The `grad` parameter in `volumetric_dSdx` and `invariant_dSdx` is not modified, but the `const` qualifier was inconsistent with how the array was being passed, requiring an unnecessary cast. Removing the `const` simplifies the function signatures and calls.
PiperOrigin-RevId: 884598322
Change-Id: Icac8071aa8e838057dd39c979c23a4f47e1dc22d
This change improves trilinear flex elements by using reduced integration for volumetric quantities (strain trace and volume ratio) at the element center, while adding full integration for shear components at 8 Gauss points and removing the second strain invariant from the constraints, which is negligible for small strains. This reduced integration "B-bar" technique is standard in finite element analysis and prevents artificial stiffness that can occur when low-order elements are nearly incompressible. The constraint count per trilinear element changes from 24 to 26 compared to using invariants. For quadratic elements, the full 27 quadrature point are used resulting in 162 constraints.
PiperOrigin-RevId: 884570752
Change-Id: Ib74ece8f4712c2c81fbfd784524fcac52a2c80e5
Use `__SANITIZE_ADDRESS__` (GCC) and `__has_feature(address_sanitizer)` (Clang)
to define ADDRESS_SANITIZER when the toolchain doesn't provide it natively.
Fixes#3160
PiperOrigin-RevId: 884447485
Change-Id: I48ef51bca8f5c5f15f62089e73cd8fa649723636
Reorganize the README to clearly separate the "User Guide" (including npm installation) from the "Build from source" instructions.
Also added npm install instruction.
PiperOrigin-RevId: 883180811
Change-Id: I874b101c941d3a2fbff8995fb7e4d104e6f4fec2
mjrRect is a common type that will be re-used across different
rendering APIs, not just mjr_ APIs.
PiperOrigin-RevId: 882620060
Change-Id: I7f77ac9298c52c454d94c46379ff5270fd833f26
This change introduces new functions to load an `mjModel` from an XML string. Two overloads are provided: one that creates a temporary VFS and one that uses a MjVFS arg.
Also updated other places where `from_xml_string` should be used: demos, readme, etc.
PiperOrigin-RevId: 882581762
Change-Id: I8428196f8f56ae9630fcd4f0bb6763cdc1c43da0
Introduces `from_xml_path` and `from_binary_path` as more idiomatic aliases for `mj_loadXML` and `mj_loadModel` respectively. Refactors the binding of `mj*STRING` constants. Instead of exposing `get_mj*STRING` functions, these constants are now available as properties on the `Module` object. Runtime getters are added via EM_ASM to lazily call the underlying C++ functions.
PiperOrigin-RevId: 882566011
Change-Id: Id3bd5c23704fd122af30a50aed089bd3143fbc96
The pybind for recompile was not releasing the GIL when it called mj_recompile, this can caused deadlocks with the
asset loading threads. For example if a resource provider was trying to call Python.
To resolve this the GIL is release just for the mj_recompile.
Addresses: https://github.com/google-deepmind/mujoco/issues/3118
Alessio Quaglino