chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
4,894 Commits 2 Branches 1 Tag
8aa111fe0f4cf448b4fe57f5e79110c93967c133
Commit Graph

20 Commits

Author SHA1 Message Date
Balint-H ce0356b78f Update relevant test for passive spring/damper settings 2026-03-12 16:32:41 +00:00
Yuval Tassa 088079eff0 Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations. 
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
 2024-08-22 12:01:54 -07:00
Kyle Bayes 57e6760ec9 Re-implement VFS internals in C++, removing the constraints of the previous implementation. 
PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
 2024-07-04 09:22:23 -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
Copybara-Service d6712f2944 Merge pull request #1646 from Balint-H:fix/unity-sensornoise 
PiperOrigin-RevId: 639722238
Change-Id: I80a941e97923169150f665fb3411605affcc0702
 2024-06-03 03:49:20 -07:00
Bálint Hodossy 45ccc2a6df Add tests for kv param in position actuators 2024-05-27 12:11:15 +01:00
Bálint Hodossy 161ed22299 Fix Unity tests for sensornoise attribute 2024-05-27 11:29:04 +01:00
Tom Erez 9952f1708c Remove collision option from Unity plug-in GUI. 
PiperOrigin-RevId: 582978831
Change-Id: I97275438c730655a9c942526fa410bf006189968
 2023-11-16 03:24:05 -08:00
Benjamin Nauck 42c3faa462 Add support for fluid coefficients to Unity plugin 2023-02-20 18:46:16 +01:00
Benjamin Nauck 09bc934f25 Add support for fluid shapes to Unity plugin 2023-02-17 13:15:29 +01:00
Tom Erez ba9229cad5 Remove test for MjVfs read. 
The c# library never reads from MjVfs files, so this test is superfluous (and flaky).

PiperOrigin-RevId: 499490518
Change-Id: I417959b5374c5ede29544ee3f463928513e28d07
 2023-01-04 08:22:54 -08:00
Tom Erez 69739426f1 Use scalar Angle to compare quaternions. 
The Vector4 comparator couldn't know that q==-q.

PiperOrigin-RevId: 498947861
Change-Id: Ife9efeb369c794eedbef80829e40057794a334ee
 2023-01-01 20:01:48 -08:00
Tom Erez 6a58fd1522 Clean-up test files. 
Also, don't add a Global Settings component at import if the xml doesn't have any global settings (option/size/custom).

PiperOrigin-RevId: 495950899
Change-Id: I6599e8ea3f3a82729fc5c974fd7ced8eb93b277e
 2022-12-16 13:39:28 -08:00
Tom Erez f70403d00a Add support for global custom numeric fields. 
PiperOrigin-RevId: 495865065
Change-Id: I59ed65e84a0bcaa90220b938ed34fdc26165aa09
 2022-12-16 07:03:31 -08:00
Tom Erez 21f10ce1b6 Add user sensor bindings. 
Stop force-setting nusersensor, instead allow MuJoCo to infer the size.

PiperOrigin-RevId: 494783883
Change-Id: Ia2a1b1803b2904f2dded7b790d01eb6f1920dbaf
 2022-12-12 11:43:00 -08:00
Yuval Tassa c8ff7b3d34 Remove distance constraints. 
- `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed.
- The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected.

PiperOrigin-RevId: 467050101
Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7
 2022-08-11 14:31:11 -07:00
Alessio Quaglino 307cf692e5 Add <damper> actuator shortcut and related mjGAIN_AFFINE. 
**Rationale**

A general `mjGAIN_AFFINE` actuator adds the term `force = (c + kp * length + kv * velocity) * ctrl`. The damper shortcut restricts it to `kv * velocity * ctrl` and sets the `ctrllimited` attribute to true.

**API**

```xml
<actuator>
  <damper ctrlrange="0 1" kv="1"/>
</actuator>
```

* Required attributes: `ctrlrange` (>=0)
* Optional attributes: `kv` (>=0)

PiperOrigin-RevId: 455366866
Change-Id: I88773abbeccabb6442f215c9fc05e205df63f692
 2022-06-16 06:21:17 -07:00
Tom Erez 02f300c762 Refactor: separate buffer indexing and swizzling. 
This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.

PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
 2022-05-29 00:24:30 -07:00
Saran Tunyasuvunakool 3577e2cf8b Version 2.1.2: Python bindings, OBJ assets support, bugfixes. 
PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
 2022-03-15 14:04:44 +00:00
Tom Erez 6de9eafa13 Initial release of the Unity plugin. 
PiperOrigin-RevId: 425947505
 2022-02-02 20:44:39 +00:00