chenlin/Mujoco_WASM
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c3e71a3fb1166eb081bd441cf111ecb4e352e48e
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339 Commits

Author SHA1 Message Date
Yuval Tassa 7742f62803 Add mju_mulSymVecSparse, private engine function 
Multiply sparse symmetric matrix (only lower triangle represented) by vector

PiperOrigin-RevId: 752926934
Change-Id: I5aaae1266256aa88aee8c25e242b7a7c51ea8dd7
 2025-04-29 16:33:54 -07:00
Yuval Tassa 1766a388cc Improve warmstarting if island structure exists. 
PiperOrigin-RevId: 752901506
Change-Id: I062d14df7da7d9dc1a2c1c30a16d0db7215af336
 2025-04-29 15:18:14 -07:00
Yuval Tassa 8078a45727 Add private functions mju_blockDiag and mju_blockDiagSparse 
PiperOrigin-RevId: 752815446
Change-Id: Ia7f73160315ce57b78a2c34bc781f00e1b0f05c4
 2025-04-29 11:31:03 -07:00
Kyle Bayes 9e72874801 Remove EPA tolerance in the discrete case in nativeccd. 
PiperOrigin-RevId: 750649926
Change-Id: I8ab317cd6b227c9486a2916ae9c6445906c23401
 2025-04-23 10:52:14 -07:00
Yuval Tassa c2ac0d724e Add mju_gather and mju_scatter, private engine functions. 
PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
 2025-04-22 10:33:33 -07:00
Kyle Bayes b1f8d444f2 Fix bug in replaceSimplex3 in nativeccd. 
PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
 2025-04-10 07:04:27 -07:00
Yuval Tassa 25126e88c7 Move mju_cholFactorCount to engine_util_solve. 
PiperOrigin-RevId: 746011856
Change-Id: If9812251420053644f4eca81adb5116d370ee524
 2025-04-10 06:56:31 -07:00
Kyle Bayes 85b323c7fb Remove square roots when possible in EPA improving numerical precision. 
PiperOrigin-RevId: 745559836
Change-Id: I3f8b23406e93ccfc4bc3499bfbed829b35462a74
 2025-04-09 06:18:51 -07:00
Taylor Howell 96dda6ea75 Add tendon actuator force limits and tendon actuator force sensor. 
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
 2025-04-08 05:16:35 -07:00
Kyle Bayes 58234b2217 Replace mjMAXVAL with numerical max limit where necessary in nativeccd. 
PiperOrigin-RevId: 744693156
Change-Id: I72c3122701be281d468291dfc2ad1e4bb1da5a1c
 2025-04-07 05:59:02 -07:00
Yuval Tassa d05251af2a Add tendon armature 
PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
 2025-04-04 07:44:04 -07:00
Kyle Bayes 08d22baea1 Fix bug in horizon code in nativeccd where parallel faces are included in horizon. 
PiperOrigin-RevId: 742687622
Change-Id: I4a180cb9c7451e0a2c22ffd77b7b6f6fd68836a4
 2025-04-01 07:21:14 -07:00
Kyle Bayes 9ecec6f238 Fix bad contact from passing through polytope2 in nativeccd. 
PiperOrigin-RevId: 742666700
Change-Id: I76034579b4e663f9abfa265ec3e2bc608f631f59
 2025-04-01 06:11:20 -07:00
Yuval Tassa 05f3e914b0 Improve armature documentation 
PiperOrigin-RevId: 742583729
Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
 2025-04-01 01:16:58 -07:00
Kyle Bayes d6943731b2 Fix bug in nativeccd multiccd. 
PiperOrigin-RevId: 740495321
Change-Id: I7eaa0da8514e27c233d49567c276d1d238808d1f
 2025-03-25 14:56:21 -07:00
Yuval Tassa c931565fdc Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon. 
Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2
 2025-03-25 09:36:30 -07:00
Kyle Bayes 12b40b948e Remove MuJoCo stack calls in nativeccd. 
1. There is now thread local static memory for use with a conservative max number of iterations needed for contact.
2. For possible needs of high precision contact recovery with large iteration numbers (i.e. ellipsoid-ellipsoid collisions), there are callbacks to allocate memory when needed.

