daa2ac7f8b
Rename nstack to narena, change it and pstack to count bytes.
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PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
2023-08-29 10:13:33 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
3e034e38b2
Add constraint island discovery
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PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
2023-08-15 02:30:05 -07:00
7e1c65b10e
Improve CRB code:
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- remove mj_crbSkip since this was only utilized during compile time to compute m->dof_m0, replaced with mj_crbDiag to compute only the diagonals for dof_m0,
- change row backward pass to forward pass to optimize processing diagonal blocks,
- and various code refactoring.
PiperOrigin-RevId: 556799924
Change-Id: I0a18d7a45862860fdddd7150540ddc8d64b01b29
2023-08-14 08:32:12 -07:00
2c3297b3e7
Add filterexact and actearly options to MuJoCo.
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When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.
When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.
PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
2023-08-07 04:50:33 -07:00
efca1a76aa
Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names ), and fix a couple of typos.
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PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
2023-08-02 16:07:44 +01:00
51aa375af0
Improvements related to models where joint-actuator relationship is not one-to-one:
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- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping ) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.
PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
2023-07-19 10:29:32 -07:00
5fcdae771b
Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures.
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PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
2023-07-19 06:51:36 -07:00
74747e2ae6
Don't accept NaN geom sizes.
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PiperOrigin-RevId: 542209911
Change-Id: I80f9728e8e624d19783370ba5072f39624c1bbe7
2023-06-21 04:02:48 -07:00
188b04fba5
Use std::stable_sort in model compiler.
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PiperOrigin-RevId: 538791034
Change-Id: I6c8eceffeb765a8a9801fee996d6ebf2964d8453
2023-06-08 08:21:34 -07:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
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PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
d40c395917
Add Visualization tab to simulate.
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Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
2023-05-27 05:08:15 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
03d6d27f64
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
2023-05-22 12:05:20 -07:00
9db444cd46
Fixed texture mapping bug. Before this fix, the first texture coordinate was not correctly processed.
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Fixes #859 .
PiperOrigin-RevId: 532501028
Change-Id: I1fe9ca470f4d64af606479b91387e43bc56c23dc
2023-05-16 10:25:04 -07:00
ca9c55d22b
Fix typo in user_mesh.cc.
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PiperOrigin-RevId: 532158366
Change-Id: I58cc6d7ff5f0781ea2621768dbcd35442d1b2e9c
2023-05-15 10:43:12 -07:00
871a2a7c8e
Check that all face indices of a mesh exist in the vertex array.
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PiperOrigin-RevId: 532049715
Change-Id: Ic42f6ef49f136aa89fb83527db0867afa8be7f08
2023-05-15 02:55:44 -07:00
09a8e59824
Create half-edge structure before converting from the C++ array userface to the C array face.
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PiperOrigin-RevId: 531161474
Change-Id: I77d425f4b5e52b2e41c6c9a2ef187495fefda5b8
2023-05-11 04:15:59 -07:00
41a7049920
Use shell inertia to compute mesh aabb and frame if volume is invalid.
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PiperOrigin-RevId: 530925161
Change-Id: I94b97efc7198e2b750480df8687e91bc047a6fc9
2023-05-10 09:12:11 -07:00
1aadef5927
Fix unused variable error from GCC.
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PiperOrigin-RevId: 530591696
Change-Id: I0b1d647bb4dc343eca4966ba54a90a992ea9544f
2023-05-09 06:25:37 -07:00
4c487e07ed
Add mesh BVH.
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PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:31:06 -07:00
26ff1fc4b5
Merge pull request #304 from traversaro:patch-5
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PiperOrigin-RevId: 529843317
Change-Id: Iad4a3df7d8c61f536890f9760e441793d6d884dc
2023-05-05 16:38:02 -07:00
67f0f5154f
Add various improvements for resource providers.
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PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
2023-05-05 07:03:49 -07:00
15e77b13dd
Add mjCBoundingVolume class to represent an element of mjCBoundingVolumeHierarchy (for example an mjCGeom).
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PiperOrigin-RevId: 527906004
Change-Id: Ibc3bdac0ec6d85c7fd56fd2057f5a63970e8b1d4
2023-04-28 09:29:58 -07:00
23961e24b7
Refactor user codebase to use LoadResource helper method.
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* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).
PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
2023-04-25 07:24:45 -07:00
66def34e0e
Fix broken OBJ and PNG loading when a VFS is provided to mj_loadXML.
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At present, if a VFS is used but an OBJ or PNG asset doesn't exist in the VFS, the model compilation will fail without trying to first locate the asset on disk.
This breaks the Python bindings `MjModel.from_xml_string` almost entirely when OBJ assets are involved.
Also modify error messages to disambiguate between different modes of asset loading failures.
