chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
669 Commits 2 Branches 1 Tag
7cc42ecf2adf040b3e1ad65aeb9714f5dfae03ba
Commit Graph

121 Commits

Author SHA1 Message Date
Yuval Tassa 7cc42ecf2a Remove "global" option from [compiler/coordinate](https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler-coordinate) attribute. 
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older.

PiperOrigin-RevId: 521739137
Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
 2023-04-04 05:59:38 -07:00
Yuval Tassa 01b84089dd Document engine plugins. 
Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.

PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
 2023-04-03 07:55:21 -07:00
Yuval Tassa c29f32657c Fix broken links in the documentation. 
PiperOrigin-RevId: 520657874
Change-Id: Idd01c40f87e0f2afcbd2d2bfd98fab95edc2371e
 2023-03-30 09:18:06 -07:00
Yuval Tassa 62aa38f5f1 Reduce size of ellipsoidinertia image in changelog. 
PiperOrigin-RevId: 519203289
Change-Id: Ia23cd9429d8266a7e293ae9310609724276d1d12
 2023-03-24 12:00:27 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -07:00
Yuval Tassa ce6c9053e2 Fix bug in engine_derivative.c 
- The inner loop was reusing and modifying an outer loop variable.

PiperOrigin-RevId: 518843275
Change-Id: I922f8768c4e8ef74c2fb2b1fd897de8234336acf
 2023-03-23 06:32:31 -07:00
Nimrod Gileadi e58d53e747 Update changelog.rst for version 2.3.3 
PiperOrigin-RevId: 517932202
Change-Id: I55063e9bc5da2d424b1ad303834d8f11cb0a0fa9
 2023-03-20 04:40:15 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Saran Tunyasuvunakool 7a0def9791 Add viewer.launch_passive and mjpython to the changelog. 
PiperOrigin-RevId: 517458183
Change-Id: Idaa39fed2ab9d4a82b92b7a1a1cefb80b5b36fcf
 2023-03-17 11:09:27 -07:00
Yuval Tassa 62d200db33 Improve mid-phase images in changelog. 
PiperOrigin-RevId: 517390561
Change-Id: Ib2775a5590bc5d03cf7cec1112659829d0dc8ce8
 2023-03-17 05:38:39 -07:00
Alessio Quaglino 70959c1a2c Added a collision midphase on geom pairs using rotated AABBs static trees. 
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
 2023-03-17 02:37:29 -07:00
Saran Tunyasuvunakool e20ab6c96f Add a number of missing struct fields to Python bindings. 
It is quite possible that there are a few other fields still missing since we currently do not yet have automated testing of struct field existence.

Fixes #747.

PiperOrigin-RevId: 517189048
Change-Id: I7c1d95e700eaea05aaa3cde1fd05e1a259553117
 2023-03-16 12:05:50 -07:00
Yuval Tassa 8c7f6ce5a0 New implicitfast integrator and sparse RNE derivatives for implicit. 
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
 2023-03-15 13:17:41 -07:00
Kyle Bayes 056e849273 Provide improved mju_sqrMatTDSparse implementation that doesn't require dense memory allocation for sparse matrices. 
PiperOrigin-RevId: 516812783
Change-Id: Ieb43337831d8d3b2c7f18a7facd8e0a0f2b0eff5
 2023-03-15 06:56:16 -07:00
Saran Tunyasuvunakool 2f0fb1e4ef Workaround for broken VSync in Simulate on macOS. 
OpenGL VSync became broken again in macOS 13 (https://github.com/glfw/glfw/issues/2249). This workaround is similar to https://github.com/glfw/glfw/pull/2277 but is implemented entirely outside of GLFW.

