa 977f94e9df Delete sparsity structures from mjData, use the ones in mjModel 
PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
 2025-08-14 09:13:02 -07:00
Yuval Tassa d8bebdc675 Remove unnecessary diagnum argument in mj_solveLD and mj_factorI 
PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
 2025-05-14 07:13:27 -07:00
Yuval Tassa dd28b887d4 Rename C sparse structure to M in mjdata, improve docstrings. 
PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
 2025-05-14 05:26:19 -07:00
Yuval Tassa 627fffdef9 Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure. 
PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
 2025-05-13 10:20:32 -07:00
Yuval Tassa 0f563ecf31 Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
 2025-03-04 17:34:35 -08:00
Yuval Tassa 81b1948b46 Clean up engine_derivative_test.cc 
PiperOrigin-RevId: 730166629
Change-Id: I3418be9f7b289f4109ae43c221b89199d2ccf325
 2025-02-23 10:59:20 -08:00
Yuval Tassa b516edae1b Rename inertia factorization routines: 
```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```

PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
 2025-02-18 09:42:05 -08:00
Yuval Tassa fb07e0d1f7 Convert qLD to CSR format. 
PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
 2025-02-18 07:14:45 -08:00
Yuval Tassa 5ee0654830 Roll back recent change to mjData.qLD until some issues are resolved. 
PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
 2025-02-07 10:21:42 -08:00
Yuval Tassa c27d3758c2 Convert qLD to CSR format. 
PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
 2025-02-06 08:59:35 -08:00
Yuval Tassa 13d3bdedad Add debugging method for printing matrices to stderr to fixture.h 
PiperOrigin-RevId: 702301299
Change-Id: I01738b6634a91cde6b146475d06731471dcf3764
 2024-12-03 05:20:54 -08:00
Taylor Howell a51f346059 Use sparse (uncompressed) actuator_moment in mj_transmission. 
PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
 2024-11-01 08:06:28 -07:00
Yuval Tassa a4a6248a06 Move AsVector utility to fixture.h 
PiperOrigin-RevId: 690577546
Change-Id: I2cebcffa1f2e3b0789f43e772e364c4762719ab3
 2024-10-28 05:52:25 -07:00
Yuval Tassa 0bcaa85650 Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed. 
PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
 2024-08-16 04:07:23 -07:00
Yuval Tassa a4bd2bec0a Skip disabled actuators in mjd_actuator_vel. 
Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.

Fixes #1838

PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
 2024-07-29 07:31:58 -07:00
Yuval Tassa 4d4b0bb2c3 Don't normalize mjData->qpos quaternions in-place. 
PiperOrigin-RevId: 647927542
Change-Id: I13b0be55498d1da3af2cdc414cfed4c3908a6fe1
 2024-06-29 03:07:10 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Yuval Tassa 51aa375af0 Improvements related to models where joint-actuator relationship is not one-to-one: 
- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.

PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
 2023-07-19 10:29:32 -07:00
Yuval Tassa 5cfbb6ac8b Add mjd_quatIntegrate, expose mjd_subQuat. 
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
 2023-07-07 05:33:24 -07:00
Yuval Tassa 90813b8198 Add mjd_subQuat (private function) 
PiperOrigin-RevId: 529418945
Change-Id: I6764ae866b13482ef3aa951f427b58cae007c301
 2023-05-04 08:40:34 -07:00
Yuval Tassa c50177d301 Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians. 
Fixes #703.

PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
 2023-04-28 09:04:41 -07:00
Yuval Tassa 9a97674e1e Break up engine_derivative.c into analytical and finite-differencing functions (moved to engine_derivative_fd.c) 
PiperOrigin-RevId: 517165392
Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
 2023-03-16 10:45:15 -07:00
Yuval Tassa 8c7f6ce5a0 New implicitfast integrator and sparse RNE derivatives for implicit. 
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
 2023-03-15 13:17:41 -07:00
Nimrod Gileadi 48e95817e4 Don't compute sensors in mjd_transitionFD, if not requested. 
PiperOrigin-RevId: 507878658
Change-Id: I97ece521fd177d97fa5758dda1eb012ba26bcabe
 2023-02-07 14:02:45 -08:00
Yuval Tassa 06557c1489 Set time correctly in mjd_transitionFD, to support time-dependent user code. 
PiperOrigin-RevId: 502380864
Change-Id: Ief36135a900c091d95e4450992c7c73e86de267c
 2023-01-16 07:52:17 -08:00
Alessio Quaglino 9fc9823a8c Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores). 
PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
 2022-11-08 08:38:45 -08:00
Yuval Tassa e3a82247c2 Add sensor matrices to mjd_transitionFD. 
- Also add missing `mj_jacSubtreeCom` to Python bindings.

PiperOrigin-RevId: 471610181
Change-Id: I31410d194527ce6a7bdbd01e176f3a41efa52d84
 2022-09-01 13:00:36 -07:00
Yuval Tassa 52d78f8d24 Remove unused mjData argument in private function mj_solveLD. 
PiperOrigin-RevId: 464087933
Change-Id: Ibe9e9713680a02bfe098c39191f9b706e2c70c12
 2022-07-29 08:53:04 -07:00
Yuval Tassa ea956dfe34 Derivatives of ellipsoid fluid model. 
PiperOrigin-RevId: 459751881
Change-Id: I52db87d82e20e10698b13065df2e983b9841bd7a
 2022-07-08 07:19:48 -07:00
Yuval Tassa 228264c92b Add efficient finite-difference Jacobians of mj_step. 
- Add `qH` and `qHDiagInv` to `mjData` to save factorized modified inertia.
- Add `mj_EulerSkip`, `mj_implicitSkip`, to `engine_forward.c`.
- Using the above functions, implement `mj_stepSkip` in `engine_derivative.c`.
- Add `mjd_stepFD` and `mjd_transitionFD` to `engine_derivative.c` to compute `mj_step` Jacobians.
  - Exploit "Skip" functionality for speed.
  - Correctly handle quaternion derivatives.
  - Handle warmstarts and control limits.

PiperOrigin-RevId: 456584811
Change-Id: Iee8541f11e7b66feb8f431cb102d9bbe65461f79
 2022-06-22 12:48:48 -07:00
Alessio Quaglino 307cf692e5 Add <damper> actuator shortcut and related mjGAIN_AFFINE. 
**Rationale**

A general `mjGAIN_AFFINE` actuator adds the term `force = (c + kp * length + kv * velocity) * ctrl`. The damper shortcut restricts it to `kv * velocity * ctrl` and sets the `ctrllimited` attribute to true.

**API**

```xml
<actuator>
  <damper ctrlrange="0 1" kv="1"/>
</actuator>
```

* Required attributes: `ctrlrange` (>=0)
* Optional attributes: `kv` (>=0)

PiperOrigin-RevId: 455366866
Change-Id: I88773abbeccabb6442f215c9fc05e205df63f692
 2022-06-16 06:21:17 -07:00
DeepMind 64bc6d27b2 Add implicit integrator. 
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
 2022-05-23 01:22:15 -07:00