PiperOrigin-RevId: 739187134
Change-Id: I3d210f75218922d969c78465da3fe50da4fe3080
 2025-03-21 08:20:51 -07:00
Yuval Tassa de48f4178f Add missing term in mj_jacDot 
PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
 2025-03-11 03:01:29 -07:00
Kyle Bayes 4d024f9421 Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation. 
PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
 2025-03-07 05:17:49 -08:00
Yuval Tassa 0f563ecf31 Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
 2025-03-04 17:34:35 -08:00
Kyle Bayes fbe0990b17 Fix bugs in nativeccd with collisions with margin. 
PiperOrigin-RevId: 730903745
Change-Id: I45ddb674f32cb1f28ff37c587ea953ec595241b3
 2025-02-25 08:51:21 -08:00
Alessio Quaglino 14c8dc62f0 Add termination character to flattened plugin attributes if empty. 
Fixes #2450.

PiperOrigin-RevId: 730521722
Change-Id: Iec3fa377c65693d782eeb766a144a1c89096d1f3
 2025-02-24 11:07:18 -08:00
Kyle Bayes 024616345d Support edge contacts with multiccd in nativeccd. 
PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
 2025-02-24 09:48:43 -08:00
Kyle Bayes ae1c3b7ec0 Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom. 
PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
 2025-02-24 08:14:04 -08:00
Yuval Tassa 81b1948b46 Clean up engine_derivative_test.cc 
PiperOrigin-RevId: 730166629
Change-Id: I3418be9f7b289f4109ae43c221b89199d2ccf325
 2025-02-23 10:59:20 -08:00
Alessio Quaglino c52d1b3941 Remove the particle composite (replaced by replicate). 
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
 2025-02-23 03:14:11 -08:00
Alessio Quaglino 0fcd20f0da Remove grid from composite types. 
Replaced it with flexcomp in the models.

PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
 2025-02-23 01:31:41 -08:00
Yuval Tassa b516edae1b Rename inertia factorization routines: 
```
mj_factorI -> mj_factorI_legacy
mj_solveLD -> mj_solveLD_legacy
mj_factorIs -> mj_factorI
mj_solveLDs -> mj_solveLD
```

PiperOrigin-RevId: 728246367
Change-Id: I3bc7804cb96faac2ae5419ba9abfc3c1648ed4c6
 2025-02-18 09:42:05 -08:00
Yuval Tassa fb07e0d1f7 Convert qLD to CSR format. 
PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
 2025-02-18 07:14:45 -08:00
Yuval Tassa e39a5df06a mju_compressSparse(): add option to compress away small elements. 
PiperOrigin-RevId: 726010576
Change-Id: Ib6458037a5cf9a9d82abb364b7dda7aab2f36807
 2025-02-12 05:08:20 -08:00
Yuval Tassa 5ee0654830 Roll back recent change to mjData.qLD until some issues are resolved. 
PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
 2025-02-07 10:21:42 -08:00
Yuval Tassa c27d3758c2 Convert qLD to CSR format. 
PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
 2025-02-06 08:59:35 -08:00
Kyle Bayes 3235f69afc Make polytope2 and polytope4 more numerically robust in nativeccd. 
PiperOrigin-RevId: 723412555
Change-Id: Id262a3c19bcd30b74b1495591bdc95f951bfca50
 2025-02-05 01:40:41 -08:00
Alessio Quaglino 7cdf180641 Introduce trilinear flex parametrization. 
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.

