chenlin/Mujoco_WASM
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11 Commits

Author SHA1 Message Date
Yuval Tassa 2810edd27a Rename mjtnum.h to mjtype.h, move enum types to mjtype.h 
PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
 2026-05-21 06:43:29 -07:00
Sam Haves f2461f9ce6 Modify mj_PLUGIN_LIB_INIT to support multiple plugins in the same compilation unit. 
Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead.

PiperOrigin-RevId: 896612678
Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
 2026-04-08 11:35:16 -07:00
Google DeepMind 70d70bc3b7 Fix typos in MuJoCo documentation. 
PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
 2024-07-25 13:31:13 -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
Nimrod Gileadi c5f958bdff When reporting compilation errors, include warning strings. 
This allows plugins to call mju_warning, and have the string propagate to users.

PiperOrigin-RevId: 650621601
Change-Id: I608e7a3a1ad126ab8da2ff0634fa708458fb9ccc
 2024-07-09 07:33:11 -07:00
Yuval Tassa 19388eee0c Fix type errors in engine and plugins. 
- Preparation for a float32 build of MuJoCo.
- Fix use of `float`-typed `fabs` in `mju_eig3`.

PiperOrigin-RevId: 643804942
Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
 2024-06-16 12:35:05 -07:00
Nimrod Gileadi aed4254d65 Fix the table formatting in plugin/actuator/README.md. 
The line continuation format that was used is not supported on GitHub.

PiperOrigin-RevId: 590141362
Change-Id: I0ab0dabfb8977bdf79682476376dda435787eba0
 2023-12-12 03:42:45 -08:00
Nimrod Gileadi c062a8db19 Allow multiple actuators to use the same PID plugin. 
Maintain separate state for each actuator in the Plugin object.

PiperOrigin-RevId: 587760569
Change-Id: I633a1b94f0dde9377120145066a26aef6a4033b8
 2023-12-04 10:08:07 -08:00
Nimrod Gileadi 236dcb4ffd Fix a bug with PID actuators, when plugin definition order differs from actuator order. 
PiperOrigin-RevId: 587729879
Change-Id: If71c7e374f36ef08c5147e7316066d6f5365925f
 2023-12-04 08:31:45 -08:00
Nimrod Gileadi 6412c95a37 Remove the use of plugin_state from PID plugin. 
The plugin was storing a boolean to indicate whether the previous ctrl value was set in `act`. Use d->time == 0 instead.

PiperOrigin-RevId: 585692686
Change-Id: I95335cebdb5716bd6fad81f463a4f248406c80ec
 2023-11-27 10:32:07 -08:00
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