chenlin/Mujoco_WASM
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36 Commits

Author SHA1 Message Date
Saran Tunyasuvunakool 373cc894a8 Bump version number to 2.2.1. 
PiperOrigin-RevId: 461471944
Change-Id: Ia752d992fabdc57b822bc30b01030c19162917ac
 2022-07-17 09:50:31 -07:00
Yuval Tassa 138a01625e Fix typo. 
PiperOrigin-RevId: 460312313
Change-Id: I4ff1f82afb28d1286e33aaee8b008f76f81935ac
 2022-07-11 15:20:38 -07:00
Yuval Tassa c14a7ef4a7 Add clock sensor type. 
PiperOrigin-RevId: 459720950
Change-Id: Ibda48ae7dc4aa7be451a947a1c53d10a7eaf176b
 2022-07-08 03:50:08 -07:00
Yuval Tassa d3a86bb748 - Add floating changes to changelog. 
- Add sections about the state and derivatives to the Computation chapter.

PiperOrigin-RevId: 459032736
Change-Id: I0b69401688f24c84d5747f1b49980e38e19a54a3
 2022-07-05 02:18:01 -07:00
Yuval Tassa 09a5efc09e Add control values to keyframes. 
- Add basic test for keyframes.
- Add missing documentation for keyframe mocap positions and quaternions.

PiperOrigin-RevId: 459021649
Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
 2022-07-05 01:07:37 -07:00
Yuval Tassa 5ba880506c Improve header and paragraph spacing. 
PiperOrigin-RevId: 458935896
Change-Id: Ibbd084ddd18cf9c1a5fe59b3ca60b715595cf606
 2022-07-04 11:05:16 -07:00
Nimrod Gileadi 2b319c81bc Update sphinx and jq for documentation. 
Old versions of Sphinx don't support Python 3.10.

sphinx-rtd-theme 1.0.0 supports Sphinx 4.x:
https://sphinx-rtd-theme.readthedocs.io/en/stable/changelog.html#features

PiperOrigin-RevId: 458455382
Change-Id: Ic34a7d350d5ecd1dfff53d88472a3b25a7245ec0
 2022-07-01 06:27:14 -07:00
Alessio Quaglino 2d0995b47c Add visualisation groups to skins. 
PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
 2022-07-01 04:57:34 -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
Kevin Zakka 2de8aa9e92 Fix redundant actuators in modeling doc. 
PiperOrigin-RevId: 454942117
Change-Id: Id5ffa3339cb0188863570071dc56f6ead794e5a4
 2022-06-14 13:29:42 -07:00
Kevin Zakka 6048a55daf Add intvelocity actuator shortcut. 
PiperOrigin-RevId: 454899823
Change-Id: I9b5494baacfab5a7d03bd680d0ded06a7790e75e
 2022-06-14 10:36:58 -07:00
Copybara-Service 959ed08246 Merge pull request #320 from djbutler:main 
PiperOrigin-RevId: 454562743
Change-Id: Ia0d3067f7a37f30b1d2ae3b7a5755b7cbad3a114
 2022-06-13 03:13:42 -07:00
Yuval Tassa f428c1bf56 Improve example XML snippet in "URDF Extensions" section. 
`discardvisual="false"` is often required when importing URDF models.

[Relevant issue](https://github.com/deepmind/mujoco/issues/326).

PiperOrigin-RevId: 453429187
Change-Id: I6dccc5656114224d11010c87e6a127321cce93c1
 2022-06-07 07:12:26 -07:00
Yuval Tassa c062531fc7 Fix formatting bug in overview.rst 
PiperOrigin-RevId: 453257852
Change-Id: I9312f6a30e0b73199148435da8f6dd8ed1249e10
 2022-06-06 12:28:29 -07:00
Kevin Zakka 53d3220fcc Fix quaternion typos. 
PiperOrigin-RevId: 453203844
Change-Id: I7d788c21bb00b7746f941fb2cf755f0b046e35f2
 2022-06-06 08:24:21 -07:00
Yuval Tassa 652bab3eec Improve documentation of <freejoint> element. 
PiperOrigin-RevId: 453192974
Change-Id: I14b02c8c37f6208a67b35efc17887668f6555aef
 2022-06-06 07:15:41 -07:00
Yuval Tassa 880304abba Update the asset/mesh section of the XML reference to mention OBJ files. 
Also clean up some formatting.

