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522 Commits

Author SHA1 Message Date
Nimrod Gileadi e3df84ec3f Include the size limit in error message from mjr_addAux. 
This is to help debug #1274.

PiperOrigin-RevId: 590215990
Change-Id: I356675be84f9cb2892d31d4dc7639adf49fe4a0f
 2023-12-12 08:41:10 -08:00
Yuval Tassa 28a9e6d9a2 Add mjNOBJECT value to mjtObj enum. 
PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
 2023-12-12 05:15:00 -08:00
Copybara-Service 5c8f22609a Merge pull request #1263 from limymy:main 
PiperOrigin-RevId: 589857317
Change-Id: I5f241f5c798811b0d082ba4bed9ca8c8233e4052
 2023-12-11 09:59:59 -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
Alessio Quaglino a006b15958 Add map from objects names to their index. 
Also some minor cleanup of repeated code in user_model.

PiperOrigin-RevId: 589135294
Change-Id: I16f22c4dbdde961cedc042af3bdc9d3577d33459
 2023-12-08 08:14:16 -08:00
Alessio Quaglino 623201ec76 Throw error if scale attribute is used with an SDF. 
Fixes #1210.

PiperOrigin-RevId: 589101807
Change-Id: I3f2796de3438fbcdaf9221bddc5c9bd82aedb7cb
 2023-12-08 05:41:22 -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
limymy 08c6233912 fix gcc warning "stringop-truncation" 2023-12-07 14:36:29 +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 5e9906be84 s/paramters/parameters/ 
PiperOrigin-RevId: 588113325
Change-Id: I1b7e754c747baedb8d2b154c3dc395a7062e8fc5
 2023-12-05 10:20:04 -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
Alessio Quaglino 33bd2a986a Use mesh_pos, mesh_quat instead of geom_pos, geom_mat in ray_sdf. 
PiperOrigin-RevId: 586632872
Change-Id: I39f99945ccdd6c54f7867adfe06a379d00dc8002
 2023-11-30 04:26:07 -08:00
Yuval Tassa b39cca725a Move headlight pos/dir computation from mjr_render to mjv_updateScene. 
PiperOrigin-RevId: 586630110
Change-Id: Ia44ea944016ccfe081682375cdb975342695d826
 2023-11-30 04:15:05 -08:00
Alessio Quaglino e1669b568b Change default values of flex visualization flags. 
Deactivated vertices, edges, faces and activated skins. The skin is less precise but faster to render and more importantly when the wireframe is active it allows to look inside the body much more easily.

PiperOrigin-RevId: 585970250
Change-Id: Icb6c0ff6266e552cffce9b0c810f634f9a29a55e
 2023-11-28 07:27:54 -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
Yuval Tassa 21334ea704 Delete local frame members from MJC objects. 
PiperOrigin-RevId: 585629699
Change-Id: I12dbd235dee49223fa7b1a097f04561da69550a0
 2023-11-27 06:07:53 -08:00
Alessio Quaglino eb9568a48b Add frame element to MJCF. 
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
 2023-11-27 03:32:18 -08:00
Alessio Quaglino d070b1893e Improved SDF objective function. 
For two colliding SDFs `A` and `B`, the function is `(A+B)+abs(max(A,B))`. This can also be written as `clearance + abs(intersection)`. This function has the following properties:

- On the penetrating surface, it is equal to `A+B`, i.e. the clearance field which is the penetration depth.
- The object boundary is a set of local minima in 3D space, since `abs(max(A, B))>0` away from the surface.
- Along the penetrating surface, the maximum penetration is a local minimum of the clearance since this field is orthogonal to the midsurface field `A-B`, which acts as a support plane for the contact.

[Level sets of the improved function for two colliding circles](https://www.wolframalpha.com/input?i=plot+sqrt%28x%5E2%2By%5E2%29-1+%2B+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1+%2B+max%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+-+min%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+).

PiperOrigin-RevId: 585106580
Change-Id: I5b18a1ef262ceb0a1ab8abcad8acfd6dc1992e2c
 2023-11-24 09:07:17 -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
Alessio Quaglino 8ca51b5318 Backtracking line search for SDF collisions. 
Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.

This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.

PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
 2023-11-20 06:33:01 -08:00
Alessio Quaglino dbf44fe2b4 New SDF objective function. 
This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).

The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29)

PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
 2023-11-20 05:06:33 -08:00
Matthew Bennice d3eee0316c Small changes to Kuka IIWA7 Biarm 
PiperOrigin-RevId: 583412101
Change-Id: Icee1c5f1f2a9354425d8f6c311322903e1e0af83
 2023-11-17 09:37:26 -08:00
Baruch Tabanpour 1554048856 Bump dev version number to 3.0.2. 
PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
 2023-11-15 12:51:04 -08:00
Alessio Quaglino f5285e0b23 Add flex to dm_control schema. 
PiperOrigin-RevId: 582323853
Change-Id: I4ce25bf29d0a883bca286954a14c4a07a500f145
 2023-11-14 08:05:29 -08:00
Alessio Quaglino ffca553f64 Do not use the inertia box for volume computation. 
PiperOrigin-RevId: 582319067
Change-Id: I347d820f48faab15b609bcfc8295b07bd2d0f7ed
 2023-11-14 07:46:33 -08:00
Erik Frey d0cabcf7db Only apply torquescale once, when setting efc_pos. 
PiperOrigin-RevId: 580694671
Change-Id: Ic0e2ee773d65d4fd92f4b4102cdfdd040516680a
 2023-11-08 16:15:36 -08:00
Yuval Tassa a6687885a5 In mj_sensorAcc, flip condition for triggering call to mj_rnePostConstraint to enumerate sensors that require the call rather than eliminating those that do not. 
PiperOrigin-RevId: 579804886
Change-Id: I1093fcfa66e637015cd702d7e59ec3bcddc670ef
 2023-11-06 04:51:53 -08:00
Alessio Quaglino 19de607ec8 Undo incorrect change in height field processing. 
PiperOrigin-RevId: 579502934
Change-Id: Id1fba8fe29a8eb4d4f0358173b34093401e6230e
 2023-11-04 12:33:21 -07:00
Alessio Quaglino 549fdddf3d Fixed a bug with height fields AABB. 
PiperOrigin-RevId: 579488048
Change-Id: I69a2d05f922b58947b1d468b5b31a4743d375d71
 2023-11-04 10:28:00 -07:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Nimrod Gileadi 64a59bb2dc Use the correct free function to free plugin data. 
The array was created with `mju_malloc` (which does an aligned alloc) and released with `free` (which doesn't care about alignment), which led to errors on Windows.

PiperOrigin-RevId: 578186714
Change-Id: I193987bed061e945c49d7268a9a9af3f17af362a
 2023-10-31 08:07:22 -07:00
Alessio Quaglino 50843cad30 Add defaults to SDF plugin attributes. 
Expose diameter and number of teeth for the gear SDF.

PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
 2023-10-30 03:09:25 -07:00
Yuval Tassa c921c3956e Change keyboard shortcut key to visualize equality constraints from N to E. Delete the keyboard shortcut of the Selection Point. 
PiperOrigin-RevId: 577770608
Change-Id: I5428a58dff93c95bcb71c27d0e65d2303a23b129
 2023-10-30 02:42:26 -07:00
Yuval Tassa 86d9c84e59 Fix bug in implementation of torquescale 
PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
 2023-10-28 08:25:25 -07:00
Nimrod Gileadi f8c5ad2ba8 Check for errors when calling std::stod in XML loading. 
PiperOrigin-RevId: 576608985
Change-Id: I148ca67d8960d73c281df2d6f2440d47940a6369
 2023-10-25 12:26:43 -07:00
Alessio Quaglino 1a47a97040 Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114. 
Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
 2023-10-25 09:08:20 -07:00
Yuval Tassa a89412bb4a Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}. 
PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
 2023-10-25 05:01:45 -07:00
Nimrod Gileadi 97d99c84ce Delete the temporary mjData if model reference validation fails. 
PiperOrigin-RevId: 575852845
Change-Id: I2146dbc510b48c310ac338adcd5d53cb9f38b383
 2023-10-23 10:07:55 -07:00
Alessio Quaglino 643c1248b8 Skip flex edge Jacobian if not needed. 
When equality constraints and built-in passive forces are not present, edge Jacobians are unused. This gives a 3x speedup in `mj_kinematics` in `floppy_flex` (from 0.2ms/step to 0.06ms/step).

Changed the default options of `floppy_flex` to match those of `floppy` for a fair comparison.

PiperOrigin-RevId: 575850622
Change-Id: I4c618536fd17ef930153bbd1f1da7d9e0e44abbe
 2023-10-23 10:02:00 -07:00
Alessio Quaglino c6ef4f71c3 Add flex fields to mj_validateReferences. 
PiperOrigin-RevId: 575779915
Change-Id: I14d22092e7d712dcc3d474cf0c2a85ef4d6a4aee
 2023-10-23 04:44:32 -07:00
Alessio Quaglino 01a932e052 Fix flex constraint Jacobian for edges belonging to a single body. 
PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
 2023-10-20 02:49:34 -07:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Alessio Quaglino d0294b7cc0 Initialize contact frame in planeVertex contact. 
PiperOrigin-RevId: 574416404
Change-Id: I305f7113364ad9198947c5aa7346bb832fc43146
 2023-10-18 02:56:14 -07:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00
Alessio Quaglino 3f3d5a3b49 Fix contactcompare swapping condition. 
PiperOrigin-RevId: 574276137
Change-Id: Iafbb6a99c1fb57907d3cb1d0796b6ad718e549d2
 2023-10-17 15:05:20 -07:00
Yuval Tassa d0bdb78207 Disable island discovery for models with flexes. 
PiperOrigin-RevId: 574244981
Change-Id: I7c08b23cf5f29338a04ec684ad7a0d4d8a0397df
 2023-10-17 13:17:24 -07:00
Alessio Quaglino 317d6d9ebe Move edge creation after element reordering in mjCFlex. 
PiperOrigin-RevId: 574193046
Change-Id: If2fb01b3494d637d4b220d03e7d7d84e4a9f7a2d
 2023-10-17 10:28:43 -07:00