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246 Commits

Author SHA1 Message Date
Copybara-Service bcb19fd85c Merge pull request #802 from hartikainen:fix-typos 
PiperOrigin-RevId: 523698082
Change-Id: Ib12bbf8b6a1e02f87a278a230dcb6e5d722d2a94
 2023-04-12 07:49:14 -07:00
Copybara-Service 9027b243b7 Merge pull request #801 from hartikainen:fix-mj_sizeModel 
PiperOrigin-RevId: 522013801
Change-Id: Iff5e930fb7c86ae4296beb40f266ed02aabb6a7f
 2023-04-05 04:20:11 -07:00
Kristian Hartikainen f287fb020c Fix mj_sizeModel 2023-04-05 11:09:23 +01:00
Kristian Hartikainen a611b7bf6d Fix typos 2023-04-04 19:58:43 +01:00
Kyle Bayes 9924cce4b7 Add nnz per row precount method for mju_sqrMatTDSparse. 
PiperOrigin-RevId: 521744893
Change-Id: Ie0fbfab552a680127f4acf9041b07916f8a2a490
 2023-04-04 06:21:22 -07:00
Yuval Tassa 7cc42ecf2a Remove "global" option from [compiler/coordinate](https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate) attribute. 
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older.

PiperOrigin-RevId: 521739137
Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
 2023-04-04 05:59:38 -07:00
Kyle Bayes b327058641 Avoid computing constraint Jacobian matrix supernodes when not using AVX. 
PiperOrigin-RevId: 521728016
Change-Id: I308e6283a6a1968a3d9946f04ba4367c50b1c63d
 2023-04-04 04:52:49 -07:00
Alessio Quaglino 5f132af625 Add midphase and broadphase statistics to mjData. 
PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
 2023-04-03 00:59:59 -07:00
Yuval Tassa c65e046043 Don't save actdim="{0,1}" for state{less,ful} actuators, respectively. 
actdim has a default value of -1 (==unset), which means it currently gets saved for all actuators. After this change, it will only be saved if the value is > 1, errors are thrown for stateful actuators with actdim=0 and stateless actuators with actdim>0.

PiperOrigin-RevId: 520627313
Change-Id: Ia498dae5c7314cfaa0995f8077d297c2339a5c35
 2023-03-30 07:00:17 -07:00
Yuval Tassa 1d6a9e09bb Don't save body pos if "0 0 0". 
PiperOrigin-RevId: 520598416
Change-Id: I5bb6ffaec386f228ac7a5fa221822000635900ae
 2023-03-30 04:09:22 -07:00
Yuval Tassa 3f9defa8d0 Don't save an empty <default/> section. 
PiperOrigin-RevId: 520594748
Change-Id: Ib5e1eb3a93e9d579adeda1052a2c29d724d6b497
 2023-03-30 03:51:14 -07:00
Yuval Tassa ddfcd3b325 Don't save body gravcomp if 0. 
PiperOrigin-RevId: 520592156
Change-Id: Ifb85c1e78498877bc576cfca224c41b3cf47c9ab
 2023-03-30 03:34:04 -07:00
Nimrod Gileadi e4d27d4b90 Remove unnecessary null check. 
This checked that individual char arrays in the MJCF schema were not null, which would never really happen, and triggered some compiler warnings

PiperOrigin-RevId: 520348916
Change-Id: Ic8b82737460ed3bcf44d9629cd0c7de5782bee8c
 2023-03-29 08:54:15 -07:00
Yuval Tassa d6f2dd143d Avoid variable name shadowing in all engine source files. 
PiperOrigin-RevId: 519179975
Change-Id: I2f9269cd88857b9e758c63978b20f9c9dd17207e
 2023-03-24 10:33:42 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -07:00
Yuval Tassa 15ec12b296 Use mju_symmetrize in engine_derivative.c 
PiperOrigin-RevId: 519111361
Change-Id: I3125538dee70eebca7e1e9e7830bde7863be956f
 2023-03-24 04:39:00 -07:00
Nimrod Gileadi 0e7e299bf6 Declare loop variables inside for loop in C++ files. 
PiperOrigin-RevId: 518852339
Change-Id: I0174d873d89e48f11b816d337728f213c2798248
 2023-03-23 07:22:36 -07:00
Nimrod Gileadi 145fe7f354 Declare loop variables inside for loop declaration where possible. 
PiperOrigin-RevId: 518846098
Change-Id: Icdb2e5894bd80110552e29270472eeb242e6cf2c
 2023-03-23 06:49:09 -07:00
Yuval Tassa ce6c9053e2 Fix bug in engine_derivative.c 
- The inner loop was reusing and modifying an outer loop variable.

