These bodies have `body_invweight0 == 0` (infinite mass) and no degrees of freedom (identically 0 Jacobians). This was breaking some assumptions of the perturbation code which assumed perturbation applied only to moving bodies and led to very large forces/torques being applied. While these huge forces had no effect on the dynamics, they were reported by sensors, leading to unreasonable sensor readings.
PiperOrigin-RevId: 614398354
Change-Id: If5efe1c9e57e2be28af33d109679db8b3129da7f
When built and run under address sanitizer (asan), `mj_markStack` and `mj_freeStack` are instrumented to detect leakage of mjData stack frames. When the compiler inlines several callees that call into mark/free in the same function, this instrumentation requires that the compiler retains separate mark/free calls for each original callee.
This change adds necessary optimization barriers to ensure that this is the case.
PiperOrigin-RevId: 609373993
Change-Id: I30dfd998fb66530735348e9715d92ee713f28210
Also remove unused ampersands from `mjVISSTRING` names, these are a remnant from a very old version of the UI framework.
PiperOrigin-RevId: 593469811
Change-Id: I0f6f73c9f5d2c61b2280f395f76434b0710ce4f3
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
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
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
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
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
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
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/H9qG9Zf2W44Fixes#1092.
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
Kyle Bayes