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9902b73502d7dff0ebf20f3881b8dbbb3d95147d
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83 Commits

Author SHA1 Message Date
Yuval Tassa 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. 
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
 2023-09-18 10:53:35 -07:00
Yuval Tassa 812e617fe9 Clear mjData.actuator_moment more selectively. 
PiperOrigin-RevId: 566324919
Change-Id: Ie453f8de059d39fa1ebd5248f33a18758ee748af
 2023-09-18 09:27:03 -07:00
Yuval Tassa 86d8b912f4 Rejigged solver statistics in preparation for islanding. 
- 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
Alessio Quaglino 8064ad59c8 Add camera projection sensor. 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
 2023-09-12 08:16:20 -07:00
Saran Tunyasuvunakool 2f14a7c102 Make asan instrumentation in mj_(mark|free)Stack cheaper. 
Symbolization and string comparison results are now cached.

PiperOrigin-RevId: 564697198
Change-Id: I0447f283a90143e2f67ecd90d895a36a078b3981
 2023-09-12 06:06:04 -07:00
Saran Tunyasuvunakool a07e172770 Make MuJoCo work with -fsanitize=alignment. 
PiperOrigin-RevId: 563702045
Change-Id: Ieca69595b7e2fc1e35ca69754d7cc7971825f48b
 2023-09-08 03:29:34 -07:00
Google DeepMind 040d3efce2 Add options for controlling early termination criteria of CG/Newton linesearch. 
Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
 2023-09-06 12:02:58 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Yuval Tassa d5292976de Add internal utility for zeroing int vectors. 
Remove unnecessary branches in related functions.

PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
 2023-09-05 07:15:14 -07:00
Matthew Bennice 6225186964 Add threading primitives. 
PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
 2023-09-04 20:09:19 -07:00
Saran Tunyasuvunakool 94a8705ad0 Add mj_markStack and mj_freeStack as public API functions. 
Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).

PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
 2023-09-04 17:04:11 -07:00
Yuval Tassa 9308e1d383 Add internal utility for zeroing int vectors. 
PiperOrigin-RevId: 562608956
Change-Id: I25ff1bbf9abf8fe2a636ed1d728d10ae862e04c9
 2023-09-04 14:27:11 -07:00
Saran Tunyasuvunakool 33f51856c1 Check that alignment is power of 2 in mj_stackAlloc. 
PiperOrigin-RevId: 562024496
Change-Id: I9230c6dc05ebb78e935f9b2f606aa77c921d67e5
 2023-09-01 12:45:35 -07:00
Google DeepMind ba5cf4d54d Address -Wint-conversion issues. 
PiperOrigin-RevId: 561604684
Change-Id: I31af8621f8506d2e029c4ca630982f82ea4cfca9
 2023-08-31 03:25:02 -07:00
Kyle Bayes f86e8b449f Refactor VFS logic out of ResourceProvider plugin code. 
PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
 2023-08-30 04:47:24 -07:00
Saran Tunyasuvunakool 215433f5f7 Implement mj_stackAlloc and mj_arenaAlloc alignment using bitwise-and. 
This implementation explicitly avoids calling division instructions (which are generally expensive) even when link-time optimization is not active or if the alloc functions aren't inlined for some reason.

Also make mj_stackAlloc cheaper for external callers who may be linking against MuJoCo dynamically (and therefore cannot benefit from inlining).

PiperOrigin-RevId: 561299565
Change-Id: Iea4be5bf6d351ddf0c9d1fd8bd89a0c207b39309
 2023-08-30 04:29:18 -07:00
Saran Tunyasuvunakool 4c899b92cc Rename mj_stackAllocByte to mj_stackAlloc and make it public. 
PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
 2023-08-29 14:07:54 -07:00
Saran Tunyasuvunakool daa2ac7f8b Rename nstack to narena, change it and pstack to count bytes. 
PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
 2023-08-29 10:13:33 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Yuval Tassa df1b3515c7 Add mjData.nl: number of active limit constraints. 
PiperOrigin-RevId: 561012367
Change-Id: I9a01fec55502f8a90d7435972e477455ae29df15
 2023-08-29 06:32:18 -07:00
Saran Tunyasuvunakool 1f5a9e8c70 Reinstate max_align_t alignment in mj_stackAllocByte. 
PiperOrigin-RevId: 559433104
Change-Id: I891a6a0562cab1c3af0e3dc395304207ca3a3190
 2023-08-23 08:22:31 -07:00
Yuval Tassa 90f58ebe5d Rename mj_stackAllocBytes to mj_stackAllocByte 
PiperOrigin-RevId: 559071711
Change-Id: I19072e07ac86ee0486703aa48b0dceb297f5f893
 2023-08-22 04:43:53 -07:00
Matthew Bennice 1d36b57d83 Switch from max_align_t to mjtNum until we sort out the git builds 
PiperOrigin-RevId: 558982369
Change-Id: I24d9fd6400dae5e1bc1753ee74484da635ea8ecd
 2023-08-21 21:30:49 -07:00
Matthew Bennice c2e586f303 add c stddef to engineio 
PiperOrigin-RevId: 558949604
Change-Id: Ibe7fbb1a7fb3fcc9258bff3aae260a805eb853dd
 2023-08-21 17:51:08 -07:00
Matthew Bennice 59138af10b Refactor stack allocations to have a clean byte allocation interface. 
PiperOrigin-RevId: 558881470
Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
 2023-08-21 13:18:29 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -07:00
Yuval Tassa e4dddea42a Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage. 
PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
 2023-08-14 11:17:47 -07:00
Yuval Tassa 51aa375af0 Improvements related to models where joint-actuator relationship is not one-to-one: 
- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.

PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
 2023-07-19 10:29:32 -07:00
Alessio Quaglino e2677d6057 Check references for BVH data structure. 
PiperOrigin-RevId: 547175700
Change-Id: I10e47f0c81ad25563d1f149bf4d2310ee515b1be
 2023-07-11 06:49:20 -07:00
Kyle Bayes ac1f41160d Add engine internal error macro mjERROR to prepend calling function to error function. 
PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
 2023-06-19 03:29:31 -07:00
Yuval Tassa 455b1cd2e2 Add spaces around comparison operators in engine source files. 
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
 2023-05-28 05:02:34 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Kyle Bayes 67f0f5154f Add various improvements for resource providers. 
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
 2023-05-05 07:03:49 -07:00
Saran Tunyasuvunakool b362cb4972 Expose a handle for the Python viewer. 
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.

To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.

Fixes https://github.com/deepmind/mujoco/issues/796

PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
 2023-04-20 05:59:19 -07:00
Kyle Bayes fe3dccfd1d Add a new plugin / extension mechanism called a resource provider along with retrofitting VFS on top of it. 
A resource provider provides a mechanism for MuJoCo to read from filesystems other than the OS filesystem or the Virtual File System (VFS).

PiperOrigin-RevId: 525394983
Change-Id: I077ff5a7e2e76806b48b6defb531280aadc8b169
 2023-04-19 03:02:22 -07:00
Saran Tunyasuvunakool 3e85ef5f38 Remove spurious whole-arena copying in mj_copyData. 
Fix #568

PiperOrigin-RevId: 524929990
Change-Id: I164cb98cff752bf5d0a506bc0a290198775da0ef
 2023-04-17 13:14:58 -07:00
Kristian Hartikainen f287fb020c Fix mj_sizeModel 2023-04-05 11:09:23 +01:00
Alessio Quaglino 5f132af625 Add midphase and broadphase statistics to mjData. 
PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
 2023-04-03 00:59:59 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -07:00
Nimrod Gileadi 145fe7f354 Declare loop variables inside for loop declaration where possible. 
PiperOrigin-RevId: 518846098
Change-Id: Icdb2e5894bd80110552e29270472eeb242e6cf2c
 2023-03-23 06:49:09 -07:00
Kyle Bayes dfd463cdb5 Reset nnzJ in resetData. 
PiperOrigin-RevId: 517976421
Change-Id: I329c0096d368062f150c6dbeec181f5b0eeefcbf
 2023-03-20 08:33:36 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Alessio Quaglino 70959c1a2c Added a collision midphase on geom pairs using rotated AABBs static trees. 
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
 2023-03-17 02:37:29 -07:00
Yuval Tassa 47b58f5ccb Move memory-alignment static utility from engine_macro.h to engine_io.c 
PiperOrigin-RevId: 517259347
Change-Id: Ic3f67e9018fe8903e709128674c0da10032e2162
 2023-03-16 16:27:29 -07:00
Yuval Tassa 8c7f6ce5a0 New implicitfast integrator and sparse RNE derivatives for implicit. 
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
 2023-03-15 13:17:41 -07:00
Kyle Bayes d3d789cf7d Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated. 
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
 2023-03-09 13:51:27 -08:00
Alessio Quaglino 9756ed0d80 Read normals and textures from OBJ, do not duplicate vertices. 
PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
 2023-02-17 10:15:25 -08:00
Saran Tunyasuvunakool ace5b74f83 Rename inteval attribute in mjLROpt to interval. 
PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
 2023-02-13 10:54:25 -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