PiperOrigin-RevId: 518843275
Change-Id: I922f8768c4e8ef74c2fb2b1fd897de8234336acf
 2023-03-23 06:32:31 -07:00
Nimrod Gileadi a01318712c Fix a couple of comment typos. 
PiperOrigin-RevId: 518347854
Change-Id: I552554fff199ce244b7b364cf0b0486058de0e22
 2023-03-21 12:27:53 -07:00
Kyle Bayes dfd463cdb5 Reset nnzJ in resetData. 
PiperOrigin-RevId: 517976421
Change-Id: I329c0096d368062f150c6dbeec181f5b0eeefcbf
 2023-03-20 08:33:36 -07:00
Nimrod Gileadi 33a2ce73d4 Update MuJoCo version to 2.3.3. 
PiperOrigin-RevId: 517931617
Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9
 2023-03-20 04:36:09 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Yuval Tassa d97ff39e86 Improvements to schema table. 
- Schema table now has attribute links and is open by default.
- Attributes are in 4 columns.
- Fixed various documentation bugs made visible by this change.
- Removed distance equality constraint from xml_native_reader.cc

PiperOrigin-RevId: 517558035
Change-Id: Ibc7715587dd4e72253231bfd55bd037f0193b3fd
 2023-03-17 18:57:34 -07:00
Alessio Quaglino ee566eb880 Remove empty initializers to ensure MSVC compatibility. 
Add -Wgnu-empty-initializer to Clang builds to catch this issue in the future. Initialising arrays with empty braces is not part of the C standard and fails on MSVC. This commit should catch the issue earlier by detecting it in Clang.

PiperOrigin-RevId: 517373961
Change-Id: I518006e84151e8d5b45a7fe00ba7675dfb031ca0
 2023-03-17 04:02:24 -07:00
Alessio Quaglino 70959c1a2c Added a collision midphase on geom pairs using rotated AABBs static trees. 
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
 2023-03-17 02:37:29 -07:00
Yuval Tassa 47b58f5ccb Move memory-alignment static utility from engine_macro.h to engine_io.c 
PiperOrigin-RevId: 517259347
Change-Id: Ic3f67e9018fe8903e709128674c0da10032e2162
 2023-03-16 16:27:29 -07:00
Yuval Tassa 9a97674e1e Break up engine_derivative.c into analytical and finite-differencing functions (moved to engine_derivative_fd.c) 
PiperOrigin-RevId: 517165392
Change-Id: I649f5521364877d36d7564bb650a889298f0c8a1
 2023-03-16 10:45:15 -07:00
Yuval Tassa 8c7f6ce5a0 New implicitfast integrator and sparse RNE derivatives for implicit. 
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
 2023-03-15 13:17:41 -07:00
Kyle Bayes 056e849273 Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices. 
PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
 2023-03-15 06:56:16 -07:00
Yuval Tassa fe18e58ad2 Rendering of mjGEOM_LINE respects size[0] (width argument of mjv_makeconnector), denominated in pixels. 
- Before this change, line width was hardcoded to 3 pixels and the width argument of mjv_makeConnector was ignored.
- After this change, the width argument is respected and interpreted in units of pixel. The non-standard width unit is ok since lines can only be drawn programmatically.

