chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
2,536 Commits 2 Branches 1 Tag
376dc59ea07e005448f7ec159fb0589eaf940683
Commit Graph

75 Commits

Author SHA1 Message Date
Yuval Tassa b6037d1759 Improve mjSpec documentation. Fixes #2074. 
PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
 2024-11-01 12:06:14 -07:00
Yuval Tassa 32df8a515a Fix typos. fixes #2139 
PiperOrigin-RevId: 691429879
Change-Id: I929b7a387ec41f68b8d85fe20de83083216da36a
 2024-10-30 08:34:39 -07:00
Yuval Tassa 6703a40fcf Improve plugin documentation. 
PiperOrigin-RevId: 690974299
Change-Id: Iadaabafb7434ada9579d6e2f64aae435cdfedbd8
 2024-10-29 05:07:31 -07:00
Yuval Tassa 3d920e6a70 Update build documentation to include instructions on how to build the docs locally. 
PiperOrigin-RevId: 690616910
Change-Id: I717988e3adc67cb6d65488d39bc804c3d4f0e3b5
 2024-10-28 08:17:16 -07:00
Yuxuan Jiang 55962538c4 Fix typo in programming documentation 2024-09-24 15:33:27 +08:00
Alessio Quaglino 4998e7b392 Move flex damping to the engine and remove membrane and solid plugins. 
PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
 2024-09-19 09:01:30 -07:00
Yuval Tassa e4d4153352 Move sanitizer instrumentation to a separate header file. Fixes #2049. 
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
 2024-09-10 09:05:35 -07:00
Nimrod Gileadi f75ead2203 Improve the build instructions for mac. 
The app bundle doesn't include mujoco.framework, so the instructions were a bit stale. I verified that with these new instructions I'm able to build the Python bindings from source with a prebuilt MuJoCo binary.

Fixes #313.

PiperOrigin-RevId: 666272041
Change-Id: I8bcf14c8ab6268cdaa617a8b5940b155ef64a8c5
 2024-08-22 03:22:17 -07:00
Nimrod Gileadi c486f62cb7 Fix some broken links in documentation. 
Remove references to deleted sample Makefiles.

PiperOrigin-RevId: 660753375
Change-Id: Iaed2d893e1c03b1c6d348a54e7d7f834db7f6089
 2024-08-08 02:41:08 -07:00
Nimrod Gileadi 157040f743 Refer to tex_data in docs instead of tex_rgb. 
PiperOrigin-RevId: 660412293
Change-Id: I164099ecc36833e20d5adc2c7345aff351fc4561
 2024-08-07 09:07:20 -07:00
Google DeepMind 70d70bc3b7 Fix typos in MuJoCo documentation. 
PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
 2024-07-25 13:31:13 -07:00
Alessio Quaglino 8e827d0d50 Add missing changelog item. 
PiperOrigin-RevId: 652830666
Change-Id: Iba41871a4e92081dde6428f12abe93c58ea9b02a
 2024-07-16 07:21:37 -07:00
Yuval Tassa 3d28a1d8c7 Fix formatting in documentation code samples. 
PiperOrigin-RevId: 652237833
Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f
 2024-07-14 07:08:18 -07:00
Yuval Tassa e13ddfa2ab Improve compiler-related documentation. 
PiperOrigin-RevId: 651827545
Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
 2024-07-12 11:05:16 -07:00
Yuval Tassa 1eb708646d Update the simulate tutorial video. 
The new video is more comprehensive and covers more features of MuJoCo.

