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205 Commits

Author SHA1 Message Date
Yuval Tassa 7cd6b3db73 Fix typo in changelog 
PiperOrigin-RevId: 572264830
Change-Id: Ifbbb9d7ee06a73c768b4c13aad843146e8aa9dde
 2023-10-10 08:55:59 -07:00
Yuval Tassa a9b761ee1b Add double underscore suffix to all links in the changelog. 
PiperOrigin-RevId: 571304907
Change-Id: Ie726f3d703421f9d13a5d16f2282123c71c2b530
 2023-10-06 05:01:09 -07:00
Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
 2023-10-05 21:05:19 -07:00
Yuval Tassa 3e12f0d50c Add history scrubbing mechanism to simulate. 
[screen capture](https://www.youtube.com/watch?v=YSvWn_poqWs)

PiperOrigin-RevId: 570676968
Change-Id: Id9a1fccc9418b851e007ddcf3fa89acd4edff3e9
 2023-10-04 06:36:34 -07:00
Yuval Tassa 1e94c12cdd Fix typos in docs. 
PiperOrigin-RevId: 570643723
Change-Id: I20a999c7a5ff79bdb67ced209105cca6751a50dc
 2023-10-04 03:32:49 -07:00
Yuval Tassa ee78b8f76b Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints. 
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
 2023-10-03 09:32:24 -07:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Alessio Quaglino d3d46e16a4 Remove cloth and rope composites and deprecate loop. 
PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
 2023-09-25 03:38:43 -07:00
Alessio Quaglino dd5a7115cf Add shell plugin. 
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges

PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
 2023-09-20 09:00:20 -07:00
Yuval Tassa 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. 
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
 2023-09-18 15:15:54 -07:00
Yuval Tassa 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. 
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
 2023-09-18 10:53:35 -07:00
Yuval Tassa 2cc1205498 Add island support to CG solver. 
BEGIN_PUBLIC

Add island support to CG solver.

END_PUBLIC

PiperOrigin-RevId: 565653886
Change-Id: Ib971ae37dd011b8f2cbe1f88d8875e0ed657c7af
 2023-09-15 05:47:24 -07:00
Yuval Tassa 976a6df78d Fix typo in docs. 
PiperOrigin-RevId: 565097458
Change-Id: I7a4440d72665d5db2853c18f72e83b130dde8d1a
 2023-09-13 10:48:16 -07:00
Yuval Tassa 86d8b912f4 Rejigged solver statistics in preparation for islanding. 
- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.

BEGIN_PUBLIC

Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.

- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.

END_PUBLIC

PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
 2023-09-13 06:18:37 -07:00
Alessio Quaglino 8064ad59c8 Add camera projection sensor. 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
 2023-09-12 08:16:20 -07:00
Matthew Bennice 0ba10cc4f0 Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat} 
Fixes #409

PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
 2023-09-10 15:25:59 -07:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Kevin Zakka 1a3215e329 Fix typo in changelog. 
PiperOrigin-RevId: 563399339
Change-Id: I59b6e70bbde64d06a581b45ed529de09603ef8f8
 2023-09-07 05:23:23 -07:00
Google DeepMind 040d3efce2 Add options for controlling early termination criteria of CG/Newton linesearch. 
Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
 2023-09-06 12:02:58 -07:00
Yuval Tassa ba66bd4f8b Fixes to documentation: 
1. Cleaned up changelog, fixed some typos, removed nested admonitions.
2. Added missing documentation for `mjfResourceModified` function type.

PiperOrigin-RevId: 562859015
Change-Id: I34dc4f3131561cbe95be3127e6e318cc4b803a24
 2023-09-05 12:36:28 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Matthew Bennice 6225186964 Add threading primitives. 
PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
 2023-09-04 20:09:19 -07:00
Saran Tunyasuvunakool 94a8705ad0 Add mj_markStack and mj_freeStack as public API functions. 
Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).

PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
 2023-09-04 17:04:11 -07:00
Yuval Tassa 43a0bd3646 Formatting improvements to docs Overview chapter. 
PiperOrigin-RevId: 561586361
Change-Id: Ib529cbd49cebf26d802d023d12d973491e41d3ad
 2023-08-31 01:43:44 -07:00
Saran Tunyasuvunakool 4c899b92cc Rename mj_stackAllocByte to mj_stackAlloc and make it public. 
PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
 2023-08-29 14:07:54 -07:00
Saran Tunyasuvunakool daa2ac7f8b Rename nstack to narena, change it and pstack to count bytes. 
PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
 2023-08-29 10:13:33 -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
Tom Erez 819b5cb982 Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse. 
PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
 2023-08-25 12:08:37 -07:00
Alessio Quaglino b0077e4052 Use geom margin in the midphase. 
At the leaves of the midphase trees in `mj_collideTree`, a bounding sphere test is performed. The margin was incorrectly set to zero instead of reading it from `geom_margin`.

