8eb36d9a7c
Improvements to simulate UI
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- Improved Help overlay text, mention shortcuts for UI toggle.
- Removed buttons for UI toggle.
- Moved Spacing / Color / Font to the end of the Option section.
PiperOrigin-RevId: 576480554
Change-Id: Ie1427b97cb784421490c276a8544d570a6042188
2023-10-25 04:03:38 -07:00
9393c690d4
Correctly handle full screen and vsync buttons.
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Fixes #1110 .
The code was using outdated indices since 48eb75ae92
2023-10-19 03:38:11 -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
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
ba03ebdadd
Fix a segfault in the passive viewer on macOS.
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The segfault is caused by a call to mjui_update outside of the macOS main thread, introduced in 3e12f0d50c
2023-10-11 04:06:23 -07:00
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
a1b39d5959
Fix a segfault in simulate on mouse scroll without a loaded model.
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Fixes #1089
PiperOrigin-RevId: 571985561
Change-Id: I4acc7c2a6032d678023783646c3f00cfe30641f2
2023-10-09 11:01:08 -07:00
e9613f0cc9
Rename simulate.fully_managed_ to simulate.is_passive_ with flipped semantics.
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PiperOrigin-RevId: 570815258
Change-Id: Iaffdb0e52bcdb31cff7bd29cb820913e3838f0ee
2023-10-04 14:49:52 -07:00
3e12f0d50c
Add history scrubbing mechanism to simulate.
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[screen capture](https://www.youtube.com/watch?v=YSvWn_poqWs )
PiperOrigin-RevId: 570676968
Change-Id: Id9a1fccc9418b851e007ddcf3fa89acd4edff3e9
2023-10-04 06:36:34 -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
639e77876d
Improved unpause behavior in simulate.
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PiperOrigin-RevId: 570030315
Change-Id: I5822f8686ba2fd7c5c59a9fa73fc29000a8406ec
2023-10-02 05:00:40 -07:00
b8a91a00ce
Merge pull request #1070 from aftersomemath:simulate-load-message
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PiperOrigin-RevId: 568995214
Change-Id: Iac7644c4b35a916aa6a7d1bb158ba15a024b43ac
2023-09-27 16:36:40 -07:00
ac74c72657
Fix issue where unpausing the simulation (especially under slowdown) causes a jump in simulation time, in both native simulate and Python viewer.
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PiperOrigin-RevId: 568948943
Change-Id: I2f401508555e272f348e97627aeb85cb3e9cf017
2023-09-27 13:46:19 -07:00
e7d1f2f110
simulate: fix display of loading message
2023-09-27 16:04:36 -04:00
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
492b6a72ec
Prevent patches to be applied to an already patched dependency.
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See https://gitlab.kitware.com/cmake/cmake/-/issues/21146
BEGIN_PUBLIC
Prevent patches to be applied to an already patched dependency.
END_PUBLIC
PiperOrigin-RevId: 565624168
Change-Id: I29b36d2cd02f58d5d9e84f9cae5e5bbf8be1b404
2023-09-15 02:58:54 -07:00
1afd98ec4b
Add [SdfLib]( https://github.com/UPC-ViRVIG/SdfLib ) plugin to first-party SDFs.
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The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
2023-09-14 06:42:42 -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
48eb75ae92
In simulate, by default, keep updating profiler and sensor figures in Pause mode. Add UI option to disable.
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PiperOrigin-RevId: 564710460
Change-Id: I893535e258ec2485d2ec997ecadfbdafba05bb99
2023-09-12 07:06:09 -07:00
860f7b376a
Fix GCC and MSVC build.
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PiperOrigin-RevId: 564390190
Change-Id: Icba3eefb394b8d17798679dd9876f127fba5a599
2023-09-11 08:17:08 -07:00
78183e60e1
Refactor thread pool implementation.
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- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.
Otherwise the functionality remains identical.
PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
2023-09-11 07:20:34 -07:00
7e5a7b76fc
Change GitHub org name to google-deepmind.
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PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
2023-09-07 12:34:20 -07:00
040d3efce2
Add options for controlling early termination criteria of CG/Newton linesearch.
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Useful for performance tuning models.
PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
2023-09-06 12:02:58 -07:00
329ed193ac
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
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PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
2023-09-05 11:05:04 -07:00
5279ce6f6f
Fix comment typo in simulate.cc
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PiperOrigin-RevId: 561921946
Change-Id: I423378df566be7a6ad88fb3526769d298ac32a3b
2023-09-01 04:56:34 -07:00
daa2ac7f8b
Rename nstack to narena, change it and pstack to count bytes.
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PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
2023-08-29 10:13:33 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
ac3ac0d28f
Fix timing plots issue in simulate.
