chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
1,586 Commits 2 Branches 1 Tag
a49f3f63fcd7b932e92c671d98a4e8ac15b86a21
Commit Graph

363 Commits

Author SHA1 Message Date
Alessio Quaglino 655e3d0914 Renamed Model to Spec in C API function names. 
PiperOrigin-RevId: 613922860
Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92
 2024-03-08 07:05:44 -08:00
Alessio Quaglino ef3cb7ec2e Renamed mjmModel to mjSpec. 
PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
 2024-03-07 02:48:32 -08:00
Alessio Quaglino 9ac048e262 Add recompilation test to user_api_test. 
PiperOrigin-RevId: 613192683
Change-Id: Ibb44e1c2d63ac0afb7b5f3a15dff26378deb6c82
 2024-03-06 06:27:28 -08:00
Copybara-Service 6b7d714291 Merge pull request #1450 from v-r-a:angmomMat 
PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
 2024-03-05 07:35:15 -08:00
Kyle Bayes 31384bdfeb Speed up String2Vector. 
PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
 2024-03-05 02:50:26 -08:00
Alessio Quaglino 9efa4ebe0b Move CompareModel to fixture. 
PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
 2024-03-05 02:24:32 -08:00
Alessio Quaglino 9e1d7d6ab8 Fix typo in flex and composite error message. 
PiperOrigin-RevId: 611115238
Change-Id: Iadb9b4b078e60bca15184f3435380eb67b2da8a9
 2024-02-28 08:45:11 -08:00
Vyankatesh Ashtekar 93f9154d44 Merge branch 'google-deepmind:main' into angmomMat 2024-02-26 20:18:38 +05:30
Vyankatesh 3fd0fe7884 corrections 2024-02-26 20:15:22 +05:30
Yuval Tassa 8679c9fc59 Fix null pointer deref for unknown class names. 
PiperOrigin-RevId: 610391077
Change-Id: I5abd62ff46e31e788f06fe111adb3c25287d4fdc
 2024-02-26 06:38:52 -08:00
Kyle Bayes b47d97652e Load from VFS in parsing benchmark. 
PiperOrigin-RevId: 610384849
Change-Id: Id226c30f1629d6b4bbc2231c1e998e733c27772e
 2024-02-26 06:08:11 -08:00
Vyankatesh ebf9d63702 changed the model, using central differences in CompareAngMomMats test 2024-02-26 14:48:47 +05:30
Vyankatesh Ashtekar 41e41b538d added two tests for the mj_subtreeAngMomMat() function 2024-02-26 01:23:55 +05:30
Kyle Bayes a4a621f6e3 Add checksums (used as a timestamp) to VFS. 
Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.

PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
 2024-02-21 02:25:36 -08:00
Kyle Bayes 24eb4c9f09 Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible. 
PiperOrigin-RevId: 608312069
Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
 2024-02-19 05:40:31 -08:00
Matthew Bennice c146bb4003 BEGIN PUBLIC 
Remove incorrectly added test files.
END PUBLIC

Correct typo in copy.bara.sky

PiperOrigin-RevId: 607930101
Change-Id: Ib2c75d00e65f11c30be2ea0b3fdbb0c24bd3a164
 2024-02-17 02:57:02 -08:00
Matthew Bennice dbf7afaeaa Canonical USD example for MuJoCo Physics. This contains three items: 
floor - a static floor centered at origin of sides 100m x 100m

two_cubes - a standard example where 2 cubes have a hinge joint between them.

two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30).

PiperOrigin-RevId: 607809323
Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb
 2024-02-16 14:56:39 -08:00
Nimrod Gileadi f1d4f8f0a1 Test that mj_resetDataKeyframe treats negative keyframe IDs as a normal reset. 
PiperOrigin-RevId: 607655812
Change-Id: Ia9bb1031468f04e8f9563b9228a46983356dafef
 2024-02-16 05:09:05 -08:00
Yuval Tassa 05150546e3 Add inheritrange attribute to position and intvelocity actuators. 
PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
 2024-02-16 04:42:44 -08:00
Alessio Quaglino 5e353efaaf Add mjmModel opaque pointer to C API. 
PiperOrigin-RevId: 607619891
Change-Id: Ic1eaaa842438d9c2e19f742deff41967287853f5
 2024-02-16 02:21:25 -08:00
Yuval Tassa f9f7827a64 Trim trailing default values in saved xmls. 
For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:

- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.

PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
 2024-02-16 01:36:06 -08:00
Alessio Quaglino 414a67640a Add mjmDef to C API. 
PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
 2024-02-15 06:17:58 -08:00
Kyle Bayes 266161ee4c Convert mju_openResource to write warnings to a given error string. 
PiperOrigin-RevId: 606907392
Change-Id: Ic70e980aa9ba2bdbe1787773f51749b34f74afed
 2024-02-14 02:17:40 -08:00
Kyle Bayes eabd4c06f9 Move schema definition validation from runtime to a test. 
PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
 2024-02-12 09:49:48 -08:00
Kyle Bayes ff39d0b812 Keep include elements while parsing XML. No change in behavior. 
PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
 2024-02-12 03:54:44 -08:00
Yuval Tassa 3601026b1d Refactor handling of auto-limits. 
PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
 2024-02-10 22:01:13 -08:00
Alessio Quaglino 1fe258fb60 Add mjmGeom to C API. 
PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
 2024-02-08 06:53:01 -08:00
Alessio Quaglino a3e49d582e Add mjmBody and mjmPlugin and their compiler C APIs. 
PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
 2024-02-07 04:17:30 -08:00
Matthew Bennice b9c50ad79c Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias. 
PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
 2024-02-06 17:21:31 -08:00
Matthew Bennice 84f20ffb66 Automated g4 rollback of changelist 604607692. 
*** Reason for rollback ***

breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's

*** Original change description ***

Move fullinertia from mjCAlternative to mjCBody.

