7f7c5ec943
Fix mismatch in mju_wrap function signature definition.
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PiperOrigin-RevId: 675204328
Change-Id: I820f10237b6d3bfd36067a9c3aef82cb1908ef6a
2024-09-16 10:34:22 -07:00
e94bd8348c
Store polytope faces in heap in NativeCCD.
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PiperOrigin-RevId: 675197250
Change-Id: Ibe9194d777d68729bffd085e36313fb33ee2756d
2024-09-16 10:17:20 -07:00
48fee9487e
Clean up tendon wrapping code.
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PiperOrigin-RevId: 675185000
Change-Id: I3d93d7ce65b617c4869eb002dfe9440efa9abf66
2024-09-16 09:47:22 -07:00
ce3681a26d
Replace hard-coded mjNCATENARY with mjVisual.quality.numslices.
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PiperOrigin-RevId: 675157138
Change-Id: I87ea16e4df8ed63b301ceaeac6e1b1d0513b77a0
2024-09-16 08:25:19 -07:00
4628a5e438
Remove vertex struct from NativeCCD and allocate fixed memory for vertices on MuJoCo stack.
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PiperOrigin-RevId: 675144892
Change-Id: I23d3316b9346ce7137bcfe84265717b60950898a
2024-09-16 07:45:53 -07:00
2ffa0fe942
Avoid freeing model and/or data twice in case of errors during the compilation process.
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PiperOrigin-RevId: 675136721
Change-Id: Ibe01216f86893db44a8279c560c307726fb03f81
2024-09-16 07:18:15 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
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PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
b15de2c951
Add elasticity parameters to the schema.
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PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:56:36 -07:00
015bdeb756
Disallow repeated nameless assets that use the same file, except for URDFs.
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PiperOrigin-RevId: 675114055
Change-Id: I142811ac2d8ef9e12bb8a06d5f3a2fdac02946da
2024-09-16 05:50:50 -07:00
60a1921b34
Add site semantics to weld constraint. Fixes #1896
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PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:46:01 -07:00
2da15cf137
Add flex elasticity stiffness matrix to mjModel.
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PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 05:00:54 -07:00
c77babe046
Fix a bug in MuJoCo's user_mesh.cc that caused meshdir_ to be overwritten when a model was loaded with a nested model.
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PiperOrigin-RevId: 675092713
Change-Id: Iad6336141749510bf5544cab9c06533ee1589c08
2024-09-16 04:22:13 -07:00
fd17b2144a
Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
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build / windows-2022 (push) Has been cancelled
build / macos-12 (push) Has been cancelled
build / ubuntu-20.04-clang-10 (push) Has been cancelled
build / ubuntu-20.04-clang-11 (push) Has been cancelled
build / ubuntu-20.04-clang-12 (push) Has been cancelled
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build / ubuntu-22.04-gcc-9 (push) Has been cancelled
Also, minor type-related fixes in `user_mesh.cc`.
PiperOrigin-RevId: 675082329
Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
2024-09-16 03:40:17 -07:00
9f8f6947fc
Remove global linear search in favor of (almost constant time) local search when finding the convex hull of the polytope and new point in EPA for NativeCCD.
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PiperOrigin-RevId: 673852140
Change-Id: Ib2ab64bad3cd2aa7d252b4016754f37ea30e1077
2024-09-12 08:11:30 -07:00
8d165d5cc7
Fix early termination in GJK. It's possible for x_k to be the origin, so we should run the previous test to conclude that the objects are colliding.
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PiperOrigin-RevId: 673834101
Change-Id: I596b30d2847670261f8067840b34dc13de401ecb
2024-09-12 07:17:53 -07:00
14f420069e
Make projectOriginPlane in NativeCCD numerically robust.
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PiperOrigin-RevId: 673761409
Change-Id: I64304c89f768414d60e2dcf2e71feb8a6f9b2635
2024-09-12 03:01:15 -07:00
567793c26f
Store model paths in assets.
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This enables to preserve the paths of the child spec during `attach`.
PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
2024-09-11 05:20:14 -07:00
e4d4153352
Move sanitizer instrumentation to a separate header file. Fixes #2049 .
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PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
2024-09-10 09:05:35 -07:00
4862b9e765
Remove plugin support from Composite particles.
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This functionality is replaced by FlexComp.
PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
2024-09-09 04:58:26 -07:00
44145742a7
Exit GJK early if geom distance doesn't need to be recovered.
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PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
2024-09-08 14:57:50 -07:00
61721f8d3c
Set tolerance in GJK to zero for colliding discrete geoms.
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PiperOrigin-RevId: 672326091
Change-Id: Iddec335272461c9aee13c1960640a453ff59f841
2024-09-08 13:49:58 -07:00
4fc6fb179b
Remove libccd compatibility layer from native ccd.
