The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.
PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
Replace dynamically-sized edge list with a dense ntree×ntree adjacency matrix for deduplication and a flat CSR representation.
PiperOrigin-RevId: 868728432
Change-Id: Iebe97a0870740e5465549b967bbde0c81e658269
The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.
PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
The implicit integrator was not correctly accounting for the off-diagonal coupling terms between flex and non-flex (parent) degrees of freedom in the mass matrix. This change extracts these coupling terms during the factorization step and applies a correction to the flex forces before solving for the flex accelerations, ensuring that the parent accelerations influence the flex dynamics. A new test verifies that the implicit integrator now matches Euler for small timesteps in a model with flex-parent coupling.
PiperOrigin-RevId: 868098126
Change-Id: Ia8cccd7dd428cd0c0898e1663a7e41017a2311b2
File resolution only checks local file system. Resource providers may still
be able to load from a path even if it is not resolved.
PiperOrigin-RevId: 867534134
Change-Id: I802566136b965ad839393f56a4d4924dda2e1973
The functions and associated tests related to managing time-stamped data buffers have been renamed from `mju_delay*` to `mju_history*` to better reflect their general purpose beyond just handling delays.
PiperOrigin-RevId: 866978339
Change-Id: I8655e91bce783287ad2adc412d13a1c39aa2c322
Use stat() instead of d_type to check if a file is a regular file
when scanning for plugin libraries. This allows symlinked plugins
to be loaded, which is common in ROS 2 workspaces built with
colcon build --symlink-install.
The stat() approach also handles filesystems that report DT_UNKNOWN
for d_type (e.g., NFS, XFS), making the code more robust.
Fixes#3072
The single array attribute `mjc:polycoef` has been replaced by five individual double attributes: `mjc:coef0`, `mjc:coef1`, `mjc:coef2`, `mjc:coef3`, and `mjc:coef4`.
PiperOrigin-RevId: 865947359
Change-Id: If9d14a77b0a06e5dc712eeadd6e9402411570706
Fix a crash and dimension mismatch issue in user_flexcomp when dealing with interpolated="true" meshes that contain unused vertices. Previously, vertbody would correspond only to used vertices while vert included all vertices, leading to assertions or out-of-bounds access. Also enable node pinning for interpolated meshes.
PiperOrigin-RevId: 865881995
Change-Id: Id150f00f22b5f48896ffbffddf03c57b252de8c0
Otherwise, if you try to open a random file in studio, it will crash.
PiperOrigin-RevId: 865372002
Change-Id: I96d3121b6de792daaff53155ea2436ac3f6668db
Initialize the EGL context in the Renderer when using the classic
rendering engine with no window.
PiperOrigin-RevId: 864884976
Change-Id: Ic6cc4637855a361e41f3bfb4b738c012ec93711f
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 863248779
Change-Id: I8bcbd5445814ba1e72c6d7b80ad6a054f5f1df57
The original render_gl3.c code does the following:
```
mjr_setf4(plane, 0.5*scl[0], 0, 0, -0.5);
glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
mjr_setf4(plane, 0, -0.5*scl[1], 0, -0.5);
glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
```
The 4th component of the GL_OBJECT_PLANE function effectively
describes a UV-offset for the generates uvs. In our filament
implementation, we had overlooked this 4th component.
PiperOrigin-RevId: 863181644
Change-Id: I60688117ea2019257da683cdda0c7d389dd5af1e
internally) when we want to render the GUI to the same target as the
scene.
PiperOrigin-RevId: 862647358
Change-Id: If3656032b74a168b804dfa34ef3eb97c9817c2c0
* Added color to widgets which have changed from their initial values and the ability to revert to their initial values by clicking with the right mouse button
* Added some reasonable range limits, which are especially useful for drag widgets
PiperOrigin-RevId: 862220411
Change-Id: I1d2c61d8889d5ec29890d81b5f97af576cb5c611
Yuval Tassa