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
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
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
- Added new `cable` composite type:
* The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
* The boundary bodies are exposed with the names:`B_left` and `B_right`.
* The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new `cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
* New cable example showing the formation of plectoneme.
* New coil example.
* New belt example showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
- `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed.
- The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected.
PiperOrigin-RevId: 467050101
Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7
Currently, if these functions fail to allocate space for the buffer or stack, it will exit without freeing any of the memory successfully allocated so far.
PiperOrigin-RevId: 466271030
Change-Id: Id01c115ec976482ac5d28c373b5eb47d77f424be
- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
Explicitly check that nmocap won't cause overflow when multiplied by 4, to give a nicer error message.
PiperOrigin-RevId: 465380712
Change-Id: I217e3759d55e9761b47db5efd892b8bc811ea8ae
While creating an mjData, any error triggers mj_deleteData. If buffer or stack is not NULL at that point, an uninitialized pointer will be freed.
PiperOrigin-RevId: 465378329
Change-Id: I9be0eef0648e05e3e5f1361da346a5046485cde7
nbody is already checked to be non-negative, but various pieces of code assume it's nonzero (because there's always a world body).
PiperOrigin-RevId: 465339241
Change-Id: I38ce3764074d03bf9a703aa490964c1eb83cc1da
The breakage was introduced in af12322e9d.
__has_builtin was introduced to GCC in version 10, and the arithmetic overflow builtins were available since version 5.
Fixesdeepmind/mujoco#386.
Tested with GCC 9.
PiperOrigin-RevId: 461463027
Change-Id: I76627539a5c0e7f5617b56a2c9ada9251bceb0f6
- Add basic test for keyframes.
- Add missing documentation for keyframe mocap positions and quaternions.
PiperOrigin-RevId: 459021649
Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
mj_makeModel returns NULL if any of the array sizes are negative. Callers of the function need to handle that case.
PiperOrigin-RevId: 457948558
Change-Id: I9a5c8c0d3293ed0a92c5791f00d3ed34c848e024
The introduction of additional mjData arrays for the implicit integrator caused in a shift in data alignment in memory. In certain combinations of machines and models, this change resulted in ~5% performance regression that appears to be attributable to L2 cache misses.
This change aligns all arrays in mjData to the boundary of a typical L2 cache line size. Benchmarking shows that this resolves the performance regression on a Broadwell machine.
PiperOrigin-RevId: 451652783
Change-Id: I4ed2c2d03453a83a0b4a9b8e224e2fd7c0dadea9
This allows us to detect reads and writes that are logically out of bounds.
PiperOrigin-RevId: 451520772
Change-Id: I614a8062c404d97148166bcd37db399420956d8b
Yuval Tassa