chenlin/Mujoco_WASM
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81 Commits

Author SHA1 Message Date
Kyle Bayes 31384bdfeb Speed up String2Vector. 
PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
 2024-03-05 02:50:26 -08:00
Alessio Quaglino 9efa4ebe0b Move CompareModel to fixture. 
PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
 2024-03-05 02:24:32 -08:00
Yuval Tassa 8679c9fc59 Fix null pointer deref for unknown class names. 
PiperOrigin-RevId: 610391077
Change-Id: I5abd62ff46e31e788f06fe111adb3c25287d4fdc
 2024-02-26 06:38:52 -08:00
Kyle Bayes 24eb4c9f09 Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible. 
PiperOrigin-RevId: 608312069
Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
 2024-02-19 05:40:31 -08:00
Yuval Tassa 05150546e3 Add inheritrange attribute to position and intvelocity actuators. 
PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
 2024-02-16 04:42:44 -08:00
Yuval Tassa f9f7827a64 Trim trailing default values in saved xmls. 
For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:

- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.

PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
 2024-02-16 01:36:06 -08:00
Alessio Quaglino 414a67640a Add mjmDef to C API. 
PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
 2024-02-15 06:17:58 -08:00
Kyle Bayes eabd4c06f9 Move schema definition validation from runtime to a test. 
PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
 2024-02-12 09:49:48 -08:00
Kyle Bayes ff39d0b812 Keep include elements while parsing XML. No change in behavior. 
PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
 2024-02-12 03:54:44 -08:00
Yuval Tassa 3601026b1d Refactor handling of auto-limits. 
PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
 2024-02-10 22:01:13 -08:00
Matthew Bennice b9c50ad79c Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias. 
PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
 2024-02-06 17:21:31 -08:00
Matthew Bennice 84f20ffb66 Automated g4 rollback of changelist 604607692. 
*** Reason for rollback ***

breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's

*** Original change description ***

Move fullinertia from mjCAlternative to mjCBody.

***

PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
 2024-02-06 09:47:04 -08:00
Alessio Quaglino 737342bdfe Move fullinertia from mjCAlternative to mjCBody. 
PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
 2024-02-06 04:43:12 -08:00
Alessio Quaglino df76b55fe0 Add line error check to user_objects and xml_native_reader tests. 
PiperOrigin-RevId: 603714614
Change-Id: Ic031f33a9a6eb45b3e61cb666e0d4890bfe08275
 2024-02-02 09:57:49 -08:00
Yuval Tassa e143b3dbc0 Allow height-field elevation data to be specified in XML. 
PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
 2024-01-29 06:59:28 -08:00
Yuval Tassa 5b2c98f8f1 When saving XMLs, don't round floats that are bigger than INT_MAX. Fixes #1278 
PiperOrigin-RevId: 590692020
Change-Id: Icd11d20f47bc4163eb4378f4cb031b8fd9d13612
 2023-12-13 13:13:15 -08:00
Yuval Tassa b22919543d Fix bugs related to saving of <statistics> values. 
Before this change:
- User-modified values of `mjModel.stat.{meanmass, meaninertia}` would not be saved to XML.
- Non-user-modified values of `mjModel.stat.{meansize, extent, center}` would always get saved to XML.

After this change values are saved to XML only if provided by the user, either in the XML or by changing values in `mjModel` before saving.

PiperOrigin-RevId: 589473351
Change-Id: I4dcf4892ef61c35edf424226e731232d861bad8d
 2023-12-09 16:06:39 -08:00
Yuval Tassa 762371c3e4 Add kv damping attribute to position and intvelocity actuator shortcuts. 
PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
 2023-12-06 04:28:30 -08:00
Alessio Quaglino eb9568a48b Add frame element to MJCF. 
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
 2023-11-27 03:32:18 -08:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
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/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Nimrod Gileadi 393cfec1e8 Don't use PluginTest as the fixture name in xml_native_writer_test 
PiperOrigin-RevId: 574129298
Change-Id: I8c3e10bf271d54cb414b8d2af3724d8c81b6fc80
 2023-10-17 06:32:37 -07:00
Yuval Tassa 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
Yuval Tassa 493ae95d69 Add stack leak test to WriteReadCompare 
PiperOrigin-RevId: 572953669
Change-Id: Id6cad3fc86777d68f218119f67c9dc473bdcfcc8
 2023-10-12 10:53:24 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Alessio Quaglino d3d46e16a4 Remove cloth and rope composites and deprecate loop. 
PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
 2023-09-25 03:38:43 -07:00
Alessio Quaglino 1afd98ec4b Add [SdfLib](https://github.com/UPC-ViRVIG/SdfLib) plugin to first-party SDFs. 
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
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
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
Yuval Tassa 55173e58f9 Save <compiler {boundmass/boundinertia}> if nonzero. 
Fixes #928