PiperOrigin-RevId: 526637686
Change-Id: Iba02cc94989083bc2835a3e67dfc78c0a21047e9
2023-04-24 07:37:33 -07:00
3db483c248
Print warning and default to computing mesh inertia from convex hull if volume is negative (malformed mesh).
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PiperOrigin-RevId: 526053615
Change-Id: I3974b3433da513f869b1bdab5e98232e215f6509
2023-04-21 09:01:34 -07:00
4f5da9c554
Add OnePlugin read/write functions and remove redundant plugin attributes from mjCActuator.
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PiperOrigin-RevId: 525708657
Change-Id: I762de238f989b13877d5f9198c83c16ea9dc1d8b
2023-04-20 04:25:43 -07:00
fe3dccfd1d
Add a new plugin / extension mechanism called a resource provider along with retrofitting VFS on top of it.
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A resource provider provides a mechanism for MuJoCo to read from filesystems other than the OS filesystem or the Virtual File System (VFS).
PiperOrigin-RevId: 525394983
Change-Id: I077ff5a7e2e76806b48b6defb531280aadc8b169
2023-04-19 03:02:22 -07:00
b25728cc2e
Move tree construction to helper class.
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PiperOrigin-RevId: 525171924
Change-Id: I28b572fa09a2ccc029e56f9a84808ac53a4e6ac9
2023-04-18 09:42:43 -07:00
94c4f72907
Specify is volume is too small or negative in mesh error messages. Fixes #799 .
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PiperOrigin-RevId: 525151156
Change-Id: Ia0e9d8b900b8c372e9229da934a4eb7aeb1a3b7a
2023-04-18 08:16:44 -07:00
c943797591
Make shellinertia ignore exactmeshinertia, which is only used for legacy volume computations. Fixes #759 .
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PiperOrigin-RevId: 524884880
Change-Id: Ia5b64ee33802866f792cdad4acfec6d9baf2a9e9
2023-04-17 10:30:20 -07:00
bcb19fd85c
Merge pull request #802 from hartikainen:fix-typos
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PiperOrigin-RevId: 523698082
Change-Id: Ib12bbf8b6a1e02f87a278a230dcb6e5d722d2a94
2023-04-12 07:49:14 -07:00
a611b7bf6d
Fix typos
2023-04-04 19:58:43 +01:00
7cc42ecf2a
Remove "global" option from [compiler/coordinate]( https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate ) attribute.
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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
0e7e299bf6
Declare loop variables inside for loop in C++ files.
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PiperOrigin-RevId: 518852339
Change-Id: I0174d873d89e48f11b816d337728f213c2798248
2023-03-23 07:22:36 -07:00
ee566eb880
Remove empty initializers to ensure MSVC compatibility.
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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
70959c1a2c
Added a collision midphase on geom pairs using rotated AABBs static trees.
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PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
2023-03-17 02:37:29 -07:00
8c7f6ce5a0
New implicitfast integrator and sparse RNE derivatives for implicit.
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PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:17:41 -07:00
ae2c530d8b
Tighter axis-aligned bounding box for meshes.
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PiperOrigin-RevId: 516166936
Change-Id: Ie99217f8894bdd4bb093900fc0df9d4a1e5030d3
2023-03-13 03:54:33 -07:00
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.
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PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
2023-03-09 13:51:27 -08:00
222ee00a66
Break out passive force functions into a new file engine_passive.c
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PiperOrigin-RevId: 513834952
Change-Id: I5347440f24d767a7dc81a34e48e1e17d8c10173f
2023-03-03 08:32:16 -08:00
fd1070cf03
Delete remaining code related to now-removed distance equality constraint.
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PiperOrigin-RevId: 513391064
Change-Id: I47fc344708a580c1e99bd2753113aaa408812966
2023-03-01 17:57:54 -08:00
f2413a5d55
Remove overwriting of particle geoms as spheres that was restored by mistake in commit d0b1a97.
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PiperOrigin-RevId: 512597403
Change-Id: Ifa29ccc405d1c98ffadf65b2cefa164067f95220
2023-02-27 05:09:39 -08:00
9756ed0d80
Read normals and textures from OBJ, do not duplicate vertices.
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PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
2023-02-17 10:15:25 -08:00
5e989d18c3
Enable compiler errors for implicit switch case fallthroughs.
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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
929e09f84a
Improve URDF geom name loading API.
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PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
2023-01-27 07:29:45 -08:00
6ba4d6f0de
Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates.
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PiperOrigin-RevId: 502624466
Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
2023-01-17 10:31:50 -08:00
703b33c064
Add geom names to URDF parsing in MuJoCo.
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Fixes #566
PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921
2023-01-09 10:34:22 -08:00
19b6c70e13
Use global coordinates for computing the frame position of a primitive geom fitted to a mesh.
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PiperOrigin-RevId: 500720200
Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
2023-01-09 08:29:27 -08:00
Saran Tunyasuvunakool