chenlin/Mujoco_WASM
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185 Commits

Author SHA1 Message Date
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
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
Kevin Zakka e90b347cbf Add mesh conversion utilities. 
PiperOrigin-RevId: 573343028
Change-Id: I4b258f91a11d1994659b0129de5ddb2077689f01
 2023-10-13 16:13:24 -07:00
Saran Tunyasuvunakool efdc89e347 Update dependency versions. 
PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
 2023-10-13 14:41:48 -07:00
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 7e549495d9 Fix macOS mjpython launcher to suppoer show_{left,right}_ui. 
PiperOrigin-RevId: 572377315
Change-Id: Iee734a6e49821b42e94dc19d9ed92a45ee605ea7
 2023-10-10 15:04:02 -07:00
Saran Tunyasuvunakool a84499e904 Fix non-graceful exiting behaviour in launch_passive. 
The viewer currently hard crashes when the user script loops on the passive viewer handle without paying attention to `is_running`. This is considered user error, however this change makes the user script hang on the loop rather than hard crashing.

Startblock:
   diffbase is submitted
PiperOrigin-RevId: 572336261
Change-Id: Id53126a158242b947584da1f946304ae8e792d4a
 2023-10-10 12:39:37 -07:00
Saran Tunyasuvunakool a1d0cbd654 Add show_{left,right}_ui kwarg to viewer.launch(_passive). 
Fixes #857

PiperOrigin-RevId: 572333909
Change-Id: I12247fe856afddf808eb8f386a594acac47c34b5
 2023-10-10 12:31:11 -07:00
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
Google DeepMind df48624d0d Place mjx tutorial correctly in copybara excludes. 
PiperOrigin-RevId: 571390140
Change-Id: I8d0b9ac7b30391e4abaa1ba03fd941e028fd2991
 2023-10-06 11:29:54 -07:00
Google DeepMind 06670155c4 Add MJX training colab. 
PiperOrigin-RevId: 571066455
Change-Id: I8b0638181cdc751cf9fbacfb84c1ac551d7ce4bd
 2023-10-05 10:45:36 -07:00
Yuval Tassa e9613f0cc9 Rename simulate.fully_managed_ to simulate.is_passive_ with flipped semantics. 
PiperOrigin-RevId: 570815258
Change-Id: Iaffdb0e52bcdb31cff7bd29cb820913e3838f0ee
 2023-10-04 14:49:52 -07:00
Yuval Tassa 3e12f0d50c Add history scrubbing mechanism to simulate. 
[screen capture](https://www.youtube.com/watch?v=YSvWn_poqWs)

PiperOrigin-RevId: 570676968
Change-Id: Id9a1fccc9418b851e007ddcf3fa89acd4edff3e9
 2023-10-04 06:36:34 -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 639e77876d Improved unpause behavior in simulate. 
PiperOrigin-RevId: 570030315
Change-Id: I5822f8686ba2fd7c5c59a9fa73fc29000a8406ec
 2023-10-02 05:00:40 -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 14f1386fc0 renderer.py improve accuracy and support depth precision and mapping flags 
By more carefully inverting the operations performed when OpenGL
transforms metric distance to window coordinates, more accurate
depth values can be estimated from the depth buffer
 2023-09-29 19:53:07 -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
Saran Tunyasuvunakool 8e00f8029e Disable -Wmaybe-uninitialized in GCC versions 12 and later. 
https://gcc.gnu.org/bugzilla/show_bug.cgi?id=109561

PiperOrigin-RevId: 569204628
Change-Id: I34ccb84a0afc60ccfcc47c820438d15dfa0a5f42
 2023-09-28 09:25:27 -07:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Copybara-Service b8a91a00ce Merge pull request #1070 from aftersomemath:simulate-load-message 
PiperOrigin-RevId: 568995214
Change-Id: Iac7644c4b35a916aa6a7d1bb158ba15a024b43ac
 2023-09-27 16:36:40 -07:00
Yuval Tassa ac74c72657 Fix issue where unpausing the simulation (especially under slowdown) causes a jump in simulation time, in both native simulate and Python viewer. 
PiperOrigin-RevId: 568948943
Change-Id: I2f401508555e272f348e97627aeb85cb3e9cf017
 2023-09-27 13:46:19 -07:00
Levi Burner e7d1f2f110 simulate: fix display of loading message 2023-09-27 16:04:36 -04:00
Saran Tunyasuvunakool 81c5e61b1e Correct OpenGL library path on macOS. 
Although the path doesn't exist on disk, dlopen seems to be previously redirecting to the correct file, but this stopped working in macOS 14.

PiperOrigin-RevId: 567684115
Change-Id: I21894302e87803d06bfd27ba123eacbdfec0ec56
 2023-09-22 12:09:31 -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
Saran Tunyasuvunakool be75dda8d1 Fix arena memory leak in _realloc_con_efc. 
PiperOrigin-RevId: 567093603
Change-Id: I0a00da461b495cc13e54381862d740333a43f82b
 2023-09-20 15:16:04 -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 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
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
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