PiperOrigin-RevId: 559782262
Change-Id: Icfceb8445bbf6977582e0061566d7bd4def2f0ae
 2023-08-24 09:45:10 -07:00
Yuval Tassa b7cf479abe Add flag for disabling implicit integration of joint damping in the Euler integrator. 
PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
 2023-08-23 05:51:37 -07:00
Alessio Quaglino 8e54516071 Fix broken links in changelog. 
PiperOrigin-RevId: 558767417
Change-Id: Ifa2a9fd3f146a0660658099eb9417f866af07cae
 2023-08-21 06:13:17 -07:00
Alessio Quaglino 8421544add Added elasticity and sensor subfolders in model/plugin. 
PiperOrigin-RevId: 558751363
Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
 2023-08-21 04:48:45 -07:00
Alessio Quaglino b5f9628dd7 Reduce mjMAXCONPAIR to 50. 
Use only the first `mjMAXCONPAIR` contacts in SDF-mesh collisions after sorting them using the penetration depth.

PiperOrigin-RevId: 558176217
Change-Id: Ia1ee12bd5ceb81e4c52f143831ad00426e8cf174
 2023-08-18 10:02:44 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00
Yuval Tassa 3f6c694e75 Fix typo in changelog 
PiperOrigin-RevId: 557071510
Change-Id: I96eaf5d0eba91c6f2c85797b186af3bdb7ed3a7a
 2023-08-15 02:48:31 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -07:00
Yuval Tassa a276c49c30 Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively. 
PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
 2023-08-14 07:18:57 -07:00
Kyle Bayes 631b16e7ad Add better user error messages to Python renderer update_scene along with missing unit tests. 
PiperOrigin-RevId: 554482720
Change-Id: Ief3ba496fb5720668f98fb9d44a5c82e6a14b9cc
 2023-08-07 08:22:34 -07:00
Nimrod Gileadi 2c3297b3e7 Add filterexact and actearly options to MuJoCo. 
When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.

When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.

PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
 2023-08-07 04:50:33 -07:00
Saran Tunyasuvunakool c9246e1f50 Release version 2.3.7. 
PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
 2023-07-20 02:13:55 -07:00
Saran Tunyasuvunakool 06b70832ce Add keyboard event callback for Python passive viewer. 
Fixes #766
Fixes #846

PiperOrigin-RevId: 549449372
Change-Id: I37d17f1162c66d0e8482d402aae22d9a16b59deb
 2023-07-19 15:54:44 -07:00
Saran Tunyasuvunakool f7847ba73e Fix GLFW crash when Python exits while the passive viewer is running. 
Fixes #790

PiperOrigin-RevId: 549440435
Change-Id: I808f6aaab6662225e5fe1131e0da72eca6011ba9
 2023-07-19 15:20:46 -07:00
Saran Tunyasuvunakool 8386b28877 Change "MIME type" to "Media Type". 
MIME type is the historic nomenclature for Media Type, see e.g. https://www.iana.org/assignments/media-types/media-types.xhtml.

PiperOrigin-RevId: 549394435
Change-Id: I000e044a35ec44392e9c41bab6383aa89cdefc49
 2023-07-19 12:35:57 -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
Kyle Bayes 5fcdae771b Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures. 
PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
 2023-07-19 06:51:36 -07:00
Saran Tunyasuvunakool 0ccfef7314 Add update_{hfield,mesh,texture} methods to the passive viewer. 
Fixes #812.
Fixes #958.
Fixes #965.

PiperOrigin-RevId: 548181282
Change-Id: I6eb0cd2ce52c66083e83dd08d69e0cfb4178dbba
 2023-07-14 11:43:36 -07:00
Kyle Bayes 242aea93c6 Bump oldest supported MacOS to version 11. 
PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
 2023-07-12 06:38:26 -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 a7021df63e Add primitive sphere-cylinder collider. 
PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
 2023-06-26 17:25:32 -07:00
Yuval Tassa c50c92ccc8 Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization. 
PiperOrigin-RevId: 542343761
Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e
 2023-06-21 13:19:36 -07:00