This avoids unnecessarily resetting the bvh_active flags when the collision driver returns early due to disabled constraints, disabled contacts, or having fewer than two bodies/flexes.
PiperOrigin-RevId: 959531283
Change-Id: I85caf054b06e3be1018d710f9ab762627fc3356a
The new spotlight attribute softness (real in [0, 1], default 0) is the
fraction of the cone, measured inward from the cutoff, over which
intensity falls to zero. It is used by physically-based lighting models;
the Phong model's corresponding knob remains exponent.
The filament renderer previously hardcoded the inner cone angle to 0,
making the entire beam penumbra: the shader attenuates by the squared
smoothstep ((cos(theta) - cos(outer)) / (cos(inner) - cos(outer)))^2, so
a cutoff-25 spot delivered its rated candela only exactly on-axis and
about a third of it averaged over the light pool, with the deficit
shrinking as the cutoff widens. The inner angle is now
(1 - softness) * cutoff, so at the default the light delivers its full
intensity everywhere inside the cone and illuminance follows E = I/d^2
independent of the cutoff. Setting softness to 1 reproduces the previous
appearance exactly (verified bit-identical), which is the migration path
for models tuned against the old behavior.
The filament light type also changes from FOCUSED_SPOT to SPOT. With
intensity given in candela and the cone set at build time the two types
produce identical output (FOCUSED_SPOT's power-conserving rescale only
applies when the cone changes after the intensity is set), but SPOT
guarantees that candela never rescales with cone angle should the cone
ever become runtime-editable.
Verified with headless renders under a linear tone mapper against an
equal-candela point light at cutoffs 25/45/80: softness 0 gives
spot/point luminance ratio 1.000 at all sampled angles inside the cone;
softness 0.2 is flat over the inner 80% of the cone; softness 1 matches
the previous renderer with zero linear-pixel difference. XML round-trip
and the [0, 1] compile-time check verified. Introspect and wasm bindings
regenerated.
PiperOrigin-RevId: 959334706
Change-Id: I0f0729781899880de1729ea9b3d8c055d715a025
Interpolated flexes with pinned nodes could not be reloaded after saving:
pinned nodes share their parent body, and their positions within it lived
only in mjsFlex.node, which had no MJCF attribute. On reload the pinned
nodes collapsed onto the parent body origin, degenerating the trilinear
interpolation grid ("flex grid rotation R0 is not orthonormal"). This
made model/flex/strain.xml and gripper_trilinear.xml fail to round-trip.
Add flex/nodecoord, real(3*nnode), the node analog of flex/vertex: local
node coordinates within the corresponding body frames. The reader picks
it up from the regenerated schema tables; the writer emits it with the
precision-aware WriteVector, since VectorToString ignores the XML
precision setting and truncating node coordinates to 6 digits while body
positions carry 17 fails the R0 orthonormality check at full precision.
Add a WritesPinnedFlexNodes round-trip regression test, and remove the
two write-read sweep exclusions documenting this bug. The removed
substring filter "strain" was also matching core_constraint, silently
excluding that entire testdata directory from the sweep; its ~40 models
are now covered and pass.
PiperOrigin-RevId: 959025281
Change-Id: I2fed28c01491c5a8431e813102a423d12b659911
- Declare every nonzero default; make the defaults cross-check total.
- Skip default-valued attributes in the hand-written writer paths.
- Fix type facts on hand-read elements, found by the dm_control diff.
PiperOrigin-RevId: 958999733
Change-Id: I3064ccc6ae1f049c20f273abc234cd02990a8b7e
- Declare the full child lists of the body-alias elements.
- Verify read-table coverage: every generated row array must be consumed.
- Fix stale attribute facts on hand-read elements.
