chenlin/Mujoco_WASM
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428ec9caaf5de19a9ce31edcf60e9eafa5892cf8
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332 Commits

Author SHA1 Message Date
Abhishek Joshi 428ec9caaf fixing imports 2024-06-03 11:38:13 -05:00
Abhishek Joshi 0cfdc89c5b Merge branch 'google-deepmind:main' into tendons 2024-06-03 11:14:21 -05:00
Abhishek Joshi ee82810ad3 removing temp.py 2024-06-02 21:17:23 -05:00
Abhishek Joshi ba842fc0d1 decoupling tendons to subcomponents and fixing tendon scaling issue 2024-06-02 21:16:58 -05:00
Abhishek Joshi 1bbf44c99a adding resolution parameter 2024-05-27 10:26:17 -05:00
Kevin Zakka f0b633de6a Fix typos in least_squares notebook. 
PiperOrigin-RevId: 635696410
Change-Id: Iba9a2c8f121ca4994678ba933e19dce5323da27b
 2024-05-20 23:48:39 -07:00
Kyle Bayes d58010c3b9 Update numpy sha256 hash in build requirements.txt. 
PiperOrigin-RevId: 634546683
Change-Id: I319be1fab020dff2b44658ea402684a268ec6a33
 2024-05-16 15:24:14 -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 31de1dad9d Update requirements.txt for mujoco and mjx. 
PiperOrigin-RevId: 632441444
Change-Id: Ia9ff35b453476b2f1f5a7a8facc819a8925dcd8b
 2024-05-10 03:30:53 -07:00
Abhishek Joshi bb2c7ae556 adding initial tendon logic 2024-05-09 08:42:29 -05:00
Meghha Dhoke 4eca3b048d Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6 
PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
 2024-05-07 14:11:38 -07:00
Meghha Dhoke efbcd86e29 Update abseil to LTS 20240116.2. 
This is a minor update to the previous version, LTS 20240116.1. The only change is a fix for a bug in the `absl::StrFormat` function.

PiperOrigin-RevId: 631495397
Change-Id: I28aec52fb526a2168900a4ee93ffc6e11650a3be
 2024-05-07 11:40:44 -07:00
Yuval Tassa 8d896529f0 Replace .copy() with list() in minimize.py 
PiperOrigin-RevId: 631413376
Change-Id: I06dd3e3897078b57b0a0668b2182fa62dcd4a74e
 2024-05-07 07:16:30 -07:00
Yuval Tassa a40de1b230 Move notebook copyright notice into HTML comment. 
PiperOrigin-RevId: 631222581
Change-Id: I2fe86425677cf14cbfb72cb9d32b645682edc47f
 2024-05-06 16:36:45 -07:00
Yuval Tassa 34e537e557 Updates to minimize.least_squares. Fixes #1585 
- Residual callable is vectorized for easy multithreading by the user. Internally all vectors are now explicitly column vectors.
- Removed central findiff option, it wasn't applicable at the bounds anyway and just complicated the code.
- Added optional user-provided norm function for non-quadratic (robust) norms.
- Added an iter_callback callable for user convenience.
- Added option to internally check user-provided Jacobian and norm against finite differences.
- Updated the notebook accordingly.

PiperOrigin-RevId: 631205889
Change-Id: I3b9f8893756e329640de464e6f2e26a39e7dbd9e
 2024-05-06 15:36:01 -07:00
Abhishek Joshi f6ee435005 updating geom visibility logic; fixing infinite plane texture bug; adding frame skip arg to demo 2024-05-04 13:47:02 -05:00
Abhishek Joshi 2d6c263687 removing outdated comments 2024-05-02 17:29:18 -05:00
Abhishek Joshi 7a1e2bf61e adding demo file and unnamed geom fix 2024-05-02 17:23:48 -05:00
Abhishek Joshi 545c6fdc99 Merge branch 'google-deepmind:main' into main 2024-05-01 16:27:16 -05:00
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
Google DeepMind d2392efe6c Allow gl_context.GLContext to be None. 
PiperOrigin-RevId: 625927487
Change-Id: I85d5658c8ea529716aaac12b17957c59319367cc
 2024-04-17 23:38:06 -07:00
Yuval Tassa 2b4975811b Fix bug in Python binding of mj_saveModel 
PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
 2024-04-17 05:58:50 -07:00
Gabe Oppenheimer 225619c964 Update MuJoCo internal version to be the external version +1 
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
 2024-04-10 14:32:54 -07:00
Abhishek Joshi a2dfc6d17e updating imports 2024-04-10 14:21:46 -05:00
Abhishek Joshi 916b54b2b7 adding support for unnamed geoms 2024-04-10 12:20:10 -05:00
Abhishek Joshi bd41b69ebb removing test file 2024-04-10 12:03:22 -05:00
Abhishek Joshi 87a7da6cf0 updating capsule to consist of hemispheres instead of spheres 2024-04-10 12:00:05 -05:00
Yuval Tassa 5a365603f8 Add mju_euler2Quat. 
PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
 2024-04-10 06:02:50 -07:00
Gabe Oppenheimer 930d7b0487 Update MuJoCo Cmake dependency on PyBind11 to the latest release 
PiperOrigin-RevId: 622853925
Change-Id: Ic2009c8ffd5441fbb87034915f6dd850a9836660
 2024-04-08 08:32:25 -07:00
Abhishek Joshi f1fa9c0b8b combining shapes into one class 2024-04-04 21:10:15 -04:00
Abhishek Joshi a4b5355f46 merging with main mujoco repo 2024-04-02 16:39:04 -04:00
Abhishek Joshi 67a9f91c00 updating demo script 2024-04-02 15:11:37 -04:00
Yuval Tassa 5d26b50fce Remove native sensor noise sampling. 
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
 2024-03-28 15:33:03 -07:00
Copybara-Service f0ad80f268 Merge pull request #1534 from aftersomemath:simulate-clear-load-error 
PiperOrigin-RevId: 618005670
Change-Id: Id2d33463e01dfb4193c1b22155d42c792d5d4f7d
 2024-03-21 17:06:47 -07:00
Levi Burner 848e014020 Copybara import of the project: 
--
40996ab1a05f328c2b5d1b940abb189d43f646de by Levi Burner <leviburner@gmail.com>:

