f763254a00
Updating Mujoco Release version number to v3.1.3
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PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
2024-02-05 15:59:20 -08:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
2feefbc5d2
Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID.
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PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
2024-01-17 10:54:23 -08:00
67a00a3a51
Rename mjMAXTHREADS -> mjMAXTHREAD (consistency).
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PiperOrigin-RevId: 599130235
Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
2024-01-17 04:33:44 -08:00
6860e953ed
Improve docstring of mju_eig3.
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PiperOrigin-RevId: 595380013
Change-Id: Ia3663c11ff1cd50a35d5d72ba01e09ff3d9054d0
2024-01-03 06:04:08 -08:00
7fb448613f
Post release version update: Update to V3.1.2
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PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
2023-12-18 15:03:37 -08:00
7cb7c87f70
Fix a few issues with the passive viewer.
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1. Create an arena for the mjData instance used by the passive viewer visualization.
When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.
2. Add missing a missing field in scene state for flex visualization.
3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.
4. Add some locks in places where the render thread and Simulate::Sync collide.
This fixes #1280 .
PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
2023-12-18 07:33:19 -08:00
38fa756a20
Add mjGEOM_LINEBOX, used in visualization of collision trees.
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PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
2023-12-15 05:36:35 -08:00
c2c76195dd
Updating Mujoco Release version number to v3.1.1
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PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
2023-12-13 14:26:08 -08:00
fcebdf4d09
Update MuJoCo to v3.1.0 for release.
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PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
2023-12-12 10:37:47 -08:00
28a9e6d9a2
Add mjNOBJECT value to mjtObj enum.
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PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
2023-12-12 05:15:00 -08:00
1885d518eb
Use the string (rot:lin) in mjdata.h to clarify where 6D motion vectors use the Featherstone convention. Also add clarifying text to the appropriate note in the documentation.
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Fixes #982 .
PiperOrigin-RevId: 589556339
Change-Id: I3e7ff185a089715a386694321d4b89d09d481cf9
2023-12-10 03:27:44 -08:00
c0b7b9873d
Store paths for hfields, textures, and skins similar to meshes.
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PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
2023-12-02 03:51:25 -08:00
822b03446c
Improve pipeline documentation, expose mj_implicit function to public header.
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PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
2023-11-29 10:18:57 -08:00
8010aad7be
Add flex_elemlayer to mjvSceneState. Fixes #1193 and #1219 .
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PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
2023-11-27 02:25:05 -08:00
f2025c6abf
Allow plugin actuators to have activation state.
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Accept new attributes on the plugin/actuator tag:
- dyntype
- dynprm
- actlimited
- actrange
- actearly
This addresses some of the requests in #1098 .
PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
2023-11-23 05:14:03 -08:00
1554048856
Bump dev version number to 3.0.2.
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PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
2023-11-15 12:51:04 -08:00
e3b3f96373
Add flex_texcoordadr to mjvSceneState. Fixes #1193 .
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PiperOrigin-RevId: 582630943
Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
2023-11-15 05:02:05 -08:00
8a5e2b19a8
Improve mjContact documentation. Fixes #1136
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PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
2023-11-06 07:28:51 -08:00
5a9239e11c
Improve inline documentation of mj_passive and mj_subtreeVel.
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PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
2023-11-06 05:12:11 -08:00
893c404230
Runtime disabling of actuators according to group.
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Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.
- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.
https://youtu.be/H9qG9Zf2W44
Fixes #1092 .
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
2023-10-31 16:24:38 -07:00
7e419276ca
Increase maximum number of UI elements per section in Simulate.
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PiperOrigin-RevId: 578268786
Change-Id: Ia584fb1782a6f20cdb64ec13bfa0bbcb211b1165
2023-10-31 12:36:39 -07:00
50843cad30
Add defaults to SDF plugin attributes.
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Expose diameter and number of teeth for the gear SDF.
PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
2023-10-30 03:09:25 -07:00
034bb62986
Add cam_intrinsic to mjvSceneState.
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Add `frustum.xml` to engine_vis_state_test models.
Fixes #1115 .
PiperOrigin-RevId: 576567292
Change-Id: I642c32a87427507580046d2d260263c689d50c99
2023-10-25 10:17:42 -07:00
1a47a97040
Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114 .
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Added `frustum` to `rgba` and `scale` in the `visual` section.
PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
2023-10-25 09:08:20 -07:00
a89412bb4a
Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.
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PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
2023-10-25 05:01:45 -07:00
01a932e052
Fix flex constraint Jacobian for edges belonging to a single body.
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PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
2023-10-20 02:49:34 -07:00
269d88ad92
Bump dev version number to 3.0.1.
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PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
2023-10-18 15:01:21 +01:00
8f9c690c85
Add MJX and bump version number to 3.0.0.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
2023-10-18 10:33:29 +01:00
59164702ab
Merge pull request #978 from aftersomemath:depth-precision-in-place
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PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
2023-10-12 11:18:36 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
2e15574b58
Allow user-defined visualization geoms to be added to the passive viewer.
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Fixes #1023 , #1082
PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
2023-10-10 10:52:21 -07:00
8af09eb70d
Add timing of collision phases.
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PiperOrigin-RevId: 572273621
Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
2023-10-10 09:27:45 -07:00
77d0400733
Accelerate inertia computation for simple bodies.
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PiperOrigin-RevId: 571411319
Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
2023-10-06 12:51:14 -07:00
071af3b015
Implement threading for island constraint solving.
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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
ee78b8f76b
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
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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
177aec68dc
Add overlay positions in the center of viewport edges, move PAUSE and LOADING... overlays to the top center.
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PiperOrigin-RevId: 570054949
Change-Id: If0046df382e67ad3a48e7138a75e9e200c0626b9
2023-10-02 07:05:50 -07:00
9e51f20ce2
More fixups to mjtDepthMap names
2023-09-29 19:53:58 -04:00
56403b4dce
Fixups to comments and flags for reversed Z rendering
2023-09-29 19:53:58 -04:00
2e52bf807b
Add flag to mjrContext to support legacy depth mapping by default
2023-09-29 19:53:57 -04:00
d32eb6bd12
In place change to reverse Z rendering and 32 bit float offscreen depth buffer
2023-09-29 19:53:47 -04:00
fc7b212369
Support reversed Z rendering and float32 offscreen depth buffer
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Combined, both options greatly improve camera depth accuracy compared to
OpenGL default Z mapping and int24 depth buffer.
Requires GL_ARB_clip_control and ARB_depth_buffer_float extensions
2023-09-29 19:52:09 -04:00
36d2ffe4f2
Specify camera parameters using standard robotics conventions.
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PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:19:19 -07:00
8ed321d469
Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section.
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PiperOrigin-RevId: 568911603
Change-Id: I8f21c3d1cc9c73b6a95292a50f262b1a199d0898
2023-09-27 11:32:10 -07:00
7f8018a3f3
Update XML parsing to store asset path so that assets can be recovered and sent to external renderers
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PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
2023-09-21 10:27:52 -07:00
4f34cacf35
Add maxuse_threadstack to mjData
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PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
2023-09-21 09:41:00 -07:00
9cf1f6eba4
Remove mjOption.collision and associated option/collision attribute.
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PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
2023-09-18 15:15:54 -07:00
9902b73502
Rename mj_stackAlloc to mj_stackAllocByte.
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PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
2023-09-18 10:53:35 -07:00
63fd23a934
Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE.
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- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.
- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).
- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).
PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
2023-09-16 08:03:45 -07:00
86d8b912f4
Rejigged solver statistics in preparation for islanding.
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- 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
Meghha Dhoke