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347 Commits

Author SHA1 Message Date
Matthew Bennice dbf7afaeaa Canonical USD example for MuJoCo Physics. This contains three items: 
floor - a static floor centered at origin of sides 100m x 100m

two_cubes - a standard example where 2 cubes have a hinge joint between them.

two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30).

PiperOrigin-RevId: 607809323
Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb
 2024-02-16 14:56:39 -08:00
Nimrod Gileadi f1d4f8f0a1 Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset. 
PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
 2024-02-16 05:09:05 -08:00
Yuval Tassa 05150546e3 Add inheritrange attribute to position and intvelocity actuators. 
PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
 2024-02-16 04:42:44 -08:00
Alessio Quaglino 5e353efaaf Add mjmModel opaque pointer to C API. 
PiperOrigin-RevId: 607619891
Change-Id: Ic1eaaa842438d9c2e19f742deff41967287853f5
 2024-02-16 02:21:25 -08:00
Yuval Tassa f9f7827a64 Trim trailing default values in saved xmls. 
For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:

- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.

PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
 2024-02-16 01:36:06 -08:00
Alessio Quaglino 414a67640a Add mjmDef to C API. 
PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
 2024-02-15 06:17:58 -08:00
Kyle Bayes 266161ee4c Convert mju_openResource to write warnings to a given error string. 
PiperOrigin-RevId: 606907392
Change-Id: Ic70e980aa9ba2bdbe1787773f51749b34f74afed
 2024-02-14 02:17:40 -08:00
Kyle Bayes eabd4c06f9 Move schema definition validation from runtime to a test. 
PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
 2024-02-12 09:49:48 -08:00
Kyle Bayes ff39d0b812 Keep include elements while parsing XML. No change in behavior. 
PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
 2024-02-12 03:54:44 -08:00
Yuval Tassa 3601026b1d Refactor handling of auto-limits. 
PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
 2024-02-10 22:01:13 -08:00
Alessio Quaglino 1fe258fb60 Add mjmGeom to C API. 
PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
 2024-02-08 06:53:01 -08:00
Alessio Quaglino a3e49d582e Add mjmBody and mjmPlugin and their compiler C APIs. 
PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
 2024-02-07 04:17:30 -08:00
Matthew Bennice b9c50ad79c Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias. 
PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
 2024-02-06 17:21:31 -08:00
Matthew Bennice 84f20ffb66 Automated g4 rollback of changelist 604607692. 
*** Reason for rollback ***

breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's

*** Original change description ***

Move fullinertia from mjCAlternative to mjCBody.

