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929e09f84a2b843a7dca761ced74ea6b313b03de
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185 Commits

Author SHA1 Message Date
DeepMind 929e09f84a Improve URDF geom name loading API. 
PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
 2023-01-27 07:29:45 -08:00
Kyle Bayes c741dfce7d Implement a more performant mju_transposeSparse that doesn't require dense memory allocation. 
PiperOrigin-RevId: 505044194
Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
 2023-01-27 00:20:01 -08:00
Alessio Quaglino 6ba4d6f0de Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates. 
PiperOrigin-RevId: 502624466
Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
 2023-01-17 10:31:50 -08:00
Yuval Tassa 06557c1489 Set time correctly in mjd_transitionFD, to support time-dependent user code. 
PiperOrigin-RevId: 502380864
Change-Id: Ief36135a900c091d95e4450992c7c73e86de267c
 2023-01-16 07:52:17 -08:00
Yuval Tassa 6e02c19ebb Print contacting geom names, if non-empty, in mj_printData output. 
PiperOrigin-RevId: 502340142
Change-Id: I6359a1ea8fb515e13cb434e31d9592b9d6ce9181
 2023-01-16 03:08:33 -08:00
Yuval Tassa 5b942329d2 Fix various typos. 
PiperOrigin-RevId: 500951615
Change-Id: I3c61ef4328d77457d12091bbf75514872b53c2d0
 2023-01-10 03:59:27 -08:00
DeepMind 703b33c064 Add geom names to URDF parsing in MuJoCo. 
Fixes #566

PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
 2023-01-09 10:34:22 -08:00
Alessio Quaglino 19b6c70e13 Use global coordinates for computing the frame position of a primitive geom fitted to a mesh. 
PiperOrigin-RevId: 500720200
Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
 2023-01-09 08:29:27 -08:00
Yuval Tassa f19d5d2f28 Fix typo in mujoco.h 
PiperOrigin-RevId: 500675056
Change-Id: Ie4958609563b2826cc4965b42ad4d22248c733ef
 2023-01-09 04:04:25 -08:00
Saran Tunyasuvunakool 1215067f5c Add an option in mjrContext for mjr_readPixels output format. 
PiperOrigin-RevId: 500342924
Change-Id: I43e8c6208db341e2bdbef10382b7293c35bdca65
 2023-01-07 00:11:01 -08:00
Kyle Bayes 048bd43724 Fix various typos. 
PiperOrigin-RevId: 499888205
Change-Id: I38ccf9edb2a745fe8087f14b67ecccca872f7743
 2023-01-05 08:29:49 -08:00
Nimrod Gileadi f85f3fba2f Avoid duplicate contact points in compound bodies. 
Sometimes broadphase returns the same body pair multiple times. In those cases, avoid creating every contact twice.

PiperOrigin-RevId: 499869235
Change-Id: I58606168b0723d40b4fdd43b1fafad79bf35d76d
 2023-01-05 07:28:05 -08:00
Kyle Bayes 0c463366a0 Reduce internal names hash map from factor of 1 to 0.5. 
PiperOrigin-RevId: 499762072
Change-Id: Id4ea606b5c534c55665485c9f71412523164d2ed
 2023-01-05 01:29:14 -08:00
Kyle Bayes f1007df013 Implement hash map for mj_name2id using djb2 and linear probing. 
PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
 2023-01-04 07:57:55 -08:00
Kyle Bayes 5261cceb30 Fix typo in engine_io.c. 
PiperOrigin-RevId: 499422793
Change-Id: Ic3a0d6dcc9119041267555efd6a8addb944d6639
 2023-01-04 01:35:28 -08:00
Yuval Tassa 4bc76c93ae Remove "name" attribute from plugin specifiers. 
PiperOrigin-RevId: 499187319
Change-Id: I0755a071eb4eee917fdf32db49a47fd16afa58f9
 2023-01-03 05:03:20 -08:00
Tom Erez 45184bfa55 Fix Typo. 
PiperOrigin-RevId: 499185052
Change-Id: I159271a229c90f38836d607511459edbe1d501bb
 2023-01-03 04:49:48 -08:00
Yuval Tassa 95b9a0f215 Fix typo, improve error message. 
PiperOrigin-RevId: 498473694
Change-Id: I9b04df14f4afbe7148c3083da26451020bd2ebc9
 2022-12-29 17:15:10 -08:00
Kevin Zakka bc02c2455e Sensor plugin parsing: Ensure sensor reftype is only assigned if a value in the XML exists. 
PiperOrigin-RevId: 495314131
Change-Id: I5f955c435474de1dd1d75f7a7492e3a21ea9d289
 2022-12-14 07:57:29 -08:00
Yuval Tassa 30b4309af9 Rename mjpPlugin.capabilities -> mjpPlugin.capabilityflags 
PiperOrigin-RevId: 495080532
Change-Id: I81743472b816a331890a7cb05bfb7a89ebf07ff9
 2022-12-13 11:33:27 -08:00
Saran Tunyasuvunakool 5c021d042b Modify signature of plugin reset callback. 
The `reset` function is called inside `mj_resetData`, before any physics forwarding call has been made. It is therefore an error to read anything from mjData at this stage.

