chenlin/Mujoco_WASM
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d61d0349b8193276f459d98ff96201115c3f4151
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314 Commits

Author SHA1 Message Date
Yuval Tassa d61d0349b8 Fix mju_eig3 declarations. 
PiperOrigin-RevId: 571296456
Change-Id: Ic05f44c8c0883fe96e5671d71fe9b447c2e91162
 2023-10-06 04:10:44 -07:00
Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
 2023-10-05 21:05:19 -07:00
Yuval Tassa ee78b8f76b Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints. 
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
 2023-10-03 09:32:24 -07:00
Yuval Tassa e1549376f6 Use body AABB for torque perturbation visualisation, if available. 
PiperOrigin-RevId: 569579715
Change-Id: I62c1083fb868520832746ca1f28fab2bf1d679cc
 2023-09-29 13:50:02 -07:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Saran Tunyasuvunakool ca60de79c8 Change sz to 64-bit integer in mj_setPtrData. 
PiperOrigin-RevId: 569123159
Change-Id: If16777f06a2b0ea08083261d1b77c95fc14f2751
 2023-09-28 03:20:18 -07:00
Yuval Tassa 772326e9eb Fix potential out-of-range write in solver statistics saving. 
PiperOrigin-RevId: 569094007
Change-Id: I2e596a7c03d76523359cae7ae7f4501b06256a38
 2023-09-28 00:58:13 -07:00
Saran Tunyasuvunakool 8ed321d469 Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section. 
PiperOrigin-RevId: 568911603
Change-Id: I8f21c3d1cc9c73b6a95292a50f262b1a199d0898
 2023-09-27 11:32:10 -07:00
Matthew Bennice ff4158efff Modify memory allocation in MuJoCo to be thread safe: 
1) protect mj_arenaAllocBytes with mutexes
2) create shards for each thread in the stack and update mj_stackAllocBytes to allocate memory within each shard for a given thread

PiperOrigin-RevId: 568315726
Change-Id: I0dee6694f2a5200fa4df22ade0e68dfaebf637fc
 2023-09-25 13:53:28 -07:00
Matthew Bennice 7f8018a3f3 Update XML parsing to store asset path so that assets can be recovered and sent to external renderers 
PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
 2023-09-21 10:27:52 -07:00
Matthew Bennice 4f34cacf35 Add maxuse_threadstack to mjData 
PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
 2023-09-21 09:41:00 -07:00
Yuval Tassa dfd48dd821 Replace mjMIN and mjMAX with mju_min and mju_max, where possible. 
PiperOrigin-RevId: 566602924
Change-Id: I2d24183d0d9df3e647bb2d7d7544473582f38128
 2023-09-19 05:40:41 -07:00
Yuval Tassa 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. 
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
 2023-09-18 15:15:54 -07:00
Yuval Tassa 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. 
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
 2023-09-18 10:53:35 -07:00
Yuval Tassa 812e617fe9 Clear mjData.actuator_moment more selectively. 
PiperOrigin-RevId: 566324919
Change-Id: Ie453f8de059d39fa1ebd5248f33a18758ee748af
 2023-09-18 09:27:03 -07:00
Yuval Tassa 63fd23a934 Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE. 
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.

- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).

- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).

PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
 2023-09-16 08:03:45 -07:00
Yuval Tassa 2cc1205498 Add island support to CG solver. 
BEGIN_PUBLIC

Add island support to CG solver.

END_PUBLIC

PiperOrigin-RevId: 565653886
Change-Id: Ib971ae37dd011b8f2cbe1f88d8875e0ed657c7af
 2023-09-15 05:47:24 -07:00
Alessio Quaglino 1afd98ec4b Add [SdfLib](https://github.com/UPC-ViRVIG/SdfLib) plugin to first-party SDFs. 
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW

PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
 2023-09-14 06:42:42 -07:00
Yuval Tassa 86d8b912f4 Rejigged solver statistics in preparation for islanding. 
- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.

BEGIN_PUBLIC

Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.

- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.