***

PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
 2024-02-06 09:47:04 -08:00
Alessio Quaglino 737342bdfe Move fullinertia from mjCAlternative to mjCBody. 
PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
 2024-02-06 04:43:12 -08:00
Alessio Quaglino 3b2dd06c54 Add compiler C API for mjmSite. 
PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
 2024-02-06 01:50:47 -08:00
Meghha Dhoke f75923a48d Updated version numbers to cmake files
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PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
 2024-02-05 12:55:30 -08:00
Alessio Quaglino df76b55fe0 Add line error check to user_objects and xml_native_reader tests. 
PiperOrigin-RevId: 603714614
Change-Id: Ic031f33a9a6eb45b3e61cb666e0d4890bfe08275
 2024-02-02 09:57:49 -08:00
Yuval Tassa e143b3dbc0 Allow height-field elevation data to be specified in XML. 
PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
 2024-01-29 06:59:28 -08:00
Alessio Quaglino fb8f77df74 Throw error if qhull is called with NaNs. 
PiperOrigin-RevId: 601745538
Change-Id: I590673ca7975e4abc171f98704a6c8f8d08f8327
 2024-01-26 06:13:27 -08:00
Alessio Quaglino 076db5d366 Copy face_ into facetexcoord_ if not specified and needed. 
PiperOrigin-RevId: 601732448
Change-Id: Iffe01076db22201dba2611ea36174f808ae00c1e
 2024-01-26 04:54:43 -08:00
Kyle Bayes 4f53d9a0d7 Add AddVector and GetVector to user cache. 
PiperOrigin-RevId: 601485067
Change-Id: I1a31f15c2495de4f057316022dcddf4df39afd64
 2024-01-25 10:13:13 -08:00
Kyle Bayes aede8cf5cf Rename user_asset_cache to user_cache. 
PiperOrigin-RevId: 601097322
Change-Id: Iea3d6481cd214028ef63ed72868999ecb0b1eeb4
 2024-01-24 06:05:56 -08:00
Kyle Bayes a1ddbdf7f8 Add an implementation of a cache for assets for compilation speedups. 
PiperOrigin-RevId: 599850003
Change-Id: I83e299e127058a5657d7b262aa98d36451b530f6
 2024-01-19 09:04:01 -08:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Yuval Tassa a14a584f1d Fix bug in muscle length-gain curve. Fixes #1342 
PiperOrigin-RevId: 599165049
Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
 2024-01-17 07:20:01 -08:00
Alessio Quaglino 1e2e0b3053 Remove all visual-only assets if discardvisual is selected, not only the geoms. 
PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
 2024-01-15 06:39:25 -08:00
Yuval Tassa 42515033a7 Fix linter issues in user_objects_test. 
PiperOrigin-RevId: 597204770
Change-Id: I0b396d4c64684d845dc9baf205800e22c8fac314
 2024-01-10 04:00:08 -08:00
Nimrod Gileadi c59a33dd81 Use std::string_view instead of absl::string_view in fixture.cc. 
Clean up some lint warnings.

Fixes #1306.

PiperOrigin-RevId: 595988916
Change-Id: I0e8584ff8704ea7294cf649664ab447cb1d4ff46
 2024-01-05 07:20:58 -08:00
Yuval Tassa 7ce05f4957 Improve documentation of solver parameters. 
PiperOrigin-RevId: 595723619
Change-Id: I00b67eaec02d2e85ce60fb44eb3e582ce036be3a
 2024-01-04 09:17:31 -08:00
Alessio Quaglino 63ec34f9f8 Add plugins to flex parent body if there are pinned vertices. 
Fixes #1270.

PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
 2024-01-03 09:53:22 -08:00
Nimrod Gileadi 7cb7c87f70 Fix a few issues with the passive viewer. 
1. Create an arena for the mjData instance used by the passive viewer visualization.

When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.

2. Add missing a missing field in scene state for flex visualization.

3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.

4. Add some locks in places where the render thread and Simulate::Sync collide.

This fixes #1280.

PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
 2023-12-18 07:33:19 -08:00
Nimrod Gileadi 8ecb16abfa Don't run particle.xml in testspeed_test under ASAN. 
Reduce the number of steps for a couple of other slow tests.

PiperOrigin-RevId: 591844569
Change-Id: If722567b91163f1f3c451302f9543a43d05872a1
 2023-12-18 03:33:59 -08:00
Yuval Tassa f2a967348c Fix bug introduced in 7942fe957e 
That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed.

PiperOrigin-RevId: 591036252
Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941
 2023-12-14 13:30:38 -08:00
Kyle Bayes 9f6be3135e Modify mjListKeyMap to be a fixed-size array, and add internal object_lists variable to mjCModel to remove redundant code. 
PiperOrigin-RevId: 590997348
Change-Id: I5f4d7de605f44d40a75eb1e9ceec208325fa3be5
 2023-12-14 11:12:01 -08:00
Yuval Tassa 5b2c98f8f1 When saving XMLs, don't round floats that are bigger than INT_MAX. Fixes #1278 
PiperOrigin-RevId: 590692020
Change-Id: Icd11d20f47bc4163eb4378f4cb031b8fd9d13612
 2023-12-13 13:13:15 -08:00
Yuval Tassa b22919543d Fix bugs related to saving of <statistics> values. 
Before this change:
- User-modified values of `mjModel.stat.{meanmass, meaninertia}` would not be saved to XML.
- Non-user-modified values of `mjModel.stat.{meansize, extent, center}` would always get saved to XML.