PiperOrigin-RevId: 958685667
Change-Id: I4a914f3136a5078eb8ca24aa4e162d55afafd923
The writer consumes the same generated rows as the reader.
mjXWriter::WriteAttrTable drives the mechanical attributes of an
element from its mjXAttr rows: each bound field is compared against
the class default at the same offset -- the default object is the same
struct type, so the rows carry no comparison values -- and attributes
equal to their default are skipped. A null default object means the
element has no defaults, and every defined value is written.
Ranged-arity rows write with trailing-default trimming, which the
reader makes round-trip exact by refilling from the same default.
Call sites upcast to the private mjs base (the friend declarations
permit it; mjCMesh gains the friendship its siblings had); the
comparison object is def->X().spec, a freshly-defaulted struct for
the sections, or zero-initialized for size, whose spec defaults (-1,
auto) are resolved by compilation.
Converted: pair, geom, site, joint, camera, light, material, the
equality family, both tendon types (the fixed rows are the spatial
rows without appearance attributes -- exactly the tag difference), the
actuator, flex with its three sub-elements, mesh, skin, option, the
six visual sub-sections, statistic and size. The remnants keep names,
files, resolved reference strings (the mjC classes null their private
base's string pointers; resolved names live behind accessors), and the
writing=custom policies the schema declares: compile directives never
saved (fromto, springdamper, fitscale), type-dependent lengths and
attributes (sizes, joint pos/axis/limited, shellinertia), and
alternatives (mass/density, fovy-versus-intrinsics, the plugin-gated
gain/bias family). Compiler keeps its write-if-nonzero policy;
keyframe keeps its model-sized vectors.
Saved files are canonical: attributes follow schema declaration order
with remnants trailing, and sections follow the schema's dependency
order (statistic before visual, deformable before the contact and
equality sections that name flexes, tendon before the equality
constraints that name tendons, custom demoted to the data tail).
Uniform behavior fixes fall out: default-equal positionals are
dropped, dynprm is trimmed like every other ranged vector, and mesh
material -- read into the spec but never written -- now survives
save/load round trips. Changelog entries ride along.
Verified: full suite, doc_test, and the two-tier A/B harness --
saved XML reorders attributes, and every corpus model reloads to a
byte-identical binary.
PiperOrigin-RevId: 958255003
Change-Id: I5fe7346014450db88b2f3f8680a8f616f7d31266
Every mechanical attribute read in MJCF now derives from mjcf.schema.
generate_read_table.py emits typed mjXAttr rows (mjcf_read_table.inc,
doc_test-gated) binding each attribute to its spec struct field; field
offsets are offsetof() expressions, so binding mistakes are compile
errors, and the field's C type -- parsed from the headers -- selects the
row kind, so mjtNum-versus-double is decided by the struct, not the
schema. mjXReader::ReadAttrTable is the generic loop; its static core
also serves the section parsers and records XML-authored fields via
mjs_setAuthored for attach conflict resolution. Row kinds cover
strings, string lists, numeric scalars and vectors (exact and ranged),
enums (int- and byte-width), bitwise flag sets, bools, unbounded typed
vectors, fixed char arrays, and identity constants declared by 'set'.
The rows are inline variables, and carry the writing=custom flag,
because the writer will share them.
The keyword maps the rows reference are generated too: the ~48
hand-written mjMap tables become mjcf_map.h, one map and size constant
per enum as C++17 inline variables, retiring the hand-maintained
extern block in xml_base.h. Map names follow the schema enum names
(fluid->fluidshape, TFAuto->FalseTrueAuto, FAuto->FalseAuto,
joint->jointtype, geom->geomtype, jac->jacobian); all maps are
key-order- and value-identical to the hand tables they replace, and
bool_map is hand-emitted (the bool type is built in, not a schema
enum).