PiperOrigin-RevId: 516529265
Change-Id: I27bffabba69cde415d2ada67263a887c9240efbf
 2023-03-14 08:17:36 -07:00
Alessio Quaglino ae2c530d8b Tighter axis-aligned bounding box for meshes. 
PiperOrigin-RevId: 516166936
Change-Id: Ie99217f8894bdd4bb093900fc0df9d4a1e5030d3
 2023-03-13 03:54:33 -07:00
Kyle Bayes d3d789cf7d Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated. 
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
 2023-03-09 13:51:27 -08:00
Kevin Zakka bddc4b88b2 Fix comment typos. 
PiperOrigin-RevId: 514360878
Change-Id: If119beec09d7eae568d8f6d8e3fa150ec7de88b6
 2023-03-06 06:37:42 -08:00
Kyle Bayes 49dd6b4193 Clean up mj_id2name and mj_name2id. 
PiperOrigin-RevId: 514340647
Change-Id: Idf895b2d7a4a8833725afbe5c71c777081b42d9e
 2023-03-06 06:36:48 -08:00
Yuval Tassa 222ee00a66 Break out passive force functions into a new file engine_passive.c 
PiperOrigin-RevId: 513834952
Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f
 2023-03-03 08:32:16 -08:00
Yuval Tassa fd1070cf03 Delete remaining code related to now-removed distance equality constraint. 
PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
 2023-03-01 17:57:54 -08:00
Kyle Bayes 50bebcb4ee Precount number of non-zeros for constraint Jacobian sparse matrix. 
PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
 2023-02-28 08:57:56 -08:00
Kyle Bayes 90b5dd14ca Fix issue where mj_addConstraint was writing values into efc_J_rowadr and efc_J_rownnz that are not needed. 
PiperOrigin-RevId: 512919818
Change-Id: I8ee7443a2bf2265934899673f8943a83cdd4ef69
 2023-02-28 06:47:56 -08:00
Alessio Quaglino f2413a5d55 Remove overwriting of particle geoms as spheres that was restored by mistake in commit d0b1a97. 
PiperOrigin-RevId: 512597403
Change-Id: Ifa29ccc405d1c98ffadf65b2cefa164067f95220
 2023-02-27 05:09:39 -08:00
Alessio Quaglino 7e5419f806 Remove trailing spaces in printArray, printArrayInt, printVector, and printSparse. 
PiperOrigin-RevId: 512596881
Change-Id: Icfa955628b9a2955df73093b6c8df7751260adfb
 2023-02-27 05:06:33 -08:00
Yuval Tassa 7e7cb177a4 Cosmetic changes. 
PiperOrigin-RevId: 511008317
Change-Id: Id8d7cd4f4e22e0658857d16b47d51053f1477bb9
 2023-02-20 09:23:32 -08:00
Yuval Tassa 7542c90cd2 Improved behaviour of mouse-spring interactions. 
Also:

- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.

PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49
 2023-02-20 08:40:33 -08:00
Alessio Quaglino 9756ed0d80 Read normals and textures from OBJ, do not duplicate vertices. 
PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
 2023-02-17 10:15:25 -08:00
Yuval Tassa 2607e67f8d Add contact labels showing which geom pairs are in contact. 
PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
 2023-02-17 07:03:19 -08:00
Saran Tunyasuvunakool ace5b74f83 Rename inteval attribute in mjLROpt to interval. 
PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
 2023-02-13 10:54:25 -08:00
Saran Tunyasuvunakool db28c31f05 Rename <required> tag to <plugin>. 
PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
 2023-02-13 08:41:52 -08:00
Saran Tunyasuvunakool 239e00e3b1 Fix typo in the error message for distance equality constraints. 
PiperOrigin-RevId: 509227257
Change-Id: Ibf501f267e513c504e527f3fe7a26d4f29e78273
 2023-02-13 07:58:03 -08:00
Saran Tunyasuvunakool 5e989d18c3 Enable compiler errors for implicit switch case fallthroughs. 
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
 2023-02-10 03:49:00 -08:00
Nimrod Gileadi 48e95817e4 Don't compute sensors in mjd_transitionFD, if not requested. 
PiperOrigin-RevId: 507878658
Change-Id: I97ece521fd177d97fa5758dda1eb012ba26bcabe
 2023-02-07 14:02:45 -08:00