PiperOrigin-RevId: 516320722
Change-Id: Ib8a651a942f592c74e00ad3c7b22f2dfd156be5f
 2023-03-13 14:19:17 -07:00
Yuval Tassa c57a588ab5 Re-organise API data structure documentation. 
PiperOrigin-RevId: 515515875
Change-Id: I743a0409eb9b867249a90d5c1cb4d77bacade4dc
 2023-03-09 20:24:32 -08:00
Kyle Bayes d3d789cf7d Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated. 
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
 2023-03-09 13:51:27 -08:00
Yuval Tassa 2e6a37e8c5 Changelog: Move the image under the "Simulate" heading. 
PiperOrigin-RevId: 514666433
Change-Id: Ief3f10260fb071412fdd0d4b481fb10ee99b71ff
 2023-03-07 02:09:16 -08:00
Kyle Bayes 50bebcb4ee Precount number of non-zeros for constraint Jacobian sparse matrix. 
PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
 2023-02-28 08:57:56 -08:00
Yuval Tassa 7542c90cd2 Improved behaviour of mouse-spring interactions. 
Also:

- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.

PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49
 2023-02-20 08:40:33 -08:00
Alessio Quaglino 9756ed0d80 Read normals and textures from OBJ, do not duplicate vertices. 
PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
 2023-02-17 10:15:25 -08:00
Yuval Tassa 2607e67f8d Add contact labels showing which geom pairs are in contact. 
PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
 2023-02-17 07:03:19 -08:00
Saran Tunyasuvunakool ace5b74f83 Rename inteval attribute in mjLROpt to interval. 
PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
 2023-02-13 10:54:25 -08:00
Saran Tunyasuvunakool 49c939eaf0 Document 48e95817e4 in the changelog. 
PiperOrigin-RevId: 508342626
Change-Id: I8505d3c3168d0ebffaff87dc687a831d278a8fcb
 2023-02-09 05:03:31 -08:00
Saran Tunyasuvunakool 71c5f1794d Remove efc_ fields from joint indexers. 
Since the introduction of arena memory, these fields now have dynamic sizes that change between time steps depending on the number of active constraints. This breaks strict correspondence between joints and `efc_` rows.

Note that these fields can still be accessed directly as attributes on the `MjData` object.

PiperOrigin-RevId: 508342388
Change-Id: I610ae6ca462f6bb5cf8bc199a3436bed3d1a5371
 2023-02-09 05:02:11 -08:00
Saran Tunyasuvunakool 7d8e810ab1 Fix IPython history corruption when using launch_repl. 
PiperOrigin-RevId: 508064761
Change-Id: I58fa2e4f35b57a1ab68c3172ba5c0d4495e40ced
 2023-02-08 06:37:42 -08:00
Alessio Quaglino dd632b7ccc Bump MuJoCo version to 2.3.2. 
PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
 2023-02-07 02:35:17 -08:00
Copybara-Service 6b80b010af Merge pull request #705 from hartikainen:bug/mj_deleteFileVFS-infinite-loop 
PiperOrigin-RevId: 507544780
Change-Id: Ie5819d4cc567dce44ceb59624a889a06ecdd7c1b
 2023-02-06 12:01:11 -08:00
Saran Tunyasuvunakool 10c5d6a1e5 Add missing entries to 2.3.2 changelog. 
PiperOrigin-RevId: 507522863
Change-Id: Id6c094a8054440de4aa918575f6e45d49519861c
 2023-02-06 10:44:18 -08:00
DeepMind 929e09f84a Improve URDF geom name loading API. 
PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
 2023-01-27 07:29:45 -08:00
Kyle Bayes c741dfce7d Implement a more performant mju_transposeSparse that doesn't require dense memory allocation. 
PiperOrigin-RevId: 505044194
Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
 2023-01-27 00:20:01 -08:00
Alessio Quaglino 6ba4d6f0de Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates. 
PiperOrigin-RevId: 502624466
Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
 2023-01-17 10:31:50 -08:00
Saran Tunyasuvunakool d022cd1a31 Fix broken launch_repl in the Python viewer. 
The REPL functionality was broken in 9fcf3b0c2e.