After this change values are saved to XML only if provided by the user, either in the XML or by changing values in `mjModel` before saving.

PiperOrigin-RevId: 589473351
Change-Id: I4dcf4892ef61c35edf424226e731232d861bad8d
 2023-12-09 16:06:39 -08:00
Yuval Tassa 7942fe957e Circumvent bug in mjc_BoxBox. 
The box-box collider sometimes outputs bad contact points which are far outside one of the two boxes. This happens at configurations which are very rare numerically, but rare configurations (e.g. perfect box alignment) are often induced by the designer and the physics, making them actually not-so-rare.

Since the box collision functions are very difficult to understand, we circumvent the issue by extending the post processing code to detect and remove such contacts.

PiperOrigin-RevId: 589178197
Change-Id: I82b8a888ef04f9196111c960757e3314d0ab6d8e
 2023-12-08 10:39:27 -08:00
Yuval Tassa b1a912e9e2 Improve readability of test. 
PiperOrigin-RevId: 589048504
Change-Id: I5087cfd67481df90103da2d7f5f06e421fc28e11
 2023-12-08 01:18:59 -08:00
Alessio Quaglino 1db0a9946f Fix frame accumulation order for <frame> meta-element. 
PiperOrigin-RevId: 588803425
Change-Id: Id0289c34d1a6cfb6007540a29cc1f32d879e43ed
 2023-12-07 08:37:20 -08:00
Alessio Quaglino d12fe594d9 Add suffix to duplicated assets. 
PiperOrigin-RevId: 588775467
Change-Id: I3a0d2a14601cf018b0c8c56728bd3ae22adb8ec2
 2023-12-07 06:46:51 -08:00
Yuval Tassa 762371c3e4 Add kv damping attribute to position and intvelocity actuator shortcuts. 
PiperOrigin-RevId: 588377097
Change-Id: I8ded2ff982e52ed8673019979e29b706ef65c743
 2023-12-06 04:28:30 -08:00
Nimrod Gileadi c062a8db19 Allow multiple actuators to use the same PID plugin. 
Maintain separate state for each actuator in the Plugin object.

PiperOrigin-RevId: 587760569
Change-Id: I633a1b94f0dde9377120145066a26aef6a4033b8
 2023-12-04 10:08:07 -08:00
Nimrod Gileadi 236dcb4ffd Fix a bug with PID actuators, when plugin definition order differs from actuator order. 
PiperOrigin-RevId: 587729879
Change-Id: If71c7e374f36ef08c5147e7316066d6f5365925f
 2023-12-04 08:31:45 -08:00
Matthew Bennice c0b7b9873d Store paths for hfields, textures, and skins similar to meshes. 
PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
 2023-12-02 03:51:25 -08:00
Yuval Tassa 51d80564fa Don't initialize plugins during model compilation. 
PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
 2023-11-27 11:01:08 -08:00
Alessio Quaglino eb9568a48b Add frame element to MJCF. 
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
 2023-11-27 03:32:18 -08:00
Nimrod Gileadi 002b427a32 PID Controller as an actuator plugin. 
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
 2023-11-25 08:41:01 -08:00
Nimrod Gileadi f2025c6abf Allow plugin actuators to have activation state. 
Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
 2023-11-23 05:14:03 -08:00
Yuval Tassa cd56a41f83 Fix bug in Cartesian actuation with movable refsite. 
PiperOrigin-RevId: 584035818
Change-Id: I005f6bbbe02f8b36d287ecada0406a6ae4d720ba
 2023-11-20 08:37:29 -08:00