The OneX() parsers reduce to genuine irregulars, schema-marked as
reading=custom: orientation alternatives, file attributes (VFS and
asset-dir context), the actuator shorthand remappings and per-type
input maps, springlength's one-value copy, mesh builtin construction,
hfield elevation, texture cube files, flexcomp seeding, the memory
suffix parse, and the flag bit families. All 41 sensors that are pure
identity-plus-references -- including the frame family and insidesite
-- dispatch through a generated tag table; frame-sensor
objtype/reftype vocabulary tightens from the full mju_str2Type
namespace to the documented body/xbody/geom/site/camera subset, so an
invalid keyword now fails at parse time instead of compile time. The
equality family and both tendon types read shared group rows; the
twelve actuator shorthands share the general rows, with per-tag
legality enforced by the schema check. Sections bind non-mjs structs,
the visual sub-sections reaching their anonymous sub-structs through
member paths declared by an element-level field= facet.
Latent irregularities surfaced by the migration and preserved via
schema declarations or remnants: key's name is set even when absent,
eulerseq and gridlayout are fixed char arrays (chars[n], arity in
characters), gridlayout's length-must-match-gridsize stays a
value-conditional remnant, and constructor-style elements (tendon
wraps, asset model, replicate, attach) are annotated as such -- their
attributes are arguments, not field writes.
Two coherence tests guard the schema against the C sources: every
schema enum constant must be a member of the C enum it claims, and
every C member must be a keyword, a count sentinel, or a documented
exemption; and generate_default_table.py emits one row per defaulted
attribute (mjcf_default_table.inc), compared by SchemaDefaultsTest
against a freshly-constructed spec -- the schema cannot disagree with
the C default-constructors without failing the suite.
Verified: doc_test regenerates and diffs every artifact; the full
suite; and an A/B harness compiling the model corpus against the
pre-migration reader -- saved XML and binary models are byte-identical.
PiperOrigin-RevId: 958075724
Change-Id: I9715fe4deeb438eec988fd5084d74ba8b466b10b
The hand-written MJCF[] table in xml_native_reader.cc is replaced by
mjcf_table.inc, emitted from mjcf.schema by generate_mjcf_table.py and
checked for freshness by doc_test. nMJCF is now self-sizing. The two
tables are identical as trees of (tag, cardinality, attribute-set);
within-row attribute order changes where the schema factors shared
groups and projects default-context rows, and top-level rows follow
the schema's dependency order -- neither affects validation, which is
set-based, nor XMLschema.rst, whose generator orders sections itself
(regenerated here, reading the .inc instead of the reader source).
The schema's constraint declarations become enforcement: the emitter
writes a companion MJCF_constraints[] array (row-indexed into MJCF[]),
and mjXSchema::Check evaluates each element's constraints after its
attribute check, with uniform messages derived from the declaration:
"at most one of 'fovy', 'sensorsize' can be specified", "attributes
'reftype', 'refname' must be specified together", and so on.
Multi-attribute bundles render as ('site1', 'site2').
Fifteen hand-written co-occurrence checks across fourteen elements are
deleted -- connect/weld semantics mixing and completeness, the actuator
transmission mutex, camera fovy/sensorsize, light directional/type,
inertial fullinertia-versus-orientation, rangefinder and the distance
family, contact's matching criteria, user-sensor pairing, the frame
family's reftype/refname, size memory exclusivities, mesh builtin
exclusions, and attach body/frame (newly declared). Tests assert the
uniform messages.
Two findings along the way: sensorsize-requires-resolution is a
value-level compiler rule (positive resolution), not a presence rule --
a presence constraint would be wrong and is not declared; and Size()'s
nstack/njmax range checks tested the spec value before assignment, so
they never validated the parsed value -- now they do.
Verified by compiling all 81 models in the model/ corpus.
PiperOrigin-RevId: 958064622
Change-Id: I802cf5c0aee08a62926e36a281320ff9e34c0668
The complete MJCF surface in one hand-maintained file: 144 elements, 8
shared attribute groups, 47 enums, 1,497 typed attributes with
defaults, the presence-constraint inventory previously visible only as
hand-written reader checks, and the save policies previously visible
only as hand-written writer logic.
