chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
1,022 Commits 2 Branches 1 Tag
49e8cd0fd360ee5be3fee0ac6561898d21c93b83
Commit Graph

190 Commits

Author SHA1 Message Date
Abhishek Joshi 49e8cd0fd3 Updating output file structure for USD frames 2023-10-19 12:24:57 -05:00
Abhishek Joshi b785642b3f Adding support for in memory usd scenes 2023-10-12 14:40:39 -05:00
Abhishek Joshi 6e14b2bc61 Adding cameras and temporary fix for plane geom 2023-09-25 22:10:51 -05:00
Abhishek Joshi 01cd7d8ef4 Visualizing specific geom groups 2023-09-24 17:20:00 -05:00
Abhishek Joshi 1e06a554e5 Removing redundant range calculations 2023-09-21 16:20:08 -05:00
Abhishek Joshi deb8a8e2e2 Including base colors for meshes 2023-09-17 14:08:10 -05:00
Abhishek Joshi ea0aa86e6b Merge branch 'google-deepmind:main' into usd-integration 2023-09-14 17:29:15 -05:00
Abhishek Joshi 8b9ffdc441 Adding meshes and materials 2023-09-14 17:17:54 -05:00
Yuval Tassa 86d8b912f4 Rejigged solver statistics in preparation for islanding. 
- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.

BEGIN_PUBLIC

Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.

- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.

END_PUBLIC

PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
 2023-09-13 06:18:37 -07:00
Kevin Zakka 8faf47dd16 BEGIN_PUBLIC 
Add missing `ctrl` attribute to keyframe indexer.
END_PUBLIC

Context: Making an LQR notebook for the Skydio drone and wanted to read the ctrl attribute in the keyframe stored in the XML.
PiperOrigin-RevId: 564806350
Change-Id: I5af3189cc8be87915f9d320d95f0fab551ef87fa
 2023-09-12 12:54:48 -07:00
Abhishek Joshi a9efd13e44 Merge branch 'main' into usd-integration 2023-09-09 16:40:27 -05:00
Abhishek Joshi 0412f98df1 Adding logic to include meshes using MjModel 2023-09-09 16:37:45 -05:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Abhishek Joshi 4e58b0619b Merge branch 'deepmind:main' into usd-integration 2023-09-06 14:04:36 -05:00
Saran Tunyasuvunakool 48d0bfde44 Replace glfw.get_time with time.time in the Python viewer timing logic. 
PiperOrigin-RevId: 563134207
Change-Id: Ic548701fc78336d8d87e94ea48833f94ee6395b8
 2023-09-06 09:52:12 -07:00
Saran Tunyasuvunakool 33f51856c1 Check that alignment is power of 2 in mj_stackAlloc. 
PiperOrigin-RevId: 562024496
Change-Id: I9230c6dc05ebb78e935f9b2f606aa77c921d67e5
 2023-09-01 12:45:35 -07:00
Abhishek Joshi ccb978a74f USD integration with support for initial primitives 2023-08-29 21:36:49 -05:00
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 daa2ac7f8b Rename nstack to narena, change it and pstack to count bytes. 
PiperOrigin-RevId: 561066311
Change-Id: I4d0e645e6c254dd906bfc42159e0e99149a7c6c8
 2023-08-29 10:13:33 -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
Nimrod Gileadi b92a9d599c Fix type errors in mujoco Python library. 
PiperOrigin-RevId: 559473920
Change-Id: I45056b4a86a062f223d39c60fbc849ef69a5866b
 2023-08-23 10:38:50 -07:00
Saran Tunyasuvunakool a2de04f5be Sanitize function parameter names that are Python keywords. 
PiperOrigin-RevId: 559436458
Change-Id: I56b8a595885f3f3d3ecb7a00db5f1bd70e5f95d9
 2023-08-23 08:34:41 -07:00
Yuval Tassa 90f58ebe5d Rename mj_stackAllocBytes to mj_stackAllocByte 
PiperOrigin-RevId: 559071711
Change-Id: I19072e07ac86ee0486703aa48b0dceb297f5f893
 2023-08-22 04:43:53 -07:00
Matthew Bennice 59138af10b Refactor stack allocations to have a clean byte allocation interface. 
PiperOrigin-RevId: 558881470
Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
 2023-08-21 13:18:29 -07:00
Kyle Bayes ed4bb2aab5 Change _Alignof to alignof in functions.cc 
PiperOrigin-RevId: 558388811
Change-Id: I40f394d6dd05215a7499ede5903841a07cd1c9f0
 2023-08-19 05:11:40 -07:00
Saran Tunyasuvunakool 488041d362 Add a private function for resizing contact and efc-sized arrays in Python. 
This function is currently used for internal experimentation.