END_PUBLIC

PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
 2023-09-13 06:18:37 -07:00
Alessio Quaglino b0abafe3bb Set camera origin at top-left of the first pixel. 
PiperOrigin-RevId: 564768176
Change-Id: Ieef632f0f6888390acca91b6de01c8951c747fe4
 2023-09-12 10:44:51 -07:00
Alessio Quaglino 8064ad59c8 Add camera projection sensor. 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
 2023-09-12 08:16:20 -07:00
Alessio Quaglino ccda87aafa Use mesh_pos and mesh_quat in SDF transformation. 
The SDF is defined in the `geom` frame. Using a mesh changes this frame so the inverse transformation is needed. So far the full `geom_pos` and `geom_quat` were used, which possibly contained user transformation. This CL uses the new structures which only contain transformations due to mesh processing.

PiperOrigin-RevId: 564721461
Change-Id: I6fb28001b38eaa50663427bce452cb1f05a56ac0
 2023-09-12 07:58:04 -07:00
Nimrod Gileadi 71faea0e62 BEGIN_PUBLIC 
Don't update actuator state when actuation is disabled.
END_PUBLIC

PiperOrigin-RevId: 564712814
Change-Id: I3cb656e81c9018a48d46348960cc07b14ae15b4a
 2023-09-12 07:17:57 -07:00
Nimrod Gileadi fbcd96d03f BEGIN_PUBLIC 
Zero all of act_dot when there are custom actuator dynamics, but no callback.
END_PUBLIC

PiperOrigin-RevId: 564712105
Change-Id: I107481727a42eb2577d62e29ac4e1496c56bb634
 2023-09-12 07:14:15 -07:00
Saran Tunyasuvunakool 2f14a7c102 Make asan instrumentation in mj_(mark|free)Stack cheaper. 
Symbolization and string comparison results are now cached.

PiperOrigin-RevId: 564697198
Change-Id: I0447f283a90143e2f67ecd90d895a36a078b3981
 2023-09-12 06:06:04 -07:00
Yuval Tassa 2b192cebb6 PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1. 
This makes mj_forward calls idempotent if warmstart is disabled and quats in qpos are normalized.

PiperOrigin-RevId: 564442666
Change-Id: I9c43add82bcfb4101c19fbfbfc8c30091b8906d5
 2023-09-11 11:09:53 -07:00
Saran Tunyasuvunakool a07e172770 Make MuJoCo work with -fsanitize=alignment. 
PiperOrigin-RevId: 563702045
Change-Id: Ieca69595b7e2fc1e35ca69754d7cc7971825f48b
 2023-09-08 03:29:34 -07:00
Google DeepMind 040d3efce2 Add options for controlling early termination criteria of CG/Newton linesearch. 
Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
 2023-09-06 12:02:58 -07:00
Saran Tunyasuvunakool 48d0bfde44 Replace glfw.get_time with time.time in the Python viewer timing logic. 
PiperOrigin-RevId: 563134207
Change-Id: Ic548701fc78336d8d87e94ea48833f94ee6395b8
 2023-09-06 09:52:12 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool 329ed193ac Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC. 
PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
 2023-09-05 11:05:04 -07:00
Yuval Tassa d5292976de Add internal utility for zeroing int vectors. 
Remove unnecessary branches in related functions.

PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
 2023-09-05 07:15:14 -07:00
Matthew Bennice 6225186964 Add threading primitives. 
PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
 2023-09-04 20:09:19 -07:00
Saran Tunyasuvunakool 94a8705ad0 Add mj_markStack and mj_freeStack as public API functions. 
Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).

PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
 2023-09-04 17:04:11 -07:00
Yuval Tassa 9308e1d383 Add internal utility for zeroing int vectors. 
PiperOrigin-RevId: 562608956
Change-Id: I25ff1bbf9abf8fe2a636ed1d728d10ae862e04c9
 2023-09-04 14:27:11 -07:00
Yuval Tassa 1aa375ef9a Allow RHS vector in mj_mulM_island to use uncompressed memory. 
PiperOrigin-RevId: 562605681
Change-Id: If34bceed9eade59957ac9fd9b6a41fb736b58024
 2023-09-04 13:56:54 -07:00
Yuval Tassa 600c12533d Add mj_constraintUpdate_island. 
PiperOrigin-RevId: 562581620
Change-Id: If156a02873168127e2c5f2f377532fd45f7eec1c
 2023-09-04 10:33:34 -07:00
Yuval Tassa b7686440d1 Indent a couple of #ifdef bodies. 
PiperOrigin-RevId: 562572883
Change-Id: I44e2d6dc486ed7a181ca4614b1bf3f2f762f52f9
 2023-09-04 09:32:35 -07:00
Yuval Tassa 5cef4708f2 Allow mj_mulJac(T)Vec_island to read and write from uncompressed vectors (length nv or nefc). 
PiperOrigin-RevId: 562547310
Change-Id: Id517c1842e711639f4113d23cc364945839a3759
 2023-09-04 06:51:51 -07:00
Saran Tunyasuvunakool 0e36f00857 Fix more mjData stack leakages. 
PiperOrigin-RevId: 562545230
Change-Id: I2facf25b00878669dc12d5865767a44229d2ca48
 2023-09-04 06:38:50 -07:00
Saran Tunyasuvunakool 5a21e202ed Eliminate mjContact copying during collision detection. 
This results in approximately 4-5% speedup in collision detection for particle.xml.

PiperOrigin-RevId: 562526634
Change-Id: Ia6487b1908618064d858bac484fe6861ed37a402
 2023-09-04 04:46:26 -07:00
Yuval Tassa feb8aa2fbb Fix bugs in engine_island.c 
PiperOrigin-RevId: 562519702
Change-Id: I3075e539ccc1cef92485152721a9344f180aa4b1
 2023-09-04 04:06:39 -07:00
Saran Tunyasuvunakool 89f47c33e4 Fix mjData stack frame leakages. 
PiperOrigin-RevId: 562091591
Change-Id: Ia7bb8a70ccba6bd40edc06ad8ebfac16e4286836
 2023-09-01 17:57:39 -07:00
Saran Tunyasuvunakool 33f51856c1 Check that alignment is power of 2 in mj_stackAlloc. 
PiperOrigin-RevId: 562024496
Change-Id: I9230c6dc05ebb78e935f9b2f606aa77c921d67e5
 2023-09-01 12:45:35 -07:00
Yuval Tassa 29aa5e4a41 Allow dot products with sparse vectors to specify that one vector uses uncompressed memory. 
PiperOrigin-RevId: 561951337
Change-Id: I1310d7c09d9a85ad9b43877155844a9d0ce6edab
 2023-09-01 07:40:16 -07:00
Yuval Tassa 02e819e76a Tighten const qualifiers of mjData in Jacobian multiplication functions. 
PiperOrigin-RevId: 561711229
Change-Id: I66dc1d2fbcfbf8e935b244fe496ada314d53b135
 2023-08-31 11:27:15 -07:00
Yuval Tassa f9c57f6213 Refactor a loop in mj_constraintUpdate. 
PiperOrigin-RevId: 561684763
Change-Id: Ifbca1793760ecb49f4b48a1a236bd7c1c6e73d0e
 2023-08-31 09:59:40 -07:00
Yuval Tassa eaa2572a8b Add private function mj_mulJacTVec_island for Jacobian transpose multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561672392
Change-Id: Ic72fd7de2a542603cc42e1c15ecb4edd27a9a986
 2023-08-31 09:12:34 -07:00
Yuval Tassa 85fd922b37 Add private function mj_mulJacVec_island for Jacobian multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561648540
Change-Id: I8080a620807e824b40b5d6ba484beb06d081d444
 2023-08-31 07:28:24 -07:00
Yuval Tassa 9fd186ac2b Add private function mj_mulM_island for mass matrix multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561639405
Change-Id: I3777cea51ef22f6847b3cf3e17bdac5cf621c019
 2023-08-31 06:42:33 -07:00