The language is a small IDL: elements bound to their mjSpec structs,
typed attributes with arities and defaults, enum keyword sets with C
bindings, reusable and variant groups, explicit name/reference
namespaces (id<ns>/ref<ns>, following dm_control's
identifier/reference model), child cardinalities, presence constraints
(exclusive/together/requires/oneof over attribute bundles), bitwise
flag sets, identity constants (set field = CONST), fixed char arrays
(chars[n], arity counting characters), numeric range facets, and two
escape hatches: reading=custom (no typed binding is generated; both
reading and saving are hand-written) and writing=custom (the binding
drives the reader, the save policy is hand-written).
doc/generate/mjcf_schema.py is the dependency-free parser and semantic
validator; errors report file:line; 55 unit tests. The language is
documented by the cheat-sheet legend at the top of the schema file.
The schema was bootstrapped by extraction from the sources of record --
the MJCF[] table, the mjMap keyword tables, the ~660 ReadAttr*/MapValue
call sites, mjspec.h struct fields, and the default-constructors in
user_init.c and engine_init.c -- then hand-curated. Same-tag elements
that differ by context are distinct declarations carrying an xml=
facet; worldbody, frame and replicate carry alias=body, mirroring
mjXSchema::NameMatch. The top-level order is by dependency, what a
saved file should read like: front matter, declarations before use,
the tree, the sections that reference it, the data tail.
PiperOrigin-RevId: 958060695
Change-Id: Ie10fd9f0ef202a3626f4d635d02c8731a4d287df
<pid kp kv|dampratio [ki imax] [slewmax]> is a PID controller with real position and velocity setpoint inputs on a single force output, plus an optional feedforward input. With a zero velocity setpoint it reproduces <position> bit-exactly; the input signature is any subset of [pos, vel, ff], selected with input="..." and recorded as mjtCtrlInput bits in
actuator_ctrlspec; absent setpoint inputs are fixed at zero, so the control vector contains no inert entries.
kp and kv are single-sourced in the affine bias parameters (biasprm[1,2]) with no gainprm mirror: every consumer of the position-servo shape
(dampratio conversion, inheritrange, qDeriv) reads one location, which is what makes the bit-exact <position> parity possible. Controller state uses dyntype 'pid' with slot-gated activations in the order [slew, integral], following the dcmotor slot idiom: slewmax (dynprm[1]) rate limits the effective position setpoint through an activation holding it;
ki (gainprm[0]) integrates the position error -- wrapped on rotational transmissions -- with anti-windup clamping of the integrand at imax (dynprm[0]). Both features require the pos input. Servo input unpacking is shared with the dcmotor controller (unpackServoInputs); per-input ranges are exposed as posrange/velrange/ffrange.
This subsumes the functionality of the mujoco.pid plugin with proper activation state: correct under all integrators, visible to keyframes, act sensors and reset. Migration: kp/ki/kd map to kp/ki/kv, plugin imax is in force units (divide by ki), slewmax carries over; the single ctrl becomes input="pos".
PiperOrigin-RevId: 957588898
Change-Id: Id2786836ca6e76f58e5b5cc8323fc23be0a53784
https://youtu.be/17XpwnqyCXs
New transmission type mjTRN_SO3: a relative orientation, targeting a ball
joint or a site+refsite pair. It is the first transmission with more than
one force output: its length is the norm of the expmap vector of the
relative rotation and its moment axes are the 3 rows of the
relative rotational Jacobian, without projecting onto per-actuator gears.
New force law mjGAIN_SO3/mjBIAS_SO3: a geodesic PD servo, force =
kp * log(q_current^-1 * q_target) - kv * velocity, exact for arbitrary axis
combinations with a unique equilibrium at every commanded orientation.
