Noise injection was occurring at every iteration of the physics thread, rather than before every call to `mj_step`, leading to time-step-dependent noise rate.
- Moved the logic from main.cc to a `Simulate::` method, called before `mj_step`.
- Reduced the maximum time-scale slider value back to 4 seconds (recent increase was due to this bug).
PiperOrigin-RevId: 643350296
Change-Id: I96832905e6614f92ac725298b16fcabe64ea1df1
Fixes#1719.
Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.
PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
- Use `ctrl` as filter state rather than external preallocated buffer.
- Scale and clip to control ranges.
- Exponential decay to the middle of the range.
- Scale is now [0 1] (scaled to range).
- Rate is now [0 20].
PiperOrigin-RevId: 642586333
Change-Id: Id45a0420736a6edcf09be1db53d9320e7df2c668
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.
PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
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
This prevents an invalid memory access when the stack is used in engine_vis.
Fixes#1219.
PiperOrigin-RevId: 588017796
Change-Id: I1ee18c5aa5e96ccaeebb0a467cd384355882b80b
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/H9qG9Zf2W44Fixes#1092.
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
- 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
Fixes#1110.
The code was using outdated indices since 48eb75ae92. It now uses the more stable pdata pointer.
PiperOrigin-RevId: 574805349
Change-Id: If6112fb2af7d60f17b35599233b24f33b6a8cac6
The segfault is caused by a call to mjui_update outside of the macOS main thread, introduced in 3e12f0d50c.
PiperOrigin-RevId: 572531447
Change-Id: Ib8424c746d18a776c0b91087d9501aa8ee463026
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
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
- 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
Yuval Tassa