chenlin/Mujoco_WASM
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209 Commits

Author SHA1 Message Date
Yuval Tassa b6873ec8a2 Move mjModel.mesh_{pos,quat} before mesh_pathadr so all attributes related to original asset data are next to each other. 
PiperOrigin-RevId: 606277473
Change-Id: Ia4f6df552192c8a2847126975b6a1a31df63cf65
 2024-02-12 09:37:48 -08:00
Meghha Dhoke f763254a00 Updating Mujoco Release version number to v3.1.3 
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
 2024-02-05 15:59:20 -08:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Yuval Tassa 2feefbc5d2 Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID. 
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
 2024-01-17 10:54:23 -08:00
Yuval Tassa 67a00a3a51 Rename mjMAXTHREADS -> mjMAXTHREAD (consistency). 
PiperOrigin-RevId: 599130235
Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
 2024-01-17 04:33:44 -08:00
Yuval Tassa 6860e953ed Improve docstring of mju_eig3. 
PiperOrigin-RevId: 595380013
Change-Id: Ia3663c11ff1cd50a35d5d72ba01e09ff3d9054d0
 2024-01-03 06:04:08 -08:00
Google DeepMind 7fb448613f Post release version update: Update to V3.1.2 
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
 2023-12-18 15:03:37 -08:00
Nimrod Gileadi 7cb7c87f70 Fix a few issues with the passive viewer. 
1. Create an arena for the mjData instance used by the passive viewer visualization.

When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.

2. Add missing a missing field in scene state for flex visualization.

3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.

4. Add some locks in places where the render thread and Simulate::Sync collide.

This fixes #1280.

PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
 2023-12-18 07:33:19 -08:00
Yuval Tassa 38fa756a20 Add mjGEOM_LINEBOX, used in visualization of collision trees. 
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
 2023-12-15 05:36:35 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00
Yuval Tassa 28a9e6d9a2 Add mjNOBJECT value to mjtObj enum. 
PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
 2023-12-12 05:15:00 -08:00
Yuval Tassa 1885d518eb Use the string (rot:lin) in mjdata.h to clarify where 6D motion vectors use the Featherstone convention. Also add clarifying text to the appropriate note in the documentation. 
Fixes #982.

PiperOrigin-RevId: 589556339
Change-Id: I3e7ff185a089715a386694321d4b89d09d481cf9
 2023-12-10 03:27:44 -08:00
Matthew Bennice c0b7b9873d Store paths for hfields, textures, and skins similar to meshes. 
PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
 2023-12-02 03:51:25 -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
Alessio Quaglino 8010aad7be Add flex_elemlayer to mjvSceneState. Fixes #1193 and #1219. 
PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
 2023-11-27 02:25:05 -08:00
Nimrod Gileadi f2025c6abf Allow plugin actuators to have activation state. 
Accept new attributes on the plugin/actuator tag:
  - dyntype
  - dynprm
  - actlimited
  - actrange
  - actearly

This addresses some of the requests in #1098.

PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
 2023-11-23 05:14:03 -08:00
Baruch Tabanpour 1554048856 Bump dev version number to 3.0.2. 
PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
 2023-11-15 12:51:04 -08:00
Alessio Quaglino e3b3f96373 Add flex_texcoordadr to mjvSceneState. Fixes #1193. 
PiperOrigin-RevId: 582630943
Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
 2023-11-15 05:02:05 -08:00
Yuval Tassa 8a5e2b19a8 Improve mjContact documentation. Fixes #1136 
PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
 2023-11-06 07:28:51 -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 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Google DeepMind 7e419276ca Increase maximum number of UI elements per section in Simulate. 
PiperOrigin-RevId: 578268786
Change-Id: Ia584fb1782a6f20cdb64ec13bfa0bbcb211b1165
 2023-10-31 12:36:39 -07:00
Alessio Quaglino 50843cad30 Add defaults to SDF plugin attributes. 
Expose diameter and number of teeth for the gear SDF.

PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
 2023-10-30 03:09:25 -07:00
Alessio Quaglino 034bb62986 Add cam_intrinsic to mjvSceneState. 
Add `frustum.xml` to engine_vis_state_test models.

Fixes #1115.

PiperOrigin-RevId: 576567292
Change-Id: I642c32a87427507580046d2d260263c689d50c99
 2023-10-25 10:17:42 -07:00
Alessio Quaglino 1a47a97040 Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114. 
Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
 2023-10-25 09:08:20 -07:00
Yuval Tassa a89412bb4a Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}. 
PiperOrigin-RevId: 576493532
Change-Id: If8eda1a2bb728fe8ab91b8004f97fc729d999ad9
 2023-10-25 05:01:45 -07:00
Alessio Quaglino 01a932e052 Fix flex constraint Jacobian for edges belonging to a single body. 
PiperOrigin-RevId: 575161094
Change-Id: If4153bcb751cdd6dbdddeb08672f7107c7c5bbc2
 2023-10-20 02:49:34 -07:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00
Copybara-Service 59164702ab Merge pull request #978 from aftersomemath:depth-precision-in-place 
PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
 2023-10-12 11:18:36 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Saran Tunyasuvunakool 2e15574b58 Allow user-defined visualization geoms to be added to the passive viewer. 
Fixes #1023, #1082

PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
 2023-10-10 10:52:21 -07:00
Alessio Quaglino 8af09eb70d Add timing of collision phases. 
PiperOrigin-RevId: 572273621
Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
 2023-10-10 09:27:45 -07:00
Alessio Quaglino 77d0400733 Accelerate inertia computation for simple bodies. 
PiperOrigin-RevId: 571411319
Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
 2023-10-06 12:51:14 -07:00
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 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 177aec68dc Add overlay positions in the center of viewport edges, move PAUSE and LOADING... overlays to the top center. 
PiperOrigin-RevId: 570054949
Change-Id: If0046df382e67ad3a48e7138a75e9e200c0626b9
 2023-10-02 07:05:50 -07:00
Levi Burner 9e51f20ce2 More fixups to mjtDepthMap names 2023-09-29 19:53:58 -04:00
Levi Burner 56403b4dce Fixups to comments and flags for reversed Z rendering 2023-09-29 19:53:58 -04:00
Levi Burner 2e52bf807b Add flag to mjrContext to support legacy depth mapping by default 2023-09-29 19:53:57 -04:00
Levi Burner d32eb6bd12 In place change to reverse Z rendering and 32 bit float offscreen depth buffer 2023-09-29 19:53:47 -04:00
Levi Burner fc7b212369 Support reversed Z rendering and float32 offscreen depth buffer 
Combined, both options greatly improve camera depth accuracy compared to
OpenGL default Z mapping and int24 depth buffer.

Requires GL_ARB_clip_control and ARB_depth_buffer_float extensions
 2023-09-29 19:52:09 -04:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Saran Tunyasuvunakool 8ed321d469 Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section. 
PiperOrigin-RevId: 568911603
Change-Id: I8f21c3d1cc9c73b6a95292a50f262b1a199d0898
 2023-09-27 11:32:10 -07:00
Matthew Bennice 7f8018a3f3 Update XML parsing to store asset path so that assets can be recovered and sent to external renderers 
PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
 2023-09-21 10:27:52 -07:00
Matthew Bennice 4f34cacf35 Add maxuse_threadstack to mjData 
PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
 2023-09-21 09:41:00 -07:00
Yuval Tassa 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. 
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
 2023-09-18 15:15:54 -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
Yuval Tassa 63fd23a934 Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE. 
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.

- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).

- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).

PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
 2023-09-16 08:03:45 -07:00