chenlin/Mujoco_WASM
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70 Commits

Author SHA1 Message Date
Yuval Tassa 7dc8aef807 Remove the convexhull compiler option. 
PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
 2024-10-27 04:31:10 -07:00
Yuval Tassa 61cb552f8a Refactor PBR texture layers from separate sub-elements to a single layer sub-element. 
Add new element to PyMJCF schema.

PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
 2024-10-26 07:41:38 -07:00
Alessio Quaglino b598d79b3f Move mesh inertia specification from global <compiler> to <asset/mesh>. 
Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)

Fixes #2152

PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
 2024-10-23 07:06:31 -07:00
Alessio Quaglino b15de2c951 Add elasticity parameters to the schema. 
PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
 2024-09-16 05:56:36 -07:00
Taylor Howell 60a1921b34 Add site semantics to weld constraint. Fixes #1896 
PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
 2024-09-16 05:46:01 -07:00
Alessio Quaglino 4862b9e765 Remove plugin support from Composite particles. 
This functionality is replaced by FlexComp.

PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
 2024-09-09 04:58:26 -07:00
Yuval Tassa 8954a088ce Add automatic free-joint alignment. 
PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
 2024-09-04 10:07:33 -07:00
Alessio Quaglino 0e8c0b80eb add content_type to model in the XML schema. 
PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
 2024-09-04 07:25:55 -07:00
Yuval Tassa a1036b86d3 Allow connect constraints to be specified using sites. 
PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
 2024-08-29 07:10:51 -07:00
Yuval Tassa 088079eff0 Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations. 
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
 2024-08-22 12:01:54 -07:00
Kyle Bayes 0bffd744f9 Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd. 
PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
 2024-08-16 14:08:35 -07:00
Yuval Tassa 24a555062d Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET. 
- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
 2024-07-30 08:41:59 -07:00
Tom Erez 33e5960653 Allow multiple textures per material in MJCF. 
PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
 2024-07-22 09:57:51 -07:00
Alessio Quaglino 27b9ddda5b Add attach tag to MJCF. 
PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
 2024-07-10 12:41:43 -07:00
Nimrod Gileadi 393895bb29 Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes. 
Support actdim attribute on plugin actuators.

Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.

PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
 2024-07-09 09:08:48 -07:00
Yuval Tassa 07fc95ca9a Add orthographic cameras. 
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.

Other related changes:

* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.

https://youtu.be/ZXBTEIDWHhs

PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
 2024-06-11 09:23:18 -07:00
Baruch Tabanpour ace0c8f0a3 Add maxhullvert. 
PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
 2024-06-06 19:05:16 -07:00
Yuval Tassa 2830a4071f Add dampratio attribute to position and intvelocity actuators. 
PiperOrigin-RevId: 639745135
Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
 2024-06-03 05:28:35 -07:00
Tom Erez 727893f0f2 Add timeconst attribute to position actuator. 
PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
 2024-05-18 03:38:20 -07:00
Yuval Tassa 02d015458c Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51 
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
 2024-05-10 04:52:43 -07:00
Yuval Tassa 6540289eb1 Change schema order in the docs: move option to the top, move visual down. 
PiperOrigin-RevId: 627036617
Change-Id: Icb18a4afab7d549baee8ed0df89e98dfac4d6e6c
 2024-04-22 07:56:26 -07:00
Yuval Tassa caf215e342 Add metallic and roughness scalar attributes to materials. 
Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.

PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
 2024-04-22 07:39:06 -07:00
Yuval Tassa 0cd28d2423 Add light radius attribute. 
Also fix bug: light defaults were not being saved.

PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
 2024-04-15 17:55:15 -07:00
Yuval Tassa 5d26b50fce Remove native sensor noise sampling. 
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
 2024-03-28 15:33:03 -07:00
Yuval Tassa 47ba72ea59 Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy. 
PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
 2024-03-28 14:01:52 -07:00
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
Yuval Tassa bafe490ea8 Sort assets in schema according to order in docs. 
PiperOrigin-RevId: 607272771
Change-Id: Ifd1220671a59effd0a841babbe746dd23d02eefd
 2024-02-15 03:10:43 -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
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 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 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
Alessio Quaglino f5285e0b23 Add flex to dm_control schema. 
PiperOrigin-RevId: 582323853
Change-Id: I4ce25bf29d0a883bca286954a14c4a07a500f145
 2023-11-14 08:05:29 -08:00
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
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
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp. 
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
 2023-10-16 03:03:06 -07:00
Alessio Quaglino 389e13938e Fix typos in docs. 
PiperOrigin-RevId: 573172715
Change-Id: I0073d0872597b01d84151b9eea578cc0ae0a5013
 2023-10-13 04:05:30 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Yuval Tassa 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. 
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
 2023-09-18 15:15:54 -07:00
Yuval Tassa ee8da5babe Fix indentation bugs in docs, improve attribute order in schema. 
PiperOrigin-RevId: 566230568
Change-Id: I0f536a2048d3e35d8ee510d86b6eba7a74c4e80a
 2023-09-18 01:48:14 -07:00
Alessio Quaglino 8064ad59c8 Add camera projection sensor. 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
 2023-09-12 08:16:20 -07:00
Google DeepMind 040d3efce2 Add options for controlling early termination criteria of CG/Newton linesearch. 
Useful for performance tuning models.

PiperOrigin-RevId: 563175078
Change-Id: Id64a510d6080038ea8d5876dabbf0b2b311435bb
 2023-09-06 12:02:58 -07:00
Alessio Quaglino f371ca7a4e Add missing face attribute to the XML schema. 
PiperOrigin-RevId: 561330536
Change-Id: I693fc5228591e4a26ea0749435a6ce9869afd457
 2023-08-30 07:08:10 -07:00
Tom Erez 819b5cb982 Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse. 
PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
 2023-08-25 12:08:37 -07:00
Yuval Tassa b7cf479abe Add flag for disabling implicit integration of joint damping in the Euler integrator. 
PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
 2023-08-23 05:51:37 -07:00
Alessio Quaglino fdb041580c Add Signed Distance Field to collision geometries. 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
 2023-08-16 09:15:23 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -07:00
Yuval Tassa a276c49c30 Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively. 
PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
 2023-08-14 07:18:57 -07:00
Yuval Tassa abfa08f6cd Improve schema order in XML reference 
PiperOrigin-RevId: 556726473
Change-Id: I157dd170d66708a59510e5656468aef498bff7be
 2023-08-14 03:17:01 -07:00
Yuval Tassa 81d0e56185 Reduce font size in schema reference, make 4 columns 
PiperOrigin-RevId: 556719771
Change-Id: Ie1cf7ef02dab7fdd1eed40ce77ddaa71918a9754
 2023-08-14 02:45:59 -07:00