chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity
2,010 Commits 2 Branches 1 Tag
5c79313b211fc68f4667fc2e1ee6be41b0bb2e9d
Commit Graph

64 Commits

Author SHA1 Message Date
Yuval Tassa 39b22ebc26 Remove dangling section header from function docs. 
PiperOrigin-RevId: 652456322
Change-Id: Ib1d7aa387b7ba8957c93f0227f530aa0b37f2668
 2024-07-15 06:11:25 -07:00
Yuval Tassa e13ddfa2ab Improve compiler-related documentation. 
PiperOrigin-RevId: 651827545
Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
 2024-07-12 11:05:16 -07:00
Alessio Quaglino a0945e4b5a Add non-tree element lists to python bindings. 
Fixes #1752.

PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
 2024-07-04 07:24:02 -07:00
Alessio Quaglino 9107d3b507 Add mjs_findKeyframe. 
PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
 2024-07-03 05:17:41 -07:00
Alessio Quaglino 9106f40e2b Add mjSpec bindings. 
Co-authored-by: Saran Tunyasuvunakool <stunya@google.com>
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
 2024-07-01 12:05:50 -07:00
Kyle Bayes e66b9a36b2 Remove mj_makeEmptyFileVFS and mj_findFileVFS from MuJoCo API. 
PiperOrigin-RevId: 645393666
Change-Id: Iabe939c88f60b80dce20f84c7ff9a6396717cc84
 2024-06-21 08:12:51 -07:00
Alessio Quaglino 7bd7065e0e Renamed mjs_fullInertia to mjuu_fullInertia and moved it to user_util. 
PiperOrigin-RevId: 644769379
Change-Id: I83511eeb4c0972ce9f46f0e3443d438cccdd4d9f
 2024-06-19 09:39:02 -07:00
Yuval Tassa 6067048537 Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3. 
These functions names and argument ordering are more consistent with the rest of the API.

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
 2024-06-16 10:02:36 -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 171b0d6e06 Improve order and categorization in function API reference. 
Also, move macros to the globals section.

PiperOrigin-RevId: 641936967
Change-Id: I5b1f6aa52c69e68cc6310093c5811f0f20828bab
 2024-06-10 10:01:09 -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
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 5a365603f8 Add mju_euler2Quat. 
PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
 2024-04-10 06:02:50 -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
Yuval Tassa e142bca7f2 Remove special handling of mjModel and mjData strings in autogenerated functions.rst 
PiperOrigin-RevId: 612714709
Change-Id: Ie6c139d2c41488cd19c9bf5152b912a51b2f3a34
 2024-03-04 23:00:35 -08:00
Kyle Bayes a4a621f6e3 Add checksums (used as a timestamp) to VFS. 
Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.

PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
 2024-02-21 02:25:36 -08:00
Nimrod Gileadi f1d4f8f0a1 Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset. 
PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
 2024-02-16 05:09:05 -08:00
Yuval Tassa 6860e953ed Improve docstring of mju_eig3. 
PiperOrigin-RevId: 595380013
Change-Id: Ia3663c11ff1cd50a35d5d72ba01e09ff3d9054d0
 2024-01-03 06:04:08 -08:00
Yuval Tassa 822b03446c Improve pipeline documentation, expose mj_implicit function to public header. 
PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
 2023-11-29 10:18:57 -08:00
Kevin Zakka e33adaca9c Fix typos in mju_boxQP documentation. 
PiperOrigin-RevId: 585462325
Change-Id: Ib1c15c3d5af8475ec1a62b50c66b729579a23e60
 2023-11-26 11:23:52 -08:00
Yuval Tassa 0f37deca0d Documentation improvements. 
Fixes #598 #691 #1071 #1072

PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
 2023-11-06 05:56:02 -08:00
Yuval Tassa 5a9239e11c Improve inline documentation of mj_passive and mj_subtreeVel. 
PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
 2023-11-06 05:12:11 -08:00
Yuval Tassa 2bb8652bf6 Add User Interface documentation. 
PiperOrigin-RevId: 575800982
Change-Id: I9b2e03932d0d3b1844b90e5da7c32a640d999e69
 2023-10-23 06:35:34 -07:00
Yuval Tassa a1b6026b8c Delete derivative code sample. 
PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
 2023-10-14 08:38:37 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
 2023-10-05 21:05:19 -07:00
Yuval Tassa c54aba15f9 Fix typo in docs. 
PiperOrigin-RevId: 566957533
Change-Id: I39ebafaf3ad938837d864b3272ae2c4af6510583
 2023-09-20 07:29:16 -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
Saran Tunyasuvunakool 78183e60e1 Refactor thread pool implementation. 
- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.

Otherwise the functionality remains identical.

PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
 2023-09-11 07:20:34 -07:00
Matthew Bennice 6225186964 Add threading primitives. 
PiperOrigin-RevId: 562649644
Change-Id: I9c35b270e4b3b50cc7eb5a152f24d71def8e2fcd
 2023-09-04 20:09:19 -07:00
Saran Tunyasuvunakool 94a8705ad0 Add mj_markStack and mj_freeStack as public API functions. 
Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).

PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
 2023-09-04 17:04:11 -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
Saran Tunyasuvunakool 215433f5f7 Implement mj_stackAlloc and mj_arenaAlloc alignment using bitwise-and. 
This implementation explicitly avoids calling division instructions (which are generally expensive) even when link-time optimization is not active or if the alloc functions aren't inlined for some reason.

Also make mj_stackAlloc cheaper for external callers who may be linking against MuJoCo dynamically (and therefore cannot benefit from inlining).

PiperOrigin-RevId: 561299565
Change-Id: Iea4be5bf6d351ddf0c9d1fd8bd89a0c207b39309
 2023-08-30 04:29:18 -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
Yuval Tassa 5fe4850643 Improve mj_jac documentation. Fixes #994 
PiperOrigin-RevId: 560748977
Change-Id: Ic776d6450175a6620eb32ab8631dcca68c3088df
 2023-08-28 10:23:45 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -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
Kyle Bayes 95167fab2d Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly. 
PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
 2023-07-04 08:09:01 -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
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 770b4b363a Added optional smoothing to muscle dynamics: 
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.

PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
 2023-05-12 04:58:53 -07:00
Peter Mitrano 73fde667a5 fix typos 2023-05-09 20:59:43 +00:00
Yuval Tassa ff1fa84d32 Cosmetic documentation improvements 
PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
 2023-05-07 02:10:18 -07:00
Yuval Tassa 49efa9cc15 Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment. 
Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
 2023-05-06 09:22:37 -07:00
Yuval Tassa 42a16f65c2 Fix typo in mjd_inverseFD documentation. 
PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
 2023-05-03 01:30:44 -07:00
Yuval Tassa 8686339726 Fix typo. 
PiperOrigin-RevId: 528763706
Change-Id: Ia8c92fdd7e21ecd456684b4ea443aea017971972
 2023-05-02 06:24:18 -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