chenlin/Mujoco_WASM
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27 Commits

Author SHA1 Message Date
Kyle Bayes cd84011d7b Default to nativeccd for geomDistance test. 
PiperOrigin-RevId: 698340192
Change-Id: I814286903e1726462b24390eb2c3dc5b3b76899e
 2024-11-20 04:14:24 -08:00
Yuval Tassa a4a6248a06 Move AsVector utility to fixture.h 
PiperOrigin-RevId: 690577546
Change-Id: I2cebcffa1f2e3b0789f43e772e364c4762719ab3
 2024-10-28 05:52:25 -07:00
Yuval Tassa 4e3dc14f8e Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>) 
PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
 2024-09-10 15:14:04 -07:00
Yuval Tassa 2d3d5415b7 Add mj_jacDot: Time derivative of kinematic Jacobian. 
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
 2024-09-03 04:49:47 -07:00
Nimrod Gileadi 73cd15344e Fix a couple of mjtNum build errors. 
PiperOrigin-RevId: 645024056
Change-Id: Id283f550a4e2d927c214a86e77d42b90fb02824e
 2024-06-20 07:31:28 -07:00
Yuval Tassa c9bcf8371e Add mj_setKeyframe function to save current state in k-th model keyframe. 
Fixes #1719.

Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.

PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
 2024-06-12 09:22:52 -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
Copybara-Service 6b7d714291 Merge pull request #1450 from v-r-a:angmomMat 
PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
 2024-03-05 07:35:15 -08:00
Vyankatesh 3fd0fe7884 corrections 2024-02-26 20:15:22 +05:30
Vyankatesh ebf9d63702 changed the model, using central differences in CompareAngMomMats test 2024-02-26 14:48:47 +05:30
Vyankatesh Ashtekar 41e41b538d added two tests for the mj_subtreeAngMomMat() function 2024-02-26 01:23:55 +05:30
Yuval Tassa ee78b8f76b Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints. 
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
 2023-10-03 09:32:24 -07:00
Yuval Tassa 1aa375ef9a Allow RHS vector in mj_mulM_island to use uncompressed memory. 
PiperOrigin-RevId: 562605681
Change-Id: If34bceed9eade59957ac9fd9b6a41fb736b58024
 2023-09-04 13:56:54 -07:00
Yuval Tassa 70c5fa50f2 Improve island-constraint testing model. 
PiperOrigin-RevId: 561931744
Change-Id: I2826d4c5b987cc6edd761026f6734fe40fb31278
 2023-09-01 05:52:00 -07:00
Yuval Tassa 9fd186ac2b Add private function mj_mulM_island for mass matrix multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561639405
Change-Id: I3777cea51ef22f6847b3cf3e17bdac5cf621c019
 2023-08-31 06:42:33 -07:00
Kyle Bayes f34cb22bd3 Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM. 
PiperOrigin-RevId: 556823353
Change-Id: I650ac83767d60c69859aae6e38aa331f43814378
 2023-08-14 09:49:34 -07:00
Yuval Tassa f67e359532 Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions. 
PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
 2023-06-12 08:56:48 -07:00
Yuval Tassa 49066e1794 equivalent but clearer quat-diff call in mj_differentiatePos 
PiperOrigin-RevId: 530075836
Change-Id: I3bbe5dec17ccdf53c372bb81087dddde30a24c5c
 2023-05-07 02:21:52 -07:00
Kyle Bayes f1007df013 Implement hash map for mj_name2id using djb2 and linear probing. 
PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
 2023-01-04 07:57:55 -08:00
Saran Tunyasuvunakool 05216f183c Fix broken test on MSVC. 
Test was broken by 2e6af64b31.

PiperOrigin-RevId: 495196716
Change-Id: I0402b05da2778c54c2761efe5d9977fd091cddd6
 2022-12-13 20:22:50 -08:00
Saran Tunyasuvunakool 2e6af64b31 Change mj_versionString test to not rely on a golden value. 
PiperOrigin-RevId: 495026376
Change-Id: I378d2cff1edfe4d49c1bd7c131d92502d0a6b5b2
 2022-12-13 08:16:55 -08:00
Kyle Bayes 73fb61e3e2 Bump version number to 2.3.1. 
PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
 2022-12-05 12:13:55 -08:00
Saran Tunyasuvunakool 57b0b36699 Bump version number to 2.3.0. 
PiperOrigin-RevId: 481823754
Change-Id: Ie8c2c65b11178952355830ef019fe2efdf774189
 2022-10-17 22:36:59 -07:00
Saran Tunyasuvunakool 94b6ae2b69 Bump version number to 2.2.2. 
PiperOrigin-RevId: 472513958
Change-Id: I42f321c6681fdd42c5f80368f612534aa885af74
 2022-09-06 11:32:55 -07:00
Yuval Tassa fcf4131771 Add mj_jacSubtreeCom for computing subtree center-of-mass Jacobians. 
PiperOrigin-RevId: 464075727
Change-Id: If679c0fdd05b7dc84154cec00963aeea7bbdacc3
 2022-07-29 07:44:32 -07:00
Saran Tunyasuvunakool 373cc894a8 Bump version number to 2.2.1. 
PiperOrigin-RevId: 461471944
Change-Id: Ia752d992fabdc57b822bc30b01030c19162917ac
 2022-07-17 09:50:31 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00