The only valid operation on mjData during `reset` is for a plugin to write into its own state variable slots and data struct. We modify the function signature to only provide access to these.

PiperOrigin-RevId: 495032492
Change-Id: Ic6d2967d2571a9083cbca1ba239ca70a8a51f474
 2022-12-13 08:41:35 -08:00
Saran Tunyasuvunakool 093125c2bd Fix incorrect plugin error message during model compilation. 
PiperOrigin-RevId: 495023028
Change-Id: Iec0fa213235793c1b96409d86b9e2af1055404b2
 2022-12-13 08:03:36 -08:00
Alessio Quaglino 3de2873883 Add deprecation warning for the Rope Composite type. 
PiperOrigin-RevId: 494985209
Change-Id: I6ce7ca2aeae6f1e798bd4bda9b755852add26a36
 2022-12-13 04:35:48 -08:00
Nimrod Gileadi 7076da6909 Correctly validate the size of user sensors in mj_validateReference. 
PiperOrigin-RevId: 494877162
Change-Id: I0a070d7813efea6216d15270f62b6009c55e1a54
 2022-12-12 17:49:06 -08:00
Saran Tunyasuvunakool 946c12faae Add missing semicolons after mjFREESTACK. 
The code is already well-formed since the macro itself contains a semicolon, however this is stylistically inconsistent with the rest of the codebase. The missing semicolon is also problematic for automated code transformations.

PiperOrigin-RevId: 494734527
Change-Id: I9aef5844c8c3cce6eefea8f8bf13a4ab3dd79878
 2022-12-12 08:22:37 -08:00
Saran Tunyasuvunakool e9869d3bf3 Add a missing TM_END call when mj_fwdConstraint returns early. 
PiperOrigin-RevId: 494375187
Change-Id: I013b6cdac06350a6c563fb686df9104dfb7258dd
 2022-12-10 04:13:58 -08:00
Alessio Quaglino 2d304d65e5 Use memcmp for mju_compare if no AVX. 15% faster on Humanoid. 
PiperOrigin-RevId: 493324356
Change-Id: I5f71dc1a8ae40c18864ea80f00a5f86ff952f72c
 2022-12-06 09:14:33 -08:00
Alessio Quaglino 7f459ab8ca Print vertex IDs when inconsistent face is found. 
PiperOrigin-RevId: 493311839
Change-Id: I0283d86bc6092fbe4f47b845fa8ec212bffdfa1a
 2022-12-06 08:24:46 -08:00
Saran Tunyasuvunakool e4f1d584ad Add control plugin API. 
PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
 2022-12-06 08:23:49 -08:00
Kyle Bayes 73fb61e3e2 Bump version number to 2.3.1. 
PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
 2022-12-05 12:13:55 -08:00
Yuval Tassa dee1d6020a Make "acc" the default computation stage for sensors of type user. 
PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
 2022-12-03 07:50:15 -08:00
Alessio Quaglino 0d52feaa94 Add updateScene callback for plugins. 
PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
 2022-12-02 10:11:32 -08:00
Alessio Quaglino 89185b4af2 Using full path when adding a file to VFS. Fixes #616. 
PiperOrigin-RevId: 492204185
Change-Id: If2b2230c095fe0bb776fcc3ffda48f13d0be5cb2
 2022-12-01 08:34:20 -08:00
Alessio Quaglino 26f71e2f6c Check that spacing is greater than geometry size for Composite particles and grid. 
PiperOrigin-RevId: 491858371
Change-Id: I03a669286c283a72947705463426badcfc9b0bfd
 2022-11-30 02:17:42 -08:00
Saran Tunyasuvunakool df25d7d602 Raise an informative error when running on macOS under Rosetta 2. 
Current users only get a cryptic "Illegal instruction" crash.

Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
 2022-11-29 12:19:06 -08:00
Alessio Quaglino d0b1a97338 Deformable solid plugin for particles. 
Using coordinate-free formula equivalent to linear finite elements.

PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
 2022-11-28 05:32:30 -08:00
Yuval Tassa 165e72f798 Apply force perturbations at selection point rather than body center-of-mass. 
PiperOrigin-RevId: 489996756
Change-Id: I87870a0c1d173449f15a7249f2459a6b726ff417
 2022-11-21 09:13:16 -08:00
Alessio Quaglino 638c9a6994 Support capsules in URDF import. 
PiperOrigin-RevId: 489980760
Change-Id: I1c21e736a86f6637a00e2062727d2e6fd5694c42
 2022-11-21 07:58:42 -08:00
Yuval Tassa 45b3af78a0 Fix typos. 
PiperOrigin-RevId: 489681378
Change-Id: I867ef743e27aedfb4b732671246c8e8e880943f0
 2022-11-19 07:02:10 -08:00
Yuval Tassa 221c63d744 Sensors of type user no longer require objtype and objname. If unspecified, the objtype will be mjOBJ_UNKNOWN. Also, `user sensors datatype default is now "real"`. 
PiperOrigin-RevId: 489652972
Change-Id: I0a8f21ee1a2f5292e6bbcfe3785536cfd1498b85
 2022-11-19 02:05:42 -08:00
Saran Tunyasuvunakool 9ecade0707 Move plugin loading and scanning logic from Simulate to MuJoCo library. 
PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
 2022-11-16 13:15:51 -08:00
Alessio Quaglino 7b0fbc63f8 Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac. 
PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
 2022-11-14 07:31:32 -08:00
Alessio Quaglino 7b7fc09d1f Raise error if an invalid curve is specified for the cable composite. 
PiperOrigin-RevId: 486967001
Change-Id: I7220966e172400542417d8f715dbee0c0f154d9b
 2022-11-08 09:05:44 -08:00
Alessio Quaglino 9fc9823a8c Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores). 
PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
 2022-11-08 08:38:45 -08:00
Yuval Tassa 5004a4c8c5 Better memory setting and reporting, updated example models. 
- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.

PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
 2022-11-07 10:36:37 -08:00
Alessio Quaglino 3b89b0fd30 Particles with arbitrary geoms and joints. 
Fixes #553

PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
 2022-11-07 03:22:25 -08:00
Alessio Quaglino fd4d47e4a5 Format memory warning in human-friendly way. 
PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491
 2022-11-07 02:56:07 -08:00
Alessio Quaglino fc24097b92 Compute nonzero default mass value only if geom is not in the default section. 
Fixes #561.

PiperOrigin-RevId: 486604407
Change-Id: Ie62578808f96f0de3a2353c6bc4cc8bd3ae3afbc
 2022-11-07 02:18:31 -08:00
Yuval Tassa 36b30e4500 Allow more than 1 activation state per actuator, but only for dyntype user. 
Fixes #305.

PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
 2022-11-07 01:43:02 -08:00
Yuval Tassa c83be2bc05 Add mju_clip, mju_fill, mju_eye and mju_symmetrize to python bindings. 
- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.

PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
 2022-11-02 09:22:28 -07:00