On an 8x8x8 cube, the performance using DOFs at all vertices is

```
 Simulation time      : 18.74 s
 Steps per second     : 533
 Realtime factor      : 0.53 x
 Time per step        : 1874.4 µs

 Contacts per step    : 114.88
 Constraints per step : 3322.51
 Degrees of freedom   : 1536
```

With the new implementation, it is the following:

```
 Simulation time      : 1.82 s
 Steps per second     : 5507
 Realtime factor      : 5.51 x
 Time per step        : 181.6 µs

 Contacts per step    : 38.84
 Constraints per step : 155.36
 Degrees of freedom   : 24
```

PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
 2025-01-29 09:38:22 -08:00
Yuval Tassa 9605990648 Replace custom sort of sparse fixed tendons with mju_combineSparse. 
PiperOrigin-RevId: 720219887
Change-Id: I0491b3cb8987c119c3864fc0b5c38ca303d8f7f0
 2025-01-27 10:24:58 -08:00
Yuval Tassa 08edde5fd8 Add test for armature, model will be used in upcoming improved documentation for armature. 
PiperOrigin-RevId: 719916567
Change-Id: I7f74bd3c3864f43f5f68d458d5b128cfee1d7e6c
 2025-01-26 12:01:12 -08:00
Kyle Bayes aa505a7872 Add support for NativeCCD multiple contacts for box-box collision. 
PiperOrigin-RevId: 718352304
Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
 2025-01-22 06:02:58 -08:00
Yuval Tassa 2624d524ba Switch mj_solveM_island to use CSR representation 
PiperOrigin-RevId: 717684720
Change-Id: I7d74a5d4aef4aa5b0c0acddf88c5b8591d63e88d
 2025-01-20 18:36:04 -08:00
Yuval Tassa 1d47a91c19 Add a test for mj_solveM2 
PiperOrigin-RevId: 717278730
Change-Id: I7507e569620c34f250482eec8402c08c793f4e48
 2025-01-19 11:34:20 -08:00
Yuval Tassa 240a7afdee Add sensors for potential and kinetic energy. 
PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
 2025-01-17 13:10:12 -08:00
Yuval Tassa 2409a6e537 Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix. 
PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
 2025-01-10 09:23:55 -08:00
Yuval Tassa 00010f5848 Compute diagonal indices in mj_sqrMatTDSparse 
PiperOrigin-RevId: 713714087
Change-Id: Icc8eae74e6e47ba1d12a6e9aa0d774ab006cfe38
 2025-01-09 10:17:31 -08:00
Kyle Bayes daba00ca9d Fix a box-box bad collision in NativeCCD. 
PiperOrigin-RevId: 713683497
Change-Id: I0c4cfd55d00faa196d8759046c87ee4ef74f01ab
 2025-01-09 08:35:50 -08:00
Yuval Tassa 8a5f092081 Allow CSR back-substitution to handle multiple vectors. 
PiperOrigin-RevId: 713229673
Change-Id: I7a5b43fe966cf9e482bd41e2eea6c30dd3ffa1d4
 2025-01-08 03:32:16 -08:00
Yuval Tassa 4d82ab5762 Add function to merge chains of indices. 
PiperOrigin-RevId: 712863690
Change-Id: I15652bec03dc9ce90e230788bd12b44b1a2b8217
 2025-01-07 04:42:11 -08:00
Yuval Tassa 674d227050 Standardize names of sparse fill-in pre-counting functions 
PiperOrigin-RevId: 712835830
Change-Id: I8e90dfa52af56ede917e1fd90b8d551898c244e5
 2025-01-07 02:39:46 -08:00
Yuval Tassa ac11e5faa6 Add CSR implementation of mj_factorI 
PiperOrigin-RevId: 712498431
Change-Id: I13b52e53482ed97da8788875d4d95e2beb5ca7c1
 2025-01-06 05:48:14 -08:00
Yuval Tassa 7eb8231fda Represent only the lower triangle in Newton solver's reduced dof-dof matrix. 
PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
 2025-01-06 04:58:55 -08:00
Kyle Bayes 340c0d7c97 Fix a box-box bad collision in NativeCCD. 
PiperOrigin-RevId: 711773153
Change-Id: I8a526ef5933be19d863e67f40edeb95b0b1249cd
 2025-01-03 09:23:57 -08:00
Yuval Tassa 923f75fd23 Use only lower triangle in CSR back-substitution. 
PiperOrigin-RevId: 711686157
Change-Id: I4fc98cdfb927e5608ce3a99ea34890ce556fcfd7
 2025-01-03 02:33:59 -08:00