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PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
2024-09-06 06:56:01 -07:00
621ea29382
Improve error message for keyframe size mismatch. Fixes #2041
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PiperOrigin-RevId: 671069582
Change-Id: Ie63d3bf2b543f7bb5e3c123093095e76a95b7b48
2024-09-04 12:58:31 -07:00
b9822e4347
Check hexahedron in polytope3 to make sure it contains the origin. Otherwise, EPA can return invalid results.
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PiperOrigin-RevId: 671057312
Change-Id: Ieb21a77ea679ee5c18972d3a0375578d9a98405e
2024-09-04 12:17:54 -07:00
79a5bd0915
Add better boundary tests in polytope3 for EPA.
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PiperOrigin-RevId: 671038835
Change-Id: I259260a7b40e825678b52187bee4791266ae10c4
2024-09-04 11:25:44 -07:00
8954a088ce
Add automatic free-joint alignment.
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PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
ae4987026c
Add tree element support to mjs_firstElement() and mjs_nextElement().
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PiperOrigin-RevId: 671003046
Change-Id: I9e07d7c85c7218e9bded0f50af9db62d0f1e21e1
2024-09-04 09:46:24 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
0e8c0b80eb
add content_type to model in the XML schema.
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PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
2024-09-04 07:25:55 -07:00
e9a85764ea
Native CCD: Replace mju_malloc with C standard malloc, fix bug in computing v5 in polytope3, and add another warning in EPA.
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PiperOrigin-RevId: 670939250
Change-Id: Ia0d8b7c78ed2ef7019f2a691c066b20e98dc1889
2024-09-04 05:53:31 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
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PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
42eb669e4e
Precompute mappings between M <-> D sparse representations.
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PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
2024-09-04 02:57:13 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
9cab5a42a4
Remove unnecessary normal vector computation from mju_wrap cylinder case.
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PiperOrigin-RevId: 669010760
Change-Id: Ie3869a9f112ca88b2a7ec4990c402ef3e92d36a8
2024-08-29 11:46:38 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
f3cfe7a84a
Minor clean up in mj_jac.
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PiperOrigin-RevId: 668395751
Change-Id: I5c3104ad59a5a709cf1639df663c864fa9d02399
2024-08-28 04:45:40 -07:00
3e701b2125
Fix tendon sphere wrapping when using external sidesite.
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PiperOrigin-RevId: 668391942
Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
2024-08-28 04:30:07 -07:00
72a0ab145d
Refactor frustum drawing to use a local makeTriangle function.
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PiperOrigin-RevId: 668168658
Change-Id: I0ee9038c36eb28e2c4a0a8c94bea7430f68c6b77
2024-08-27 15:42:31 -07:00
ddb29e9293
Fix bug in computing pos in EPA by replacing S2D with computing affine coordinates directly to recover the witness points.
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PiperOrigin-RevId: 668006152
Change-Id: I1de33c5bb94de1a14523a88a5dff7d6ec984628e
2024-08-27 08:55:40 -07:00
cad8ca6ffd
Do pre-checking when creating initial polytope for EPA.
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PiperOrigin-RevId: 666807572
Change-Id: I64c3715dc72c24f9b6b2206b3568951bd8c2384a
2024-08-23 08:37:34 -07:00
9d4f8edad9
Avoid pointer access in loop conditionals in engine_core_smooth.c
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PiperOrigin-RevId: 666800203
Change-Id: Iec6ce752d0cac1a98809ab085ed8f94416f79e95
2024-08-23 08:13:52 -07:00
d360ea1ce6
Minor GJK + EPA improvements:
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1. Correct stopping criteria for GJK.
2. Store witness points from EPA in mjCCDObj,
3. Get dir directly from EPA instead of computing dir from witness points.
PiperOrigin-RevId: 666791852
Change-Id: I6a168f635b57c17692d31da6f6076b48c32ff2e3
2024-08-23 07:44:30 -07:00
505d01a1c1
Add error handling to mj_recompile.
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This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception.
PiperOrigin-RevId: 666784579
Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48
2024-08-23 07:18:28 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
2efbd31762
Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts.
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PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
2024-08-22 06:08:25 -07:00
8b03daa09b
Add mjtSameFrame enum to specify frame alignment of bodies with their children.
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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:17:06 -07:00
f986a52e1e
Compute witness points from EPA, and use witness points to determine pos and dir for contact.
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PiperOrigin-RevId: 665791337
Change-Id: If33ca1f455804c4cda534508803f5c3e99c3c52a
2024-08-21 03:06:17 -07:00
ad9cd7301e
Correctly apply frame transform to light direction.
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PiperOrigin-RevId: 665340267
Change-Id: Ida16ddbf3a057ffd3e260b71180a45acbf749931
2024-08-20 06:48:11 -07:00
5d91231d31
Rename mjBuffer to mjByteVec.
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PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
2024-08-19 10:40:26 -07:00
4aab00fa2d
Minor cleanups to body and joint compilers.
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PiperOrigin-RevId: 664824939
Change-Id: I6014ff10683849e2926f1b1c8df8b6862192cd00
2024-08-19 08:43:10 -07:00
Yuval Tassa