b9c50ad79c
Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias.
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PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
2024-02-06 17:21:31 -08:00
84f20ffb66
Automated g4 rollback of changelist 604607692.
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*** 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
737342bdfe
Move fullinertia from mjCAlternative to mjCBody.
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PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
2024-02-06 04:43:12 -08:00
b3f93d436b
Convert mjmStruct to a C-struct.
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PiperOrigin-RevId: 603357871
Change-Id: I27918b0030fc6a589c361cad965611adc3bf7247
2024-02-01 06:57:47 -08:00
7a98038e88
Move mjCSite attributes to mjmSite struct.
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PiperOrigin-RevId: 603051589
Change-Id: I31eeeccffa15b96e7393b8e64f6be8c964fc5948
2024-01-31 08:07:48 -08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
1e2e0b3053
Remove all visual-only assets if discardvisual is selected, not only the geoms.
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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
2024-01-15 06:39:25 -08:00
acf698e2df
Store pointer to index in mjCBoundingVolume if possible.
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PiperOrigin-RevId: 598592242
Change-Id: I8dc20a8d8a9a0e967688839fa22d75263c226958
2024-01-15 06:04:20 -08:00
8a9b041388
Replace objid with obj pointers.
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This in preparation of adding functions to remove/add elements after compilation.
PiperOrigin-RevId: 597286844
Change-Id: I940103ade986c8d057db8cc1e9a98c073ddfab98
2024-01-10 10:20:47 -08:00
889353dfa8
Replace meshid and hfieldid with mjCMesh and mjCHField pointers in mjCGeom.
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PiperOrigin-RevId: 597279837
Change-Id: I45ca00c70c13cd5bddb3385a0c60388fb166527c
2024-01-10 09:56:54 -08:00
371da98d97
Avoid dynamically generated strings from being used as format strings in mjCError and mjXError.
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PiperOrigin-RevId: 597198372
Change-Id: I2f159436091c03c7454545877cd5f7e2383cd7c8
2024-01-10 03:20:48 -08:00
9f6be3135e
Modify mjListKeyMap to be a fixed-size array, and add internal object_lists variable to mjCModel to remove redundant code.
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PiperOrigin-RevId: 590997348
Change-Id: I5f4d7de605f44d40a75eb1e9ceec208325fa3be5
2023-12-14 11:12:01 -08:00
b22919543d
Fix bugs related to saving of <statistics> values.
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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
a006b15958
Add map from objects names to their index.
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Also some minor cleanup of repeated code in user_model.
PiperOrigin-RevId: 589135294
Change-Id: I16f22c4dbdde961cedc042af3bdc9d3577d33459
2023-12-08 08:14:16 -08:00
d12fe594d9
Add suffix to duplicated assets.
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PiperOrigin-RevId: 588775467
Change-Id: I3a0d2a14601cf018b0c8c56728bd3ae22adb8ec2
2023-12-07 06:46:51 -08:00
c0b7b9873d
Store paths for hfields, textures, and skins similar to meshes.
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PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
2023-12-02 03:51:25 -08:00
51d80564fa
Don't initialize plugins during model compilation.
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PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
2023-11-27 11:01:08 -08:00
21334ea704
Delete local frame members from MJC objects.
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PiperOrigin-RevId: 585629699
Change-Id: I12dbd235dee49223fa7b1a097f04561da69550a0
2023-11-27 06:07:53 -08:00
eb9568a48b
Add frame element to MJCF.
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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
2023-11-27 03:32:18 -08:00
f2025c6abf
Allow plugin actuators to have activation state.
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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
97d99c84ce
Delete the temporary mjData if model reference validation fails.
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PiperOrigin-RevId: 575852845
Change-Id: I2146dbc510b48c310ac338adcd5d53cb9f38b383
2023-10-23 10:07:55 -07:00
01a932e052
Fix flex constraint Jacobian for edges belonging to a single body.
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PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
2023-10-20 02:49:34 -07:00
d88675a034
Change the default of <compiler autolimits> from "false" to "true".
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PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
2023-10-13 05:05:24 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
77d0400733
Accelerate inertia computation for simple bodies.
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PiperOrigin-RevId: 571411319
Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
2023-10-06 12:51:14 -07:00
ee78b8f76b
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
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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
36d2ffe4f2
Specify camera parameters using standard robotics conventions.
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PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:19:19 -07:00
8ed321d469
Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section.
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PiperOrigin-RevId: 568911603
Change-Id: I8f21c3d1cc9c73b6a95292a50f262b1a199d0898
2023-09-27 11:32:10 -07:00
7f8018a3f3
Update XML parsing to store asset path so that assets can be recovered and sent to external renderers
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PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
2023-09-21 10:27:52 -07:00
8064ad59c8
Add camera projection sensor.
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BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC
PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
2023-09-12 08:16:20 -07:00
0ba10cc4f0
Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat}
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Fixes #409
PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
2023-09-10 15:25:59 -07:00
f86e8b449f
Refactor VFS logic out of ResourceProvider plugin code.
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PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
2023-08-30 04:47:24 -07:00
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
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
4c487e07ed
Add mesh BVH.
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PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:31:06 -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
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
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
Matthew Bennice