PiperOrigin-RevId: 501818153
Change-Id: I3fe2f14d78839e63deb43c1017527e7a1cf79e3c
 2023-01-13 04:59:22 -08:00
Yuval Tassa adf71cc6b4 Improve mesh-fitting image in changelog. 
PiperOrigin-RevId: 500782543
Change-Id: Iecec45abd3cb1e5a06df58ae32ebe1998584024a
 2023-01-09 12:40:10 -08:00
Alessio Quaglino 19b6c70e13 Use global coordinates for computing the frame position of a primitive geom fitted to a mesh. 
PiperOrigin-RevId: 500720200
Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
 2023-01-09 08:29:27 -08:00
Kyle Bayes f1007df013 Implement hash map for mj_name2id using djb2 and linear probing. 
PiperOrigin-RevId: 499485127
Change-Id: I5aed6549db18b92d7c8a3b7590e50a00ce13a439
 2023-01-04 07:57:55 -08:00
Kyle Bayes 60fbb77b2a Fix typos in MuJoCo 2.3.1 changelog. 
PiperOrigin-RevId: 493305455
Change-Id: I10c8dc198e60d9dd5ef107fc7210c80b66e123c9
 2022-12-06 07:56:21 -08:00
Saran Tunyasuvunakool 36641cdb2c Update release date for 2.3.1. 
PiperOrigin-RevId: 493165432
Change-Id: Ib88d2e487d7726076f50f8a44a44d1d2d72a15ab
 2022-12-05 18:16:08 -08:00
Kyle Bayes 73fb61e3e2 Bump version number to 2.3.1. 
PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
 2022-12-05 12:13:55 -08:00
Kyle Bayes ef695bb8a8 Add Renderer class to Python native bindings. 
PiperOrigin-RevId: 492994751
Change-Id: Iebbe5980668a15b1cd62c0076cc131255462b2eb
 2022-12-05 06:54:33 -08:00
Saran Tunyasuvunakool 0846f38c82 Rename Python mujoco.simulate to mujoco.viewer. 
PiperOrigin-RevId: 492701386
Change-Id: I059c572e2a63bd5529e863a9404720973df8ea46
 2022-12-03 10:09:42 -08:00
Yuval Tassa dee1d6020a Make "acc" the default computation stage for sensors of type user. 
PiperOrigin-RevId: 492689134
Change-Id: I21c07c74cb4b94d39c091ae98b169fd1235769d4
 2022-12-03 07:50:15 -08:00
Alessio Quaglino 0d52feaa94 Add updateScene callback for plugins. 
PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
 2022-12-02 10:11:32 -08:00
Alessio Quaglino 89185b4af2 Using full path when adding a file to VFS. Fixes #616. 
PiperOrigin-RevId: 492204185
Change-Id: If2b2230c095fe0bb776fcc3ffda48f13d0be5cb2
 2022-12-01 08:34:20 -08:00
Saran Tunyasuvunakool df25d7d602 Raise an informative error when running on macOS under Rosetta 2. 
Current users only get a cryptic "Illegal instruction" crash.

Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
 2022-11-29 12:19:06 -08:00
Alessio Quaglino d0b1a97338 Deformable solid plugin for particles. 
Using coordinate-free formula equivalent to linear finite elements.

PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
 2022-11-28 05:32:30 -08:00
Yuval Tassa 165e72f798 Apply force perturbations at selection point rather than body center-of-mass. 
PiperOrigin-RevId: 489996756
Change-Id: I87870a0c1d173449f15a7249f2459a6b726ff417
 2022-11-21 09:13:16 -08:00
Alessio Quaglino 638c9a6994 Support capsules in URDF import. 
PiperOrigin-RevId: 489980760
Change-Id: I1c21e736a86f6637a00e2062727d2e6fd5694c42
 2022-11-21 07:58:42 -08:00
Yuval Tassa 221c63d744 Sensors of type user no longer require objtype and objname. If unspecified, the objtype will be mjOBJ_UNKNOWN. Also, `user sensors datatype default is now "real"`. 
PiperOrigin-RevId: 489652972
Change-Id: I0a8f21ee1a2f5292e6bbcfe3785536cfd1498b85
 2022-11-19 02:05:42 -08:00
Saran Tunyasuvunakool 9ecade0707 Move plugin loading and scanning logic from Simulate to MuJoCo library. 
PiperOrigin-RevId: 489020177
Change-Id: I1c29d931b47d5252e57e1d797cc7c17645859ffc
 2022-11-16 13:15:51 -08:00