Error, moment rows and velocity all live in the child frame (joint or
site): the right-difference error is the gradient of the geodesic
potential in that frame. The parent-frame (left) error is not: driving
child-frame torques with it pumps energy at large angles, settling into
steady-spinning limit cycles (the SO3LargeAngleConvergence test). The
integrator variant stores the 3D orientation setpoint in act (actnum = 3,
re-anchored to a bounded representative at integration time). Exposed in
MJCF as <orientation joint=|site=+refsite= kp kv|dampratio>, or via
<general gaintype="so3" biastype="so3">.
The setpoint input has two charts: an expmap target (3 controls, default)
or a quaternion target (4 controls) -- <orientation input="quat">, the
first actuator with different input and output widths. The signature is
recorded in a new per-actuator field actuator_ctrlspec (mjtCtrlChart),
whose meaning is scoped by the gain type the way gain/bias parameters are;
ctrlnum is derived from it at compile time and remains the layout
authority. An explicit field rather than width inference or a prm slot:
width-as-chart cannot express same-width signatures (upcoming servo input
subsets), and prm slots are the input_mode pattern this stack retires.
The force law normalizes the commanded quaternion, making it scale- and
antipodally-invariant. The all-zero ctrl still maps to the identity via
mju_normalize4, but it is a degenerate point (a nudge of any component
commands a half-turn), so quat inputs reset to the identity quaternion:
new mj_resetCtrl sets neutral ctrl values (zero, except qw = 1), called
by mj_resetData and the viewers' Clear All. The quat chart is
restricted to dyntype 'none': integrating a quaternion setpoint linearly
is not meaningful on the manifold. New mjsActuator.ctrlspec field carries
the signature through the spec and XML round-trip.
Actuator sensors (actuatorpos/vel/frc) now report one value per force
output; dim = 3 on an SO3 actuator.
As the first actuator with nu != nactuator, this commit also makes the
viewers multi-input aware: the control sliders in simulate and studio,
which indexed per-actuator arrays by control index (out of bounds on
this model class), are generated per control and labeled with the
actuator name plus an input suffix ("orient/qw"), via the new
introspection helper mj_actuatorInputName -- the single source of truth
for input names, extended by each new multi-input type (quaternion
components are w-first: qw, qx, qy, qz). Slider ranges now honor a
defined ctrlrange even when ctrllimited is false: range is the UI hint,
limited is the clamp -- wrapped and expmap setpoints are unbounded but
still want finite sliders, while quat components are truly bounded.
The rotational demo model is orientation.xml under
test/engine/testdata/actuation/, upgraded to a three-way contrast:
per-axis wrapped servos vs an expmap-commanded vs a quat-commanded
orientation actuator, on identical checker-textured boxes. It is loaded
by the mixed-axis contrast and input-name tests, and doubles as the
viewer test model (slider groups of 3 independent, 3 grouped, 4 grouped).
PiperOrigin-RevId: 951607063
Change-Id: If235dba8e2f2ca72672e7c62531a27e967c6a373
https://youtu.be/GioWwB36XHI
The new geom attribute adhesion (units of force, signed; pair-level
override) translates the contact friction cone along its normal so
that the force origin lies strictly inside it. Consequences: each
contact can pull with up to the given force before breaking, and the
tangential friction budget becomes mu*(f_N + adhesion) -- the
Mohr-Coulomb yield condition with cohesion c = mu*adhesion -- so
lightly-squeezed grasps retain a guaranteed friction floor.
A translated cone factors exactly into {constant attractive force}
+ {original cone}, so no solver kernels change. The implementation is
this factorization: a constant attraction along contact normals
accumulated into the new mjData.qfrc_adhesion (summed into
qfrc_passive), plus a bias of adhesive contact rows' reference
acceleration (aref += R*adhesion), which makes resting penetration
exactly independent of adhesion. Contacts of adhesive pairs remain
active throughout the gap zone, producing rows with positive violation
whose reference acceleration pulls: a tether that resists pull-off
smoothly, captures objects released within the band into steady
contact, and detaches at the specified force. Adhesion values of the
two geoms combine by sum; explicit pairs override.
mj_contactForce reports the net interface force (cone force minus the
adhesive pull), whose normal component can now be negative. Negative
adhesion is allowed and produces a repulsive offset (air hockey).
