chenlin/Mujoco_WASM
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8aa111fe0f4cf448b4fe57f5e79110c93967c133
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37 Commits

Author SHA1 Message Date
Yuval Tassa 17fbc0aeef Update colors and legend in margin/gap figure. 
PiperOrigin-RevId: 914857514
Change-Id: Ida36393bd4cd706bf81b8b7000ddd34f088fc936
 2026-05-13 07:43:41 -07:00
Yuval Tassa a4e49f2dff Margin and gap redesign (breaking change) 
PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
 2026-05-12 09:43:43 -07:00
Yuval Tassa 6419534bad Add actuator and sensor delays. Fixes #1004 
PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
 2026-02-06 08:47:36 -08:00
Alessio Quaglino 7da271c687 Add vertex equality option. 
PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
 2026-01-23 16:30:05 -08:00
Yuval Tassa 70bc7be4bc Add additional data fields that can be reported by rangefinder sensors. 
PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
 2025-12-23 15:33:00 -08:00
Alessio Quaglino 98682ae284 Do not modify mesh position when fitting a geom to the mesh AABB. 
Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.

Fixes #2881.

PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
 2025-10-09 03:05:00 -07:00
Yuval Tassa ec94bb49aa Make constraint island discovery on by default. 
Also fix latent bug in mjData serialization.

PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
 2025-08-26 04:27:24 -07:00
Yuval Tassa fde479736e Finalize built-in mesh example model and documentation 
PiperOrigin-RevId: 791227350
Change-Id: Ibdcdb8a4ee5b3f78c9ae93e1db2a9a2f9d55a80c
 2025-08-05 08:32:51 -07:00
Alessio Quaglino 51babec9c5 Move tactile sensor to the engine. 
PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
 2025-07-30 05:27:44 -07:00
Tom Power 3a4b6e6c5b Added terrain generation to mjspec tutorial 
PiperOrigin-RevId: 764229337
Change-Id: Ic541eefc4b561d3c39c5ee99c7d38466d7e75903
 2025-05-28 06:13:26 -07:00
Yuval Tassa d05251af2a Add tendon armature 
PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
 2025-04-04 07:44:04 -07:00
Yuval Tassa 05f3e914b0 Improve armature documentation 
PiperOrigin-RevId: 742583729
Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
 2025-04-01 01:16:58 -07:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Yuval Tassa dc98ae978d Publicize the rollout notebook, small improvements to plotting. 
PiperOrigin-RevId: 730841667
Change-Id: Id365f21cee078f28cb3fa797701c3c5a409607cd
 2025-02-25 05:20:41 -08:00
andrew-luo1 938a62f476 update apg diagram 2024-04-23 08:10:11 +02:00
andrew-luo1 df262402cf add diagram for apg notebook 2024-04-15 08:12:43 +02:00
Yuval Tassa 5308b485dc Improve dark mode behavior of arrowhead matrix image. 
PiperOrigin-RevId: 596341192
Change-Id: Id1f8cb500c6042d699dd5fd8ec55b61b17443e20
 2024-01-07 01:23:03 -08:00
Yuval Tassa c79e1e5d01 Add documentation image variants compatible with dark mode. Fixes #587 
PiperOrigin-RevId: 596265596
Change-Id: Iedd076fbb7a6dca77a91e52e538be1c764d1f8fb
 2024-01-06 14:02:34 -08:00
Yuval Tassa 6a83b86553 Update M1 Pro with M3 Max benchmarks in MJX docs 
PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125
 2023-11-23 10:46:54 -08:00
Yuval Tassa 530058cadb Clarify support for muscles/tendons in future MJX. Add details to the large scene benchmark. 
PiperOrigin-RevId: 583018058
Change-Id: I3d93a73b4bd71ade1ecf28b8cff9a114259e71e1
 2023-11-16 06:10:34 -08:00
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
Alessio Quaglino 139a8ae298 Add flex and elasticity documentation. Fixes #873. 
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
 2023-10-17 09:46:07 -07:00
Yuval Tassa ebded4747f Replace fruitfly image with a more dynamic pose. 
PiperOrigin-RevId: 569481337
Change-Id: I00246c4ed8264252a89b979a118463d8b35fa8ce
 2023-09-29 07:01:00 -07:00
Yuval Tassa 35e7bb354d Add documentation of ellipsoid-based fluid drag model. 
PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
 2023-09-20 05:41:44 -07:00
Yuval Tassa d40c395917 Add Visualization tab to simulate. 
Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
 2023-05-27 05:08:15 -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
Yuval Tassa d7456f5d35 Add image and model explaining the geom-fromto attribute. 
PiperOrigin-RevId: 524796118
Change-Id: I9e694d84a4be308baafbdbaab89cfb2570b13586
 2023-04-17 03:05:10 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -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
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 8a53a33fd1 Convert tabs to spaces in doc/images/banner.svg. 
PiperOrigin-RevId: 508345625
Change-Id: Ie97d46327670929aa4254efb5ae257069b309c1b
 2023-02-09 05:22:09 -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
Kevin Zakka 571b703f1c Switch documentation to custom furo theme with dark mode option. 
Co-authored-by: Saran Tunyasuvunakool <stunya@google.com>
Co-authored-by: Yuval Tassa <tassa@google.com>
PiperOrigin-RevId: 488975449
Change-Id: Ia2db8ac7ecd27a00ca2c4c9ca5e85b9167813473
 2022-11-16 10:24:06 -08:00
Yuval Tassa 5aba2c9fc6 Mention mug in changelog 
PiperOrigin-RevId: 435124165
Change-Id: Ib460023fc8bd7b672bf2d0f786bbeb7c51b44590
 2022-03-16 19:42:11 +00:00
Saran Tunyasuvunakool a499b38120 Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes. 
Closes #2
Closes #42
Closes #59

PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
 2021-12-16 14:40:33 +00:00
Saran Tunyasuvunakool 1f7eaae62e Version 2.1: documentation, public API headers, and sample programs. 
PiperOrigin-RevId: 403900419
 2021-10-18 12:35:33 +01:00