This provides a reduction from 26 to 18 constraints for trilinear and from 162 to 75 for quadratic. The assembly of the constraints becomes trivial. In total the speedup for a trilinear 3x3x3 grid is about 3x.
PiperOrigin-RevId: 902502398
Change-Id: I764772c7adef78da5a644f64701f842d36e4b543
The flex interpolation stiffness matrix within the implicit/implicitfast solvers is now built and factorized in a banded format instead of a dense one. This involves:
- Calculating the bandwidth based on the sparsity of the mass/damping matrix and the connectivity within flex cells.
- Allocating and populating a banded matrix `H`.
- Using `mju_cholFactorBand` and `mju_cholSolveBand` for factorization and solving.
This change improves performance for flexes with many DOFs but local coupling.
PiperOrigin-RevId: 901297952
Change-Id: I3efe06353d1903ea65ab30dc49685cede228bb68
This change introduces `nflexstiffness` and `flex_stiffnessadr` to allow flex stiffness matrices to have sizes other than the fixed 21 per element. Higher-order flexes can now store larger stiffness matrices based on their number of nodes. The `flex_stiffnessadr` array provides the starting index for each flex's stiffness data within the `flex_stiffness` array.
PiperOrigin-RevId: 899632263
Change-Id: Ie49182c46c3777acf0c6b492345edfcf62fb5e44
This change disallows calling `mjs_delete` on an mjSpec that has been attached to another mjSpec via `mjs_attach`. Attempting to delete an element from an attached spec will now result in an error. The Python bindings for `mjSpec.delete` have been updated to raise a ValueError when this occurs.
PiperOrigin-RevId: 897266695
Change-Id: Ic0670125a3028191ec50eca890f02b5910ec8b03
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 897114719
Change-Id: Iee914cc5e05798186f384a67901f1cf86bc2f887
- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.
PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438
Add a warning in user_model.cc if a flex is not rigid and has no edge equality constraints or passive forces (edge stiffness, edge damping, or vertex damping). Such flexes would not affect the simulation. A test case is added to verify the warning.
PiperOrigin-RevId: 889215981
Change-Id: I481128e1456921b632719547c676d201fdfbe931
*** Reason for rollback ***
Rolling back obj/stl decoder inclusion as sources due to broken windows build.
*** Original change description ***
Include obj and stl decoder plugins as sources in CMake builds.
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
***
PiperOrigin-RevId: 885576586
Change-Id: I31e6fa4d10697862f7d800d0d771ca752747e36d
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 885555524
Change-Id: I20aa5b6c55b678398345d49cb1c47667ae2bebcf
The `mjCOctree::ComputeSdfCoeffs` function has been replaced by `mjCOctree::ComputeSdf`. The new implementation removes the dependency on the `triangle_mesh_distance` library. Instead, it uses a provided `mjCBoundingVolumeHierarchy` to perform closest point queries on the mesh. The signed distance is computed by finding the closest triangle face via the BVH and determining the sign based on the dot product of the vector from the closest point on the triangle to the octree vertex and the triangle's normal.
Optional Laplacian smoothing has been added to the SDF coefficients. This helps smooth out potential discontinuities at octree level boundaries.
PiperOrigin-RevId: 875093374
Change-Id: I6fa53243a2dda107ccf255bc6b876ca5a4554d4f
This change introduces methods to cache and load the computed stiffness matrix and nodal masses for flex elements. The cache key is generated based on material properties (Young's modulus, Poisson's ratio), interpolation order, and the bounding box of the flex. This avoids redundant expensive computations when compiling models with identical flex definitions.
PiperOrigin-RevId: 874689771
Change-Id: I6d1e299baf294a984b507e2a2602b2c068610536
MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.
This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.
PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
Root cause: resources and default mount stored pointers tied to the public mjVFS object address. If mjVFS was moved after initialization, resource close/read paths could dereference stale pointers and crash.\n\nThis change stores a stable internal mjVFS handle inside VFS and points resources/default mount to that stable handle. It also tracks the current public owner pointer and rebinds it in Upcast so lifecycle operations (including self-destruct cleanup) target the current mjVFS address after moves.\n\nAdds regression test UserVfsTest.MoveVfsAfterOpenResource, which opens a resource, moves mjVFS, then reads/closes/deletes successfully.
FuseStatic deletes static (joint-less) bodies and reassigns their
children to the parent body. Geoms and sites were reassigned, but
cameras and lights were not, leaving dangling body pointers that
crash in mjCCamera::Compile() / mjCLight::Compile().
Add camera and light reassignment in FuseStatic and FuseReindex.
Fix a crash and dimension mismatch issue in user_flexcomp when dealing with interpolated="true" meshes that contain unused vertices. Previously, vertbody would correspond only to used vertices while vert included all vertices, leading to assertions or out-of-bounds access. Also enable node pinning for interpolated meshes.
PiperOrigin-RevId: 865881995
Change-Id: Id150f00f22b5f48896ffbffddf03c57b252de8c0
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 863248779
Change-Id: I8bcbd5445814ba1e72c6d7b80ad6a054f5f1df57
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 861550939
Change-Id: I070eb4bcc2982466c8f368f7918005538baa5185
Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 856166919
Change-Id: Id723d612ffc0bff020705cf19ef95fbf24676840
All known implementations were effectively the same as the default fallback. It was just adding unneeded complexity. Removing this now will help with upcoming improvements to resource providers.
PiperOrigin-RevId: 855163273
Change-Id: I529fc18d0d03a8dc676c909ec9e4b1da1454d414
Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.
Fixes#2881.
PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
This will allow assets to cache compiled results with different parameters. For example, we could cache both an RGB version of a texture and a Mono version.
PiperOrigin-RevId: 811341377
Change-Id: Ifd6a4ff88661a2b38be47c02d6a666de2c202885
For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.
Fixes#2834.
PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
This is done by detecting the hanging nodes and compute the function at those location by interpolating the corresponding coarse vertices.
PiperOrigin-RevId: 807700228
Change-Id: I27dcb85361ca445c2099dd07b280cae5c92d3131
This means that two adjacent nodes can only have at most one level of refinement difference.
Note: This is a small breaking change for mjWarp since the order of the children was flipped.
PiperOrigin-RevId: 806299445
Change-Id: Ia326a31c7a8162ae02d70c868d87779198e805be
Alessio Quaglino