a006b15958
Add map from objects names to their index.
...
Also some minor cleanup of repeated code in user_model.
PiperOrigin-RevId: 589135294
Change-Id: I16f22c4dbdde961cedc042af3bdc9d3577d33459
2023-12-08 08:14:16 -08:00
d12fe594d9
Add suffix to duplicated assets.
...
PiperOrigin-RevId: 588775467
Change-Id: I3a0d2a14601cf018b0c8c56728bd3ae22adb8ec2
2023-12-07 06:46:51 -08:00
c0b7b9873d
Store paths for hfields, textures, and skins similar to meshes.
...
PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
2023-12-02 03:51:25 -08:00
51d80564fa
Don't initialize plugins during model compilation.
...
PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
2023-11-27 11:01:08 -08:00
21334ea704
Delete local frame members from MJC objects.
...
PiperOrigin-RevId: 585629699
Change-Id: I12dbd235dee49223fa7b1a097f04561da69550a0
2023-11-27 06:07:53 -08:00
eb9568a48b
Add frame element to MJCF.
...
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
2023-11-27 03:32:18 -08:00
f2025c6abf
Allow plugin actuators to have activation state.
...
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
97d99c84ce
Delete the temporary mjData if model reference validation fails.
...
PiperOrigin-RevId: 575852845
Change-Id: I2146dbc510b48c310ac338adcd5d53cb9f38b383
2023-10-23 10:07:55 -07:00
01a932e052
Fix flex constraint Jacobian for edges belonging to a single body.
...
PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
2023-10-20 02:49:34 -07:00
d88675a034
Change the default of <compiler autolimits> from "false" to "true".
...
PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
2023-10-13 05:05:24 -07:00
5a70ad08ab
Add Flex component.
...
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
77d0400733
Accelerate inertia computation for simple bodies.
...
PiperOrigin-RevId: 571411319
Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
2023-10-06 12:51:14 -07:00
ee78b8f76b
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
...
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
36d2ffe4f2
Specify camera parameters using standard robotics conventions.
...
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.
...
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
...
PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
2023-09-21 10:27:52 -07:00
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
0ba10cc4f0
Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat}
...
Fixes #409
PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
2023-09-10 15:25:59 -07:00
f86e8b449f
Refactor VFS logic out of ResourceProvider plugin code.
...
PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
2023-08-30 04:47:24 -07:00
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
fdb041580c
Add Signed Distance Field to collision geometries.
...
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
3e034e38b2
Add constraint island discovery
...
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
7e1c65b10e
Improve CRB code:
...
- remove mj_crbSkip since this was only utilized during compile time to compute m->dof_m0, replaced with mj_crbDiag to compute only the diagonals for dof_m0,
- change row backward pass to forward pass to optimize processing diagonal blocks,
- and various code refactoring.
PiperOrigin-RevId: 556799924
Change-Id: I0a18d7a45862860fdddd7150540ddc8d64b01b29
2023-08-14 08:32:12 -07:00
2c3297b3e7
Add filterexact and actearly options to MuJoCo.
...
When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.
When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.
PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
2023-08-07 04:50:33 -07:00
efca1a76aa
Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names ), and fix a couple of typos.
...
PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
2023-08-02 16:07:44 +01:00
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
188b04fba5
Use std::stable_sort in model compiler.
...
PiperOrigin-RevId: 538791034
Change-Id: I6c8eceffeb765a8a9801fee996d6ebf2964d8453
2023-06-08 08:21:34 -07:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
...
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
d40c395917
Add Visualization tab to simulate.
...
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
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
4c487e07ed
Add mesh BVH.
...
PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:31:06 -07:00
67f0f5154f
Add various improvements for resource providers.
...
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
2023-05-05 07:03:49 -07:00
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
b25728cc2e
Move tree construction to helper class.
...
PiperOrigin-RevId: 525171924
Change-Id: I28b572fa09a2ccc029e56f9a84808ac53a4e6ac9
2023-04-18 09:42:43 -07:00
bcb19fd85c
Merge pull request #802 from hartikainen:fix-typos
...
PiperOrigin-RevId: 523698082
Change-Id: Ib12bbf8b6a1e02f87a278a230dcb6e5d722d2a94
2023-04-12 07:49:14 -07:00
a611b7bf6d
Fix typos
2023-04-04 19:58:43 +01:00
7cc42ecf2a
Remove "global" option from [compiler/coordinate]( https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate ) attribute.
...
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older.
PiperOrigin-RevId: 521739137
Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
2023-04-04 05:59:38 -07:00
0e7e299bf6
Declare loop variables inside for loop in C++ files.
...
PiperOrigin-RevId: 518852339
Change-Id: I0174d873d89e48f11b816d337728f213c2798248
2023-03-23 07:22:36 -07:00
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
8c7f6ce5a0
New implicitfast integrator and sparse RNE derivatives for implicit.
...
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:17:41 -07:00
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
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
929e09f84a
Improve URDF geom name loading API.
...
PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
2023-01-27 07:29:45 -08:00
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
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
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
30b4309af9
Rename mjpPlugin.capabilities -> mjpPlugin.capabilityflags
...
PiperOrigin-RevId: 495080532
Change-Id: I81743472b816a331890a7cb05bfb7a89ebf07ff9
2022-12-13 11:33:27 -08:00
093125c2bd
Fix incorrect plugin error message during model compilation.
...
PiperOrigin-RevId: 495023028
Change-Id: Iec0fa213235793c1b96409d86b9e2af1055404b2
2022-12-13 08:03:36 -08:00
e4f1d584ad
Add control plugin API.
...
PiperOrigin-RevId: 493311715
Change-Id: Iccd99fb26004f39832818e378f01f9149a0e3e3b
2022-12-06 08:23:49 -08:00
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