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Before this change timing plots would report zeros if the render thread was faster than the physics thread, making them unreadable when slowdown was used.
PiperOrigin-RevId: 557432042
Change-Id: Ie9a18fb84cab788d11dfbede4e3052f24441b4c4
2023-08-16 04:03:50 -07:00
3e034e38b2
Add constraint island discovery
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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
6d7b49ccf5
Remove collision pruning statistics from simulate info panel.
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PiperOrigin-RevId: 554452244
Change-Id: I4f9f1d5e38d4b4bc37b5a2f0980b352db04a73c6
2023-08-07 06:05:13 -07:00
eaf78b798b
Bump dev version number to 2.3.8.
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PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
2023-07-20 03:27:50 -07:00
c9246e1f50
Release version 2.3.7.
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PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
2023-07-20 02:13:55 -07:00
06b70832ce
Add keyboard event callback for Python passive viewer.
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Fixes #766
Fixes #846
PiperOrigin-RevId: 549449372
Change-Id: I37d17f1162c66d0e8482d402aae22d9a16b59deb
2023-07-19 15:54:44 -07:00
f7847ba73e
Fix GLFW crash when Python exits while the passive viewer is running.
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Fixes #790
PiperOrigin-RevId: 549440435
Change-Id: I808f6aaab6662225e5fe1131e0da72eca6011ba9
2023-07-19 15:20:46 -07:00
0ccfef7314
Add update_{hfield,mesh,texture} methods to the passive viewer.
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Fixes #812 .
Fixes #958 .
Fixes #965 .
PiperOrigin-RevId: 548181282
Change-Id: I6eb0cd2ce52c66083e83dd08d69e0cfb4178dbba
2023-07-14 11:43:36 -07:00
242aea93c6
Bump oldest supported MacOS to version 11.
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PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
2023-07-12 06:38:26 -07:00
906a8e8b27
Correct shortening of camera name in simulate.cc (for UI menu item)
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Fixes #963
PiperOrigin-RevId: 545187656
Change-Id: Ib213d693569d884915fba99f150df4fd5f53984c
2023-07-03 04:32:27 -07:00
d40c395917
Add Visualization tab to simulate.
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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
bb8044e5f3
Set minimum tree slider depth to 0.
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PiperOrigin-RevId: 534003561
Change-Id: I42ccd0eab15b5a3c9852f8944c6b191f7999c113
2023-05-22 02:39:58 -07:00
20e06ba353
Add missing braces.
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PiperOrigin-RevId: 533419351
Change-Id: Iad54f6cb6d63c05e6a2f81526b22a914e2a23ba2
2023-05-19 04:35:12 -07:00
39723891ce
Use the correct string length argument to mj_loadXML.
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PiperOrigin-RevId: 531941053
Change-Id: Ia85b779b603a673b8e1d6f22d4bc183311204c4b
2023-05-14 14:40:36 -07:00
90e14ac8d0
Bump version number to 2.3.6.
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Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.
PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
2023-04-27 14:40:32 -07:00
c2115a1f51
Fix a mjvSceneState leak in the passive viewer.
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PiperOrigin-RevId: 526957248
Change-Id: I4f30faf097da64189607a4b98c6dff04fec773fa
2023-04-25 07:11:42 -07:00
db3b49b60f
Bump version number to 2.3.5.
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PiperOrigin-RevId: 526918869
Change-Id: I9f19600b0c1b855ef0834e5c026b204bf1dc06c4
2023-04-25 03:52:12 -07:00
a2a1ac9fc2
Pass mjvOption to plugin visualize callback.
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PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
2023-04-21 08:44:20 -07:00
94779a722a
Rename Differ to IsDifferent and tidy up its implementation.
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Startblock:
diffbase is submitted
PiperOrigin-RevId: 526024927
Change-Id: I718f3b98539f5c33a42f6254bc817a07459f694c
2023-04-21 07:14:26 -07:00
da17fdfcfd
Fix a macOS segfault in simulate.cc.
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The segfault was caused by updating the UI outside the main thread.
PiperOrigin-RevId: 526019783
Change-Id: I3a211ce8a65f10716778bb3310bb568e00309a32
2023-04-21 06:46:09 -07:00
d4414a0353
Initialize real_time_index to zero.
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In the passive viewer, this value wasn't initialized.
PiperOrigin-RevId: 525760119
Change-Id: I6635270a30556600a0c51ba1d2767da226ba0440
2023-04-20 08:55:32 -07:00
0630b7543d
Bump version number to 2.3.4.
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PiperOrigin-RevId: 525745444
Change-Id: I8a9994b72a0a2ba3f371bee2c2bea947ad8f4fd1
2023-04-20 07:52:46 -07:00
Yuval Tassa