PiperOrigin-RevId: 560967976
Change-Id: Idc8c043278362d8925ce41061c65f3e678ad50ce
 2023-08-29 02:41:22 -07:00
Yuval Tassa cf310079e2 Don't allow quat="0 0 0 0" in XML. 
PiperOrigin-RevId: 557535436
Change-Id: Ie71246da5fff67a7cc37cb1801dd88d4a79b5766
 2023-08-16 10:47:23 -07:00
Kyle Bayes 5f246ef210 Add ReadAttrVec, ReadAttrArr, ReadAttrStr, and ReadAttrNum to XML utils. 
Moving forward, the compiler objects should have encapsulated data, therefore the old ReadAttr* methods are being deprecated as they require raw pointers to read into.

No external changes other than minor improvements to ReadAttr and ReadVector.

PiperOrigin-RevId: 550880401
Change-Id: I632f40322ccd935f9af9b69e66b056c5cda6face
 2023-07-25 07:31:23 -07:00
Kyle Bayes 24c1ec9aec Add support for printing to stdout in mj_saveLastXML. 
PiperOrigin-RevId: 546849864
Change-Id: I799ea3fcd723cf036f82ef5c1ef8152c314072dc
 2023-07-10 06:08:10 -07:00
Alessio Quaglino 46e06c4cac Add elasticity plugins to xml_native_writer_test. Fixes #961. 
PiperOrigin-RevId: 545454207
Change-Id: I4e93499eaa53e5bc8c8afa682986657cef3ac20f
 2023-07-04 08:30:30 -07:00
Yuval Tassa 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
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
Saran Tunyasuvunakool fbbdf70401 Make XMLWriterLocaleTest hold a copy of the old locale string. 
The rationale is the same as in 0d0a41d549. XMLWriterLocaleTest still sporadically fails with a stack buffer overflow error when built with MSVC 2019 prior to this change.

PiperOrigin-RevId: 534035241
Change-Id: I1c50457e386724021b8d97ab1fb9cc2ece795292
 2023-05-22 05:34:24 -07:00
Yuval Tassa 770b4b363a Added optional smoothing to muscle dynamics: 
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.

PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
 2023-05-12 04:58:53 -07:00
Yuval Tassa c65e046043 Don't save actdim="{0,1}" for state{less,ful} actuators, respectively. 
actdim has a default value of -1 (==unset), which means it currently gets saved for all actuators. After this change, it will only be saved if the value is > 1, errors are thrown for stateful actuators with actdim=0 and stateless actuators with actdim>0.

PiperOrigin-RevId: 520627313
Change-Id: Ia498dae5c7314cfaa0995f8077d297c2339a5c35
 2023-03-30 07:00:17 -07:00
Yuval Tassa 0becf8fd98 Remove unused headers in test files. 
PiperOrigin-RevId: 520610859
Change-Id: I5ac906b422a7c02737af85f6a2aea46206f0cb28
 2023-03-30 05:26:33 -07:00
Yuval Tassa 1d6a9e09bb Don't save body pos if "0 0 0". 
PiperOrigin-RevId: 520598416
Change-Id: I5bb6ffaec386f228ac7a5fa221822000635900ae
 2023-03-30 04:09:22 -07:00
Yuval Tassa 3f9defa8d0 Don't save an empty <default/> section. 
PiperOrigin-RevId: 520594748
Change-Id: Ib5e1eb3a93e9d579adeda1052a2c29d724d6b497
 2023-03-30 03:51:14 -07:00
Yuval Tassa ddfcd3b325 Don't save body gravcomp if 0. 
PiperOrigin-RevId: 520592156
Change-Id: Ifb85c1e78498877bc576cfca224c41b3cf47c9ab
 2023-03-30 03:34:04 -07:00
Saran Tunyasuvunakool 5e989d18c3 Enable compiler errors for implicit switch case fallthroughs. 
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
 2023-02-10 03:49:00 -08:00
DeepMind 929e09f84a Improve URDF geom name loading API. 
PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
 2023-01-27 07:29:45 -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
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 638c9a6994 Support capsules in URDF import. 
PiperOrigin-RevId: 489980760
Change-Id: I1c21e736a86f6637a00e2062727d2e6fd5694c42
 2022-11-21 07:58:42 -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
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