This change introduces two new USD API schema:
* MjcEqualityAPI - base API for representing MuJoCo equality constraints in USD, this will typically be applied to joints such as UsdPhysicsFixedJoint.
* MjcEqualityWeldAPI - extends MjcEqualityAPI for MuJoCo's weld equality constraints with an attribute for torqueScale.
The usd_decoder is updated to parse UsdPhysicsFixedJoints and convert the new schema attributes into the appropriate mjsEquality data fields.
PiperOrigin-RevId: 856723634
Change-Id: I0982fd3168b643f8e91d87bb5ae5933e526b63a1
Since relationships in USD can only contain a single instance of a path, it was previously impossible to have a tendon path that visits the same wrap target more than once. This is a fairly common occurence when dealing with tendons that have pulleys.
With this change, if mjc:path:indices is not defined then the behaviour is as it was and the mjc:path is considered to be ordered. If it is authored then the parser will use the indices into mjc:path as the order. This mirrors other similar concepts in USD such as face vertex indices.
PiperOrigin-RevId: 856339887
Change-Id: I6b9503973de377acdb0689be168c16e4aa19b70b
Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
This is in preparation for extending support to store the grid as a mesh.
PiperOrigin-RevId: 786281232
Change-Id: Ic718c2d2e1891cf0b66113270fd3c98acc1e74a5
Temporary changes to the octree:
- Changed frame from mesh to geom
Before change (tolerance 1e-3):
```
Simulation time : 2.34 s
Steps per second : 4275
Realtime factor : 8.55 x
Time per step : 233.9 µs
Newton iters / step : 2.26
Contacts / step : 3.69
Constraints / step : 14.76
Degrees of freedom : 12
Dynamic memory usage : 0.7% of 14M
```
After change (6 octree levels):
```
Simulation time : 2.24 s
Steps per second : 4472
Realtime factor : 8.94 x
Time per step : 223.6 µs
Newton iters / step : 2.47
Contacts / step : 3.37
Constraints / step : 13.49
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
Also, use geom_rbound for the sensor size and check that there is at least one collision geom.
PiperOrigin-RevId: 772928954
Change-Id: I56f1577df66213a70fb1dc12488fbcd2f8a4b8b4
This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco.
In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests.
PiperOrigin-RevId: 753969974
Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
This allows plugins to call mju_warning, and have the string propagate to users.
PiperOrigin-RevId: 650621601
Change-Id: I608e7a3a1ad126ab8da2ff0634fa708458fb9ccc
- Preparation for a float32 build of MuJoCo.
- Fix use of `float`-typed `fabs` in `mju_eig3`.
PiperOrigin-RevId: 643804942
Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
In case a query outside is performed, add SDF gradient computation using finite differences.
For SDFs generated from meshes, when the query point lies outside of the bounding box, the gradient provided by SdfLib ignores the SDF and is equivalent to the gradient of the distance from the bounding box, causing local minima in the contact point optimization. This CL increased the size of the bounding boxes and replaces the SdfLib gradient with a finite difference approximation of the gradient if a point lies outside it.
PiperOrigin-RevId: 597839637
Change-Id: I79dfddbe25288eca7eb235db51781fc2bb2c3c5f
The line continuation format that was used is not supported on GitHub.
PiperOrigin-RevId: 590141362
Change-Id: I0ab0dabfb8977bdf79682476376dda435787eba0
SdfLib returns the sum of the distance from a given point to the bounding box and a saved minimum distance from the surface over the whole box boundary. This underestimates the true distance and can cause spurious contacts and jittering. This CL performs a box projection of points outside the bounding box and adds the distance of the original point from the box to the distance of the projected point to the surface. This overestimates the true distance and avoids spurious collisions.
PiperOrigin-RevId: 586701933
Change-Id: I22eecb9757fa22359440156ef6433135648fa3ff
The plugin was storing a boolean to indicate whether the previous ctrl value was set in `act`. Use d->time == 0 instead.
PiperOrigin-RevId: 585692686
Change-Id: I95335cebdb5716bd6fad81f463a4f248406c80ec
Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.
This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.
PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
Sam Haves