PiperOrigin-RevId: 558238153
Change-Id: I32eec8f13ac2d995e90c5421f2a157412e2148f2
 2023-08-18 13:53:04 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -07:00
Kyle Bayes 631b16e7ad Add better user error messages to Python renderer update_scene along with missing unit tests. 
PiperOrigin-RevId: 554482720
Change-Id: Ief3ba496fb5720668f98fb9d44a5c82e6a14b9cc
 2023-08-07 08:22:34 -07:00
Kevin Zakka 4a519b9dd8 Raise an error if invalid camera name is provided to renderer update_scene. Fixes #870. 
PiperOrigin-RevId: 553211464
Change-Id: I00ab01a9929160dd40a2a789b104a8a6ed0d5a61
 2023-08-02 11:46:37 -07:00
Saran Tunyasuvunakool eaf78b798b Bump dev version number to 2.3.8. 
PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
 2023-07-20 03:27:50 -07:00
Saran Tunyasuvunakool c9246e1f50 Release version 2.3.7. 
PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
 2023-07-20 02:13:55 -07:00
Saran Tunyasuvunakool 06b70832ce Add keyboard event callback for Python passive viewer. 
Fixes #766
Fixes #846

PiperOrigin-RevId: 549449372
Change-Id: I37d17f1162c66d0e8482d402aae22d9a16b59deb
 2023-07-19 15:54:44 -07:00
Saran Tunyasuvunakool f7847ba73e Fix GLFW crash when Python exits while the passive viewer is running. 
Fixes #790

PiperOrigin-RevId: 549440435
Change-Id: I808f6aaab6662225e5fe1131e0da72eca6011ba9
 2023-07-19 15:20:46 -07:00
Saran Tunyasuvunakool 5f327b0c31 Add missing pybind definition for update_mesh. 
PiperOrigin-RevId: 548395521
Change-Id: Id21a1ef6daa94a221062e7354db3e906611f0f36
 2023-07-15 14:57:38 -07:00
Saran Tunyasuvunakool 0ccfef7314 Add update_{hfield,mesh,texture} methods to the passive viewer. 
Fixes #812.
Fixes #958.
Fixes #965.

PiperOrigin-RevId: 548181282
Change-Id: I6eb0cd2ce52c66083e83dd08d69e0cfb4178dbba
 2023-07-14 11:43:36 -07:00
Yuval Tassa 5cfbb6ac8b Add mjd_quatIntegrate, expose mjd_subQuat. 
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
 2023-07-07 05:33:24 -07:00
Saran Tunyasuvunakool 551a7bbc38 Drop support for Python 3.7. 
Python 3.7 reaches end-of-life on 27 June 2023 (https://devguide.python.org/versions/), and future versions of MuJoCo (after 2.3.6) will no longer support it.

PiperOrigin-RevId: 543594006
Change-Id: I66a7db3dab5d08f2fc52912c43e1532080600fc8
 2023-06-26 18:05:32 -07:00
Yuval Tassa c50c92ccc8 Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization. 
PiperOrigin-RevId: 542343761
Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e
 2023-06-21 13:19:36 -07:00
Saran Tunyasuvunakool f555261934 Bump MuJoCo dependency versions. 
PiperOrigin-RevId: 541945332
Change-Id: I13e67a2ef55a4b61600563c510e8f22405a87943
 2023-06-20 09:14:28 -07:00
Saran Tunyasuvunakool 5e220d43fe Add missing Nvidia ICD file for glvnd to enable GPU rendering on Colab. 
PiperOrigin-RevId: 541615331
Change-Id: Iff85772bffb245330898e9c2a511d77896bac0cf
 2023-06-19 05:37:25 -07:00
Kyle Bayes ac1f41160d Add engine internal error macro mjERROR to prepend calling function to error function. 
PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
 2023-06-19 03:29:31 -07:00
Saran Tunyasuvunakool c9e9cd8b35 Change org name to "Google DeepMind" in various docs. 
PiperOrigin-RevId: 540691205
Change-Id: I9eb99eb18893e6748892334470211dbd9d5808db
 2023-06-15 14:28:25 -07:00
taylor howell b81dfbbc48 fix python type_error mj_differentiatePos, mj_integratePos 2023-06-14 12:19:58 -06:00
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 466c9aca82 Remove mj_activate and mj_deactivate. 
PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
 2023-06-08 08:55:39 -07:00
Yuval Tassa d82f5ce5a4 Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Alessio Quaglino dab49d487c Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
 2023-05-16 11:10:38 -07:00
Alessio Quaglino 9d1a21f99d Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
 2023-05-16 08:17:50 -07:00
Yuval Tassa b0bc330b54 Add utility functions for banded-then-dense symmetric matrices. 
PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
 2023-05-02 05:58:08 -07:00