***

PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
 2024-02-06 09:47:04 -08:00
Alessio Quaglino 737342bdfe Move fullinertia from mjCAlternative to mjCBody. 
PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
 2024-02-06 04:43:12 -08:00
Alessio Quaglino 3b2dd06c54 Add compiler C API for mjmSite. 
PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
 2024-02-06 01:50:47 -08:00
Meghha Dhoke f75923a48d Updated version numbers to cmake files
build / windows-2022 (push) Has been cancelled
Details
build / macos-12 (push) Has been cancelled
Details
build / ubuntu-20.04-clang-10 (push) Has been cancelled
Details
build / ubuntu-20.04-clang-11 (push) Has been cancelled
Details
build / ubuntu-20.04-clang-12 (push) Has been cancelled
Details
build / ubuntu-22.04-clang-13 (push) Has been cancelled
Details
build / ubuntu-22.04-clang-14 (push) Has been cancelled
Details
build / ubuntu-22.04-gcc-10 (push) Has been cancelled
Details
build / ubuntu-22.04-gcc-11 (push) Has been cancelled
Details
build / ubuntu-22.04-gcc-12 (push) Has been cancelled
Details
build / ubuntu-22.04-gcc-9 (push) Has been cancelled
Details 
PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
 2024-02-05 12:55:30 -08:00
Alessio Quaglino df76b55fe0 Add line error check to user_objects and xml_native_reader tests. 
PiperOrigin-RevId: 603714614
Change-Id: Ic031f33a9a6eb45b3e61cb666e0d4890bfe08275
 2024-02-02 09:57:49 -08:00
Yuval Tassa e143b3dbc0 Allow height-field elevation data to be specified in XML. 
PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
 2024-01-29 06:59:28 -08:00
Alessio Quaglino fb8f77df74 Throw error if qhull is called with NaNs. 
PiperOrigin-RevId: 601745538
Change-Id: I590673ca7975e4abc171f98704a6c8f8d08f8327
 2024-01-26 06:13:27 -08:00
Alessio Quaglino 076db5d366 Copy face_ into facetexcoord_ if not specified and needed. 
PiperOrigin-RevId: 601732448
Change-Id: Iffe01076db22201dba2611ea36174f808ae00c1e
 2024-01-26 04:54:43 -08:00
Kyle Bayes 4f53d9a0d7 Add AddVector and GetVector to user cache. 
PiperOrigin-RevId: 601485067
Change-Id: I1a31f15c2495de4f057316022dcddf4df39afd64
 2024-01-25 10:13:13 -08:00
Kyle Bayes aede8cf5cf Rename user_asset_cache to user_cache. 
PiperOrigin-RevId: 601097322
Change-Id: Iea3d6481cd214028ef63ed72868999ecb0b1eeb4
 2024-01-24 06:05:56 -08:00
Kyle Bayes a1ddbdf7f8 Add an implementation of a cache for assets for compilation speedups. 
PiperOrigin-RevId: 599850003
Change-Id: I83e299e127058a5657d7b262aa98d36451b530f6
 2024-01-19 09:04:01 -08:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -08:00
Yuval Tassa a14a584f1d Fix bug in muscle length-gain curve. Fixes #1342 
PiperOrigin-RevId: 599165049
Change-Id: Ic5ef77b4349a8a9c343eacfd781195bfebea9aca
 2024-01-17 07:20:01 -08:00
Alessio Quaglino 1e2e0b3053 Remove all visual-only assets if discardvisual is selected, not only the geoms. 
PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
 2024-01-15 06:39:25 -08:00
Yuval Tassa 42515033a7 Fix linter issues in user_objects_test. 
PiperOrigin-RevId: 597204770
Change-Id: I0b396d4c64684d845dc9baf205800e22c8fac314
 2024-01-10 04:00:08 -08:00
Nimrod Gileadi c59a33dd81 Use std::string_view instead of absl::string_view in fixture.cc. 
Clean up some lint warnings.

Fixes #1306.

PiperOrigin-RevId: 595988916
Change-Id: I0e8584ff8704ea7294cf649664ab447cb1d4ff46
 2024-01-05 07:20:58 -08:00
Yuval Tassa 7ce05f4957 Improve documentation of solver parameters. 
PiperOrigin-RevId: 595723619
Change-Id: I00b67eaec02d2e85ce60fb44eb3e582ce036be3a
 2024-01-04 09:17:31 -08:00
Alessio Quaglino 63ec34f9f8 Add plugins to flex parent body if there are pinned vertices. 
Fixes #1270.

PiperOrigin-RevId: 595429578
Change-Id: Ifc61d4bde4dd3c6b4d4a09106152de1d24e71ef0
 2024-01-03 09:53:22 -08:00
Nimrod Gileadi 7cb7c87f70 Fix a few issues with the passive viewer. 
1. Create an arena for the mjData instance used by the passive viewer visualization.

When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.

2. Add missing a missing field in scene state for flex visualization.

3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.

4. Add some locks in places where the render thread and Simulate::Sync collide.

This fixes #1280.

PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
 2023-12-18 07:33:19 -08:00
Nimrod Gileadi 8ecb16abfa Don't run particle.xml in testspeed_test under ASAN. 
Reduce the number of steps for a couple of other slow tests.

PiperOrigin-RevId: 591844569
Change-Id: If722567b91163f1f3c451302f9543a43d05872a1
 2023-12-18 03:33:59 -08:00
Yuval Tassa f2a967348c Fix bug introduced in 7942fe957e 
That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed.

PiperOrigin-RevId: 591036252
Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941
 2023-12-14 13:30:38 -08:00