PiperOrigin-RevId: 453173729
Change-Id: I069b9433542dda0e3effe71d162cb51a46ce2f4e
 2022-06-06 05:02:41 -07:00
Dan Butler c0282237f1 Update documentation for 'boundmass' attribute of 'compiler' xml element to include usage 2022-06-02 19:35:06 -07:00
Saran Tunyasuvunakool 5cc73c30bf Align all arrays in mjData's buffer to 64 byte boundaries. 
The introduction of additional mjData arrays for the implicit integrator caused in a shift in data alignment in memory. In certain combinations of machines and models, this change resulted in ~5% performance regression that appears to be attributable to L2 cache misses.

This change aligns all arrays in mjData to the boundary of a typical L2 cache line size. Benchmarking shows that this resolves the performance regression on a Broadwell machine.

PiperOrigin-RevId: 451652783
Change-Id: I4ed2c2d03453a83a0b4a9b8e224e2fd7c0dadea9
 2022-05-28 13:03:38 -07:00
Kevin Zakka 70b19d5fd6 Typo fixes in programming.rst. 
PiperOrigin-RevId: 450494768
Change-Id: I039430931c3357135724aaccff609bd8fd8a2553
 2022-05-23 12:05:00 -07:00
Saran Tunyasuvunakool a2ee3d8df0 Fix a typo in changelog.rst and update intro in overview.rst. 
PiperOrigin-RevId: 450422495
Change-Id: Icc10fd6cfae38cb51a7499cba9b05e002e68e986
 2022-05-23 06:21:58 -07:00
Saran Tunyasuvunakool 7eb4ab3a8f Fix documentation typos and CMake framework setup for macOS. 
The previous commit missed out some recent changes in the internal repo. This commit brings the public GitHub repo in sync.

PiperOrigin-RevId: 450377010
Change-Id: I59a68ae4a39c5cd5ed5f7df77ba870273243d623
 2022-05-23 14:06:12 +01:00
DeepMind 64bc6d27b2 Add implicit integrator. 
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
  - Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
  - Damping and fluid-drag passive forces.
  - Actuation forces.

A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost.

PiperOrigin-RevId: 450377010
Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
 2022-05-23 01:22:15 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00
Saran Tunyasuvunakool 87539dbd24 Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD. 
PiperOrigin-RevId: 441482552
Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
 2022-04-13 16:22:26 +01:00
Saran Tunyasuvunakool 90dea1bdfb Version 2.1.4: Switch to GLAD, minor improvements to simulate. 
PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
 2022-04-04 13:53:21 +01:00
Nimrod Gileadi df048e54c0 Update MuJoCo to version 2.1.3. 
PiperOrigin-RevId: 436727767
Change-Id: I9b1b0084021e83f790efa46eab9a980cbde4953f
 2022-03-23 16:57:26 +00:00
Yuval Tassa 5aba2c9fc6 Mention mug in changelog 
PiperOrigin-RevId: 435124165
Change-Id: Ib460023fc8bd7b672bf2d0f786bbeb7c51b44590
 2022-03-16 19:42:11 +00:00
Saran Tunyasuvunakool 147efb5192 Add 2.1.2 release date and document experimental fluid interaction model in the changelog. 
PiperOrigin-RevId: 434760829
Change-Id: I71d3ca9864890927d2945c73767511e5e973be73
 2022-03-15 15:45:08 +00:00
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
Yuval Tassa 1ef7ec6dde Documentation improvements for 2.1.1. 
- Fix typos and broken links.
- Add documentation for functions introduced in 2.1.1.
- Add copyright header to `FLV.m` and remove `hello.c`.
- Update documentation for `mj_ray` and `mj_contactForce`.
- Delete out-of-date comments in `XMLreference.rst`.
- Add geom:size table to `XMLreference.rst`.

PiperOrigin-RevId: 425318966
 2022-01-31 19:19:19 +00:00
Saran Tunyasuvunakool ee39340ae7 Remove inappropriate executable bits and minor reformat of code and changelog. 
PiperOrigin-RevId: 416854656
Change-Id: I554d2c5667282567a129d79d91d8f2e97146d6f5
 2021-12-16 20:58:26 +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 9f161550b0 Fix LICENSE link in overview.rst 
PiperOrigin-RevId: 403963293
 2021-10-18 16:15:39 +01:00
Saran Tunyasuvunakool 1f7eaae62e Version 2.1: documentation, public API headers, and sample programs. 
PiperOrigin-RevId: 403900419
 2021-10-18 12:35:33 +01:00