chenlin/Mujoco_WASM
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566 Commits

Author SHA1 Message Date
Alessio Quaglino bfa78614c8 Require prefix for the attach tag. 
For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.

It is tempting for users to not use a prefix (see #2162), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.

PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
 2024-10-22 07:08:33 -07:00
Taylor Howell 94e9912d28 Add mju_mulMatTVecSparse to multiply transposed sparse matrix and dense vector. 
PiperOrigin-RevId: 688535240
Change-Id: I0bacf1e911cde99014b2dcb0a1434e61a4f41d51
 2024-10-22 07:06:29 -07:00
Kyle Bayes 2b0629d75f Replace mjQUICKSORT with faster, native sorting function. fixes #1638 
PiperOrigin-RevId: 688519096
Change-Id: I05ab1576703c2458968ef81915ac682a8beac391
 2024-10-22 06:05:12 -07:00
Alessio Quaglino 9e1aa37b55 Do not self-attach custom tags. 
Fixes #2162.

PiperOrigin-RevId: 688518165
Change-Id: Iad90e159514c96635676a8dd53fca41e3998d8fc
 2024-10-22 06:04:07 -07:00
Alessio Quaglino a70aea918c Prevent duplicated pairs in active_pugins vector. 
Fixes #2150

PiperOrigin-RevId: 688164615
Change-Id: I9a5434a9dda28a399ffccfe0c4b31fa64400b85f
 2024-10-21 09:30:27 -07:00
Yuval Tassa 90bc4b555d Add box-box collision to collection of collision performance benchmark models. 
Cosmetic tweaks to existing models.

PiperOrigin-RevId: 688133030
Change-Id: I8085b8288d67b75e1cbcbcac0dfa68fccc7d63ca
 2024-10-21 07:45:54 -07:00
Alessio Quaglino 11af1e2a95 Fix a bug in mj_recompile. 
The qposadr_ and dofadr_ variables of the joints were not being reset to -1 when a joint is copied. This could lead to errors when calling mj_recompile after attaching a compiled spec.

PiperOrigin-RevId: 686152004
Change-Id: I9e058089ce87ea0d8e51a7f43475bc48c6527a26
 2024-10-15 10:24:32 -07:00
Yuval Tassa 0ffaeb4d56 Improve comments in mju_cholFactorNNZ, clarify that this function reads from the upper triangle of the source matrix. 
PiperOrigin-RevId: 686113654
Change-Id: I029f9279d177f4cb9ff60396a26d64821aee3a6c
 2024-10-15 08:26:07 -07:00
Kyle Bayes 8d84b5f693 Disable hfields for collision sensors. 
PiperOrigin-RevId: 685730321
Change-Id: Ib1d4a90b7b31ca388e018076a274e25c40409080
 2024-10-14 09:19:11 -07:00
Yuval Tassa 7ec94f46d4 Refactor Newton solver: move Hessian from arena back to the stack. 
The changes in 9a0dc20821, moving the Hessian from the stack to the arena, should be rolled back: they prevent future threading over islands. Unlike the stack, arena allocations are not thread-friendly. The reason for the original move was to save memory, but the savings are small: `O(ctx->nH)` and only linear in `nv`. The significant reduction of the Cholesky factor, from quadratic in `nv` to quadratic in the largest dof island — the reduction afforded by 2dd518734f — remains in place.

Also refactor and improve readability.

PiperOrigin-RevId: 685717356
Change-Id: Ia9ec3e44a62d459a3b9cffb578cf6479d5aa1d7f
 2024-10-14 08:34:16 -07:00
Alessio Quaglino 1e7c109887 Raise warning when attaching a spec with pending keyframes to a different spec. 
PiperOrigin-RevId: 685677622
Change-Id: Iba522c523ebd2afe64d6ab28c6b6b4b3cd399cf8
 2024-10-14 05:54:18 -07:00
Alessio Quaglino c84f35b425 Do not delete pending keyframes during body detachment. 
PiperOrigin-RevId: 685670895
Change-Id: Iadd0ba8ca7e74a280559168ac0ac855405a1cfd9
 2024-10-14 05:23:46 -07:00
Alessio Quaglino 766cd20273 Add mjs_bodyToFrame() to convert a body to a frame. 
Also add test for attaching the world body.

PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
 2024-10-14 00:39:20 -07:00
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
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
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 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
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
Yuval Tassa 3f3fe92860 Remove unused argument in mju_sqrMatTDSparseInit 
PiperOrigin-RevId: 682375566
Change-Id: If05f5d15a2f8925eee9dd0ebc5d485164d90d787
 2024-10-04 10:45:33 -07:00
Alessio Quaglino 42c1718d57 Restore RecompileCompare test that was deactivated by mistake. 
PiperOrigin-RevId: 682310735
Change-Id: I5edf487b194e195de0ff712ad55c2b198de2ef51
 2024-10-04 07:20:13 -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
Yuval Tassa 62ec802ec1 Tweaks to benchmarks. 
- Modify parse_benchmark_test to not time the first instance of file loading.
- Improve readability of step_benchmark_test.

PiperOrigin-RevId: 680953562
Change-Id: I4569d1b946ecb49b6590ea313f0b598ffc897888
 2024-10-01 04:08:40 -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
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
Kyle Bayes 43a82e08be Add benchmark test for collisions. 
PiperOrigin-RevId: 680554813
Change-Id: I0be5b102d68aa1a54b4ceca6b2bd24fbc519f5df
 2024-09-30 06:46:25 -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
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
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
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
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 50f43b8745 Fix various issues with body inertial parsing and compiling. 
- Add errors in body compiler for incorrect mixing of specifiers.
- Correctly process inertia orientation specifiers.

PiperOrigin-RevId: 676843326
Change-Id: I7e7eb22e25a6769754794f98fad5e0dcc0e5946f
 2024-09-20 07:53:42 -07:00
Kyle Bayes 7a92423cf2 Add height fields to list of discrete objects in NativeCCD. 
PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
 2024-09-19 09:48:41 -07:00
Alessio Quaglino 4998e7b392 Move flex damping to the engine and remove membrane and solid plugins. 
PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
 2024-09-19 09:01:30 -07:00
Alessio Quaglino f4381e12a2 Delete plugins when their corresponding objects are deleted, if their instance belonged the object. 
Fixes #2061.

PiperOrigin-RevId: 676402701
Change-Id: Ia4807d57a3763e2100702b7e7ec96c300d0a9cfb
 2024-09-19 07:21:42 -07:00
Alessio Quaglino aca4b3324d Resolve default asset names while attaching a spec. 
PiperOrigin-RevId: 676053538
Change-Id: I717b87be4bc18a5d9f8e5f2dc071bd93409eea81
 2024-09-18 10:58:12 -07:00
Kyle Bayes bd811a44e7 Remove redundant copying in NativeCCD and refactor code for readability. 
PiperOrigin-RevId: 675573079
Change-Id: If9f7bc21d9ee7806997f05a8985ebe6b1b3c8332
 2024-09-17 08:14:10 -07:00
Yuval Tassa fb56d70dee Add model with mixed geoms for CCD performance testing. 
PiperOrigin-RevId: 675567065
Change-Id: I9629b0757270ca541a96bb64384b5c41e7a9b728
 2024-09-17 07:56:35 -07:00
Alessio Quaglino 31abd7900a Add edge ids to flex elements in mjModel. 
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
 2024-09-16 06:58:10 -07:00
Alessio Quaglino b15de2c951 Add elasticity parameters to the schema. 
PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
 2024-09-16 05:56:36 -07:00
Alessio Quaglino 015bdeb756 Disallow repeated nameless assets that use the same file, except for URDFs. 
PiperOrigin-RevId: 675114055
Change-Id: I142811ac2d8ef9e12bb8a06d5f3a2fdac02946da
 2024-09-16 05:50:50 -07:00
Taylor Howell 60a1921b34 Add site semantics to weld constraint. Fixes #1896 
PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
 2024-09-16 05:46:01 -07:00