PiperOrigin-RevId: 950858148
Change-Id: I879c08eba7ae501e5c0f8c2f807167344da4c2bc
- Wrapping in force path is local; act is re-anchored at integration time.
- Remove hardcoded `actrange` for intvelocity actuators.
PiperOrigin-RevId: 949566477
Change-Id: I349fdf17eedfbb2174d698cc1a6a91d52810b4a3
https://www.youtube.com/watch?v=PdSdrqhSiZA
The new geom attribute surfacevel (6 numbers: linear and angular velocity in the geom's local frame, angular about the geom frame origin) specifies the velocity of the geom's surface material relative to the geom frame. The relative surface velocity of the two geoms is added to the tangential contact rows of efc_vel in mj_referenceConstraint, so friction drives touching bodies toward the motion of the surface: objects on a conveyor are transported at belt speed, turntables impart omega x r with torsional spin-up for condim >= 4, and surface velocities compose with each other and with body motion. The component along the contact normal is projected out: probe experiments showed that velocity-space emission chatters mass-independently and ingestion merely deepens penetration; normal-direction effects belong to force-space features.
surfacevel is interpreted in the geom frame as authored: for mesh geoms, whose compiled frame absorbs the mesh centering and principal-axes transform, the compiler re-expresses the authored value in the compiled frame.
No special interaction with sleeping: objects being transported do not fall asleep because they are moving; objects at rest on an active surface may sleep like any other resting object.
Includes showcase models (model/surfacevel/): a luggage carousel whose ring is a spinning square-profile supertorus fed by a cascade of belts with matched spinning end rollers, bags dropping in and circulating indefinitely; and a treadmill with a passive humanoid.
PiperOrigin-RevId: 948647785
Change-Id: I0c6559a91cc7ece1237eb8ac2e51986e7342d962
Extend mjpResourceProvider with an optional write callback (write)
so that mj_encode, mj_saveXML, and mj_saveModel can write to any
registered provider.
PiperOrigin-RevId: 945202741
Change-Id: I37903425260932e555f4a8c2392c4ff8c2e6cc06
On Windows, std::filesystem::path::string() returns backslashes while
zip entries use forward slashes. This caused lookup mismatches making
MJZ decoding fail on Windows with 'could not decode content'.
Use generic_string() (which always returns forward slashes) for all
path operations used in zip entry lookups, and normalize the archive
name at construction time.
PiperOrigin-RevId: 943538265
Change-Id: I50cafff82fd7f5f315ccfc890f660e138e4448a2
Undo mistaken auto-format of the schema table, revert it to be more human-readable.
PiperOrigin-RevId: 941628625
Change-Id: Ifc51996da9a7df9d1a03392a0ade256fb8b1c151
The `<attach>` element now supports a "frame" attribute, allowing users to specify either a "body" or a "frame" to attach to, but not both. The XML parser has been updated to handle this new attribute and the mutual exclusivity constraint.
PiperOrigin-RevId: 941245904
Change-Id: I4c0edeed5f3a9e456aed96c373b1647fe79841d9
For example when loading parent_merge.xml:
```
WARNING: Attach conflict when attaching 'child' to 'parent_merge', policy is 'merge'
timestep: parent has 0.005, child has 0.002, taking the minimum
iterations: parent has 50, child has 100, taking the maximum
flag 'Damper': added from child
```
When loading parent_error.xml:
```
XML Error: Attach conflict when attaching 'child' to 'parent_error', policy is 'error'
timestep: parent has 0.005, child has 0.002
iterations: parent has 50, child has 100
Element 'attach', line 10
```
PiperOrigin-RevId: 933620810
Change-Id: Ib477863b5ef763474d27fb4be5a4148be1d5d500
Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.
PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
--
3439d8a5cd745dfd2776593916eead65cb456afc by Kevin Zakka <kevinarmandzakka@gmail.com>:
Respect an explicit CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF
The default-LTO guard checked the value rather than whether it was DEFINED, so an
explicit -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF (used in CI to cut build time)
was silently flipped back ON. Check DEFINED instead; default-on for Release is
preserved when the caller makes no choice.
--
bd15d1b264e5ab9594669b58fa1e0388d0a16f6b by Kevin Zakka <kevinarmandzakka@gmail.com>:
Speed up CI
~10x faster on the POSIX jobs (~45m -> ~4-5m) and ~2x overall wall-clock.
- Build Studio/Filament and WASM only in their dedicated canary jobs, not in
every matrix job (WASM uses emcc, which ignores the host compiler).
- Compiler matrix -> build_matrix.json with core/extended tiers: PRs build the
core set, pushes to main run the full sweep.
- ccache across build jobs (studio cache keyed on the Filament pin); fix the
Python-bindings build so ccache hits (CCACHE_BASEDIR).
- Disable IPO/LTO on POSIX (it was silently on); keep it on Windows where /GL-off
exposes a latent test bug and build time is not the bottleneck.
- Run ctest in parallel on POSIX (~2x); uv for Python installs (~29s -> ~8s).
- Move MJX (compiler-independent) to a single dedicated job.
- Restrict GITHUB_TOKEN to contents: read; bump actions off deprecated Node20.
--
c0618ab7aef524b238e0a30f2f23c50c4ce0c9b1 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Build the gcc jobs with LTO off too
Restores LTO-off for gcc (recovering the build-time win). That surfaces known
gcc-12 -Wrestrict false positives in libstdc++ <char_traits> at -O3; two clean,
behavior-preserving rewrites in the XML writer avoid them. Confirmed gcc-12 and
gcc-14 build clean with LTO off (PR #3325).
--
2c38da0f48f77635e58e4b7931b86d60f3c253c7 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Respect explicit IPO=OFF in the Simulate and Sample options too
Apply the same DEFINED check as cmake/MujocoOptions.cmake to the simulate/ and
sample/ subprojects (which carry identical copies of the guard) to keep the three
in sync, as the internal import requires. Since the guard now honors =OFF, stop
forcing IPO=OFF on the tiny samples/simulate CI builds so they keep their default
LTO and don't expose the gcc -Werror false positives that -O3-without-LTO triggers.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3315 from google-deepmind:speed-up-ci 2c38da0f48f77635e58e4b7931b86d60f3c253c7
PiperOrigin-RevId: 930008698
Change-Id: Ic41dc87881833c95f2ebfc0602de1ed438db3d4f
The function called tinyxml2's LoadFile directly, which only works on
the OS file system. Reading through mju_openResource lets it work
against any registered backend (VFS, HTTP, github:, ...).
Since the mjz format is just an archive for MJCF assets this seems like a sensible place. The upcoming mjz encoder will also need to make use of the full precision XML utility that is local to src/xml.
PiperOrigin-RevId: 912044746
Change-Id: I6a9fef24b1c3fec5b5edc3a8d4c8e22584273264
This change adds a new passive force computation for flexes with elastic2d="bend" and dof="trilinear". The bending energy is based on the squared difference of normals between adjacent face elements at their shared edge midpoint. The edge data is precomputed during model compilation and stored in flex_bending.
PiperOrigin-RevId: 910772638
Change-Id: I3b12c7b7f1ba6ac1875df495d89e8cfec921ca80
Each mjEQ_FLEXSTRAIN equality now represents a single cell within a flex. This allows for more efficient sparse Jacobian computation by only considering the degrees of freedom of the nodes within each specific cell. This change gives a speedup of about 10x on a 3x3x3 model.
PiperOrigin-RevId: 902164069
Change-Id: I78eedf1d5cf39b8989fe9863c22d164922fc0efb
This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell.
PiperOrigin-RevId: 901216393
Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264
Alessio Quaglino