PiperOrigin-RevId: 644758072
Change-Id: I1f114746833e00cd61b27659c816316c0e72c46c
 2024-06-19 08:41:53 -07:00
Alessio Quaglino 7a06bcfdaf Make model editing API public, fixes #364 
Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
 2024-06-07 22:28:01 -07:00
Yuval Tassa 0d1c92b20a Add documentation on pipeline stages and mjData self-consistency. Fixes #1667 
PiperOrigin-RevId: 638619787
Change-Id: Ic8dd0fbd178c4946757a07d74fca3b2c905f9080
 2024-05-30 05:38:05 -07:00
Copybara-Service 2ba80206ab Merge pull request #1479 from jmargeta:fix-record-command-docs 
PiperOrigin-RevId: 613927858
Change-Id: I8fe30db8677811c98ed4f881b51a0f430d93dd3b
 2024-03-08 07:29:57 -08:00
Jan Margeta 32dc89b425 Rename depthoverlay to adddepth 2024-03-06 21:17:43 +01:00
Jan Margeta f287372467 Add url to relevant offscreen buffer attributes 2024-03-06 19:46:51 +01:00
Jan Margeta 548177d46c Rename depthoverlay argument 2024-03-06 19:14:32 +01:00
Jan Margeta 39edea3a6c Add an explicit note on recording resolution 2024-03-06 19:01:25 +01:00
Jan Margeta be68f90190 Make depth overlay in video recording optional 
Add docs for the record arguments
 2024-03-06 18:47:14 +01:00
Jan Margeta fe2215384b Update docs on the video recordings's resolution 
This fixes the the ffmpeg command to correspond to the default humanoid.xml resolution (2560x1440).
 2024-03-06 18:47:14 +01:00
Jan Margeta b475337e02 Update docs of ffmpeg raw video conversion 
Makes it work well with the given humanoid example
 2024-03-06 14:34:15 +01:00
Jan Margeta 8e0998dcbd Fix docs for the record command 
Renames the non-existent "render" command to "record"
 2024-03-06 01:36:13 +01:00
Silvio Traversaro 8c63a8b8c7 Fix mjpResourceProvider example 2024-02-20 23:56:43 +01:00
Nimrod Gileadi 002b427a32 PID Controller as an actuator plugin. 
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
 2023-11-25 08:41:01 -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
Yuval Tassa 6a83b86553 Update M1 Pro with M3 Max benchmarks in MJX docs 
PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125
 2023-11-23 10:46:54 -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 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
Yuval Tassa 1881c2d881 Improve sorting of samples in documentation. 
PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
 2023-11-06 08:12:24 -08:00
Yuval Tassa e82cb9f420 Delete mentions of MuJoCo 2.0 in the docs. 
PiperOrigin-RevId: 578501679
Change-Id: Ie1fdd1d11d2e1e12b3f9f1e59bd4da705b3a7c7e
 2023-11-01 06:44:20 -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 2bb8652bf6 Add User Interface documentation. 
PiperOrigin-RevId: 575800982
Change-Id: I9b2e03932d0d3b1844b90e5da7c32a640d999e69
 2023-10-23 06:35:34 -07:00
Alessio Quaglino 139a8ae298 Add flex and elasticity documentation. Fixes #873. 
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
 2023-10-17 09:46:07 -07:00
Yuval Tassa a1b6026b8c Delete derivative code sample. 
PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
 2023-10-14 08:38:37 -07:00
Yuval Tassa c0357ef3d0 Improve documentation related to engine-internal threading. 
PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
 2023-10-13 16:32:38 -07:00
Yuval Tassa fb4cf472ed Delete testxml code sample. 
PiperOrigin-RevId: 573202693
Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
 2023-10-13 06:33:24 -07:00
Yuval Tassa 35e7bb354d Add documentation of ellipsoid-based fluid drag model. 
PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
 2023-09-20 05:41:44 -07:00
Yuval Tassa 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. 
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
 2023-09-18 10:53:35 -07:00
Kevin Zakka de5c3b1a09 PUBLIC: Update model gallery with new Menagerie models. 
PiperOrigin-RevId: 565329315
Change-Id: I819ba429aacf5cd68d2b101047879319fba259be
 2023-09-14 04:28:58 -07:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Yuval Tassa ba66bd4f8b Fixes to documentation: 
1. Cleaned up changelog, fixed some typos, removed nested admonitions.
2. Added missing documentation for `mjfResourceModified` function type.

PiperOrigin-RevId: 562859015
Change-Id: I34dc4f3131561cbe95be3127e6e318cc4b803a24
 2023-09-05 12:36:28 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Matthew Bennice 6225186964 Add threading primitives. 
PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
 2023-09-04 20:09:19 -07:00
Kyle Bayes 16ee0dfde5 Add modified callback to resource providers (for caching purposes). 
PiperOrigin-RevId: 561327623
Change-Id: Id6683f6d6d32ee91019aba46599c28cbffe29df6
 2023-08-30 06:53:20 -07:00
Saran Tunyasuvunakool 4c899b92cc Rename mj_stackAllocByte to mj_stackAlloc and make it public. 
PiperOrigin-RevId: 561133040
Change-Id: I4f5ffe51c1287aa0c82af68bfe17ed6dd2ad09da
 2023-08-29 14:07:54 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00