[Python Viewer] load mjb files, fixes #1421

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1535 from aftersomemath:simulate-load-mjb 40996ab1a05f328c2b5d1b940abb189d43f646de
PiperOrigin-RevId: 617913250
Change-Id: I09e858495784122c29e0a3895ce43b95010003bc
 2024-03-21 11:40:40 -07:00
Levi Burner af38845280 [Python Viewer] clear load error on successful reload, fixes #1116 2024-03-21 12:52:23 -04:00
Copybara-Service 67982c4961 Merge pull request #1509 from awesome-aj0123:camera-bug-fixes 
PiperOrigin-RevId: 617864822
Change-Id: If8bca106ecf725f9a7103eb3e009af901d6495a4
 2024-03-21 09:18:04 -07:00
Matthew Bennice 20c8e3e43b Implement basic USD test 
PiperOrigin-RevId: 617302442
Change-Id: Ic598df9757288640b5f35c4e740958884b1b4698
 2024-03-19 14:53:18 -07:00
Abhishek Joshi df88171ae1 removing unwanted code in __init__ function temporarily 2024-03-18 18:59:22 -05:00
Abhishek Joshi 765ba22cd9 Merge branch 'camera-bug-fixes' into demo_script 2024-03-18 15:50:57 -05:00
Abhishek Joshi d417356d73 removing tar file 2024-03-18 15:28:07 -05:00
Abhishek Joshi 66c044fcf4 adding demo script branch 2024-03-18 15:23:46 -05:00
Kevin Zakka c16a23d6c5 Fix typo in least squares notebook. 
PiperOrigin-RevId: 616927630
Change-Id: I06f361a6ec55f37123bd9eced29111e1920b9dc7
 2024-03-18 13:23:07 -07:00
Abhishek Joshi 7013c288bd bug fix for no camera; changed objid argument to obj_name 2024-03-14 09:02:34 -05:00
Yuval Tassa 40baa51072 Add tutorial notebook for mujoco.minimize module. 
PiperOrigin-RevId: 615410341
Change-Id: If9748ab56fb04e5203024327e2422a3737d2aab8
 2024-03-13 07:34:36 -07:00
Yuval Tassa e42f9c6490 Tweaks to basic tutorial notebook. 
PiperOrigin-RevId: 615368113
Change-Id: I888b252c75a1f6253dc78494e8348d00e8283ed7
 2024-03-13 04:42:45 -07:00
Yuval Tassa b61a09aa95 Delete redundant blank lines. 
PiperOrigin-RevId: 615359482
Change-Id: If1f850d560938b0c8cf6dd13c83ed72d1faae4cc
 2024-03-13 04:03:30 -07:00
Yuval Tassa 1fb3ab26f0 Tweaks to LQR tutorial notebook: 
- Unify all imports in one cell.
- Make final motion more interesting by adding more noise to joints which are not critical to balancing.

PiperOrigin-RevId: 615100505
Change-Id: I8302e441b3ca52d5134c317a35f99c5f74bac36b
 2024-03-12 10:52:34 -07:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -08:00
Nimrod Gileadi a00f1b5f30 Tidy up Colab notebook files. 
PiperOrigin-RevId: 613163325
Change-Id: Iec56375bb7631b8a3035f884b3aad6b54fb7b88b
 2024-03-06 04:14:11 -08:00