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74747e2ae6872b0095fcf00a6a33ecb018ab2fbc
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204 Commits

Author SHA1 Message Date
Nimrod Gileadi 74747e2ae6 Don't accept NaN geom sizes. 
PiperOrigin-RevId: 542209911
Change-Id: I80f9728e8e624d19783370ba5072f39624c1bbe7
 2023-06-21 04:02:48 -07:00
Kyle Bayes 2b6ea95d16 Fix dimension of res vector in sparse benchmark test. 
PiperOrigin-RevId: 540336845
Change-Id: I79d4c487455a0642d57f36abe0e38eae92f212fa
 2023-06-14 11:49:53 -07:00
Kyle Bayes c79dc39e50 Internal change to parsing benchmarks. 
PiperOrigin-RevId: 539926231
Change-Id: Ia9128df6dad0b720950bbcb458b8ccb95758dae6
 2023-06-13 04:54:46 -07:00
Yuval Tassa f67e359532 Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions. 
PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
 2023-06-12 08:56:48 -07:00
Kyle Bayes 81d74c56e1 Separate mj_addM into dense and sparse functions. 
PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
 2023-06-09 06:44:19 -07:00
Yuval Tassa d82f5ce5a4 Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -07:00
Yuval Tassa d40c395917 Add Visualization tab to simulate. 
Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
 2023-05-27 05:08:15 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Saran Tunyasuvunakool 1d79657512 Fix out-of-bound read in mju_combineSparseCount. 
PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
 2023-05-26 07:44:47 -07:00
Yuval Tassa c66d79409c Change mj_ray behaviour to match geom visualisation conventions: 
- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.

Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.

PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
 2023-05-24 13:52:21 -07:00
Alessio Quaglino 03d6d27f64 Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
 2023-05-22 12:05:20 -07:00
Saran Tunyasuvunakool fbbdf70401 Make XMLWriterLocaleTest hold a copy of the old locale string. 
The rationale is the same as in 0d0a41d549. XMLWriterLocaleTest still sporadically fails with a stack buffer overflow error when built with MSVC 2019 prior to this change.

PiperOrigin-RevId: 534035241
Change-Id: I1c50457e386724021b8d97ab1fb9cc2ece795292
 2023-05-22 05:34:24 -07:00
Alessio Quaglino dab49d487c Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
 2023-05-16 11:10:38 -07:00
Alessio Quaglino 9d1a21f99d Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
 2023-05-16 08:17:50 -07:00
Alessio Quaglino fcc825c5e6 Add cutoff argument to mj_multiRay. 
PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
 2023-05-15 10:44:37 -07:00
Yuval Tassa 770b4b363a Added optional smoothing to muscle dynamics: 
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.

PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
 2023-05-12 04:58:53 -07:00
Alessio Quaglino 41a7049920 Use shell inertia to compute mesh aabb and frame if volume is invalid. 
PiperOrigin-RevId: 530925161
Change-Id: I94b97efc7198e2b750480df8687e91bc047a6fc9
 2023-05-10 09:12:11 -07:00
Yuval Tassa 49066e1794 equivalent but clearer quat-diff call in mj_differentiatePos 
PiperOrigin-RevId: 530075836
Change-Id: I3bbe5dec17ccdf53c372bb81087dddde30a24c5c
 2023-05-07 02:21:52 -07:00
Yuval Tassa 49efa9cc15 Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment. 
Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
 2023-05-06 09:22:37 -07:00
Kyle Bayes 67f0f5154f Add various improvements for resource providers. 
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
 2023-05-05 07:03:49 -07:00
Alessio Quaglino b798f89212 Fix bug with the position of bounding sphere in mj_multiRay. 
PiperOrigin-RevId: 529665457
Change-Id: I486a094303b3b26c8067f8be7aca03afbe8e6217
 2023-05-05 02:53:11 -07:00
Yuval Tassa 90813b8198 Add mjd_subQuat (private function) 
PiperOrigin-RevId: 529418945
Change-Id: I6764ae866b13482ef3aa951f427b58cae007c301
 2023-05-04 08:40:34 -07:00
Alessio Quaglino 267299fb59 Change elevation to [0,pi] in mj_multiRay. 
PiperOrigin-RevId: 529393944
Change-Id: I23f3113fd91e909fa1dc23b620d66e963db59355
 2023-05-04 06:43:16 -07:00
Alessio Quaglino 7e49d935ba mj_multiRay: Reset elevation angle if crossing the coordinate singularity. 
PiperOrigin-RevId: 529341397
Change-Id: I0ca6ed5b97bcc585b0f426d6fb8a6b4cf9367a2b
 2023-05-04 01:50:38 -07:00
Alessio Quaglino e59720833e Add ReadVector function to touch_grid plugin, use it for size and field-of-view attributes. 
PiperOrigin-RevId: 528783871
Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
 2023-05-02 08:01:10 -07:00
Yuval Tassa b0bc330b54 Add utility functions for banded-then-dense symmetric matrices. 
PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
 2023-05-02 05:58:08 -07:00
Alessio Quaglino 2ad82d5998 Add mj_multiRay function to perform multiple ray intersection with the same source. 
PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
 2023-05-01 23:02:45 -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 b397b3123e Added touch grid sensor plugin. 
PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
 2023-04-27 02:03:03 -07:00
Kyle Bayes 23961e24b7 Refactor user codebase to use LoadResource helper method. 
* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).

PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
 2023-04-25 07:24:45 -07:00
Alessio Quaglino 3db483c248 Print warning and default to computing mesh inertia from convex hull if volume is negative (malformed mesh). 
PiperOrigin-RevId: 526053615
Change-Id: I3974b3433da513f869b1bdab5e98232e215f6509
 2023-04-21 09:01:34 -07:00
Yuval Tassa a2a1ac9fc2 Pass mjvOption to plugin visualize callback. 
PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
 2023-04-21 08:44:20 -07:00
Saran Tunyasuvunakool b362cb4972 Expose a handle for the Python viewer. 
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.

To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.

Fixes https://github.com/deepmind/mujoco/issues/796

PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
 2023-04-20 05:59:19 -07:00
Saran Tunyasuvunakool 34e62aa3c1 Don't use designated initializer in engine_resource_test. 
MuJoCo codebase is currently C++17, not C++20.

PiperOrigin-RevId: 525507811
Change-Id: Iaa1b5a271e811bee34418be79583fc5bdda3bee9
 2023-04-19 11:42:23 -07:00
Kyle Bayes fe3dccfd1d Add a new plugin / extension mechanism called a resource provider along with retrofitting VFS on top of it. 
A resource provider provides a mechanism for MuJoCo to read from filesystems other than the OS filesystem or the Virtual File System (VFS).

PiperOrigin-RevId: 525394983
Change-Id: I077ff5a7e2e76806b48b6defb531280aadc8b169
 2023-04-19 03:02:22 -07:00
Alessio Quaglino 94c4f72907 Specify is volume is too small or negative in mesh error messages. Fixes #799. 
PiperOrigin-RevId: 525151156
Change-Id: Ia0e9d8b900b8c372e9229da934a4eb7aeb1a3b7a
 2023-04-18 08:16:44 -07:00
Nimrod Gileadi 4b1375297b Add a test that hfields are loaded and normalised to [0, 1]. 
PiperOrigin-RevId: 525103908
Change-Id: I3a6cc3a339cf31aa40700cd44962038d5c6bcf74
 2023-04-18 04:05:04 -07:00
Alessio Quaglino c943797591 Make shellinertia ignore exactmeshinertia, which is only used for legacy volume computations. Fixes #759. 
PiperOrigin-RevId: 524884880
Change-Id: Ia5b64ee33802866f792cdad4acfec6d9baf2a9e9
 2023-04-17 10:30:20 -07:00
Copybara-Service 9027b243b7 Merge pull request #801 from hartikainen:fix-mj_sizeModel 
PiperOrigin-RevId: 522013801
Change-Id: Iff5e930fb7c86ae4296beb40f266ed02aabb6a7f
 2023-04-05 04:20:11 -07:00
Kristian Hartikainen f91b760799 Clean model in VerifySizeModel test 2023-04-05 11:56:07 +01:00
Kristian Hartikainen 98c9718aaf Add (currently-failing) mj_sizeModel test 2023-04-05 11:09:23 +01:00
Kyle Bayes 9924cce4b7 Add nnz per row precount method for mju_sqrMatTDSparse. 
PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
 2023-04-04 06:21:22 -07:00
Yuval Tassa c65e046043 Don't save actdim="{0,1}" for state{less,ful} actuators, respectively. 
actdim has a default value of -1 (==unset), which means it currently gets saved for all actuators. After this change, it will only be saved if the value is > 1, errors are thrown for stateful actuators with actdim=0 and stateless actuators with actdim>0.

PiperOrigin-RevId: 520627313
Change-Id: Ia498dae5c7314cfaa0995f8077d297c2339a5c35
 2023-03-30 07:00:17 -07:00
Yuval Tassa 0becf8fd98 Remove unused headers in test files. 
PiperOrigin-RevId: 520610859
Change-Id: I5ac906b422a7c02737af85f6a2aea46206f0cb28
 2023-03-30 05:26:33 -07:00
Yuval Tassa 1d6a9e09bb Don't save body pos if "0 0 0". 
PiperOrigin-RevId: 520598416
Change-Id: I5bb6ffaec386f228ac7a5fa221822000635900ae
 2023-03-30 04:09:22 -07:00
Yuval Tassa 3f9defa8d0 Don't save an empty <default/> section. 
PiperOrigin-RevId: 520594748
Change-Id: Ib5e1eb3a93e9d579adeda1052a2c29d724d6b497
 2023-03-30 03:51:14 -07:00
Yuval Tassa ddfcd3b325 Don't save body gravcomp if 0. 
PiperOrigin-RevId: 520592156
Change-Id: Ifb85c1e78498877bc576cfca224c41b3cf47c9ab
 2023-03-30 03:34:04 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -07:00
Yuval Tassa 3620376d81 Add model used for testing UI for stacking. 
PiperOrigin-RevId: 519137042
Change-Id: Id16ea2735ea2f853c927fc6f88a9284b2f5aee95
 2023-03-24 07:23:29 -07:00
Nimrod Gileadi 5322291d38 Add a test for fusestatic 
PiperOrigin-RevId: 519112654
Change-Id: Ic15f9d572c281efb0e0b23b2f99e11a880275851
 2023-03-24 04:48:04 -07:00