chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
2,556 Commits 2 Branches 1 Tag
a7eb6efd4e3181d1f15428cdcb3f42458613e115
Commit Graph

2556 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
Levi Burner a7eb6efd4e Copybara import of the project: 
--
3a95b62f59e81bfef0f076afb173ecc14b27943d by Levi Burner <leviburner@gmail.com>:

rollout prototype native threadpool for comparing to python threads

--
efd8be1124ac839b902de45973a3ca8b9f2215e6 by Levi Burner <leviburner@gmail.com>:

copy mjpcs threadpool into python bindings

--
75603eea3e8362e354a9675e8a6cd14e56ec3d28 by Levi Burner <leviburner@gmail.com>:

rollout use threadpool as translation unit

--
06b90febd021663f6cc81fd7895e4d6e2008ed97 by Levi Burner <leviburner@gmail.com>:

rollout add chunk_divisor parameter

--
298ab2f3c0d6e12530832c3cdbf784dd92d54806 by Levi Burner <leviburner@gmail.com>:

rollout add native threading test

--
169cf9978e7abad6edd1392b8e6aab995e4f8f10 by Levi Burner <leviburner@gmail.com>:

rollout exchange chunk_divisor arg for chunk_size

--
265af851d74432d261277d3dbda11cdef1841bc8 by Levi Burner <leviburner@gmail.com>:

rollout fix cosmetics

--
1e8bffa88bf36190501b334bef31147e23db39f7 by Levi Burner <leviburner@gmail.com>:

make native rollout a class instead of a function

--
ba788214b047577f58c41ce0ab6c62c277cd8b0d by Levi Burner <leviburner@gmail.com>:

rollout update docs and changelog

--
e4cb7732319e04cba2ab2c2ad848c659f6309808 by Levi Burner <leviburner@gmail.com>:

rollout don't register atexit handler for Rollout objects

--
5a08d2efdbbbb01d4b1231ff9a36a1dc44f4d9ee by Levi Burner <leviburner@gmail.com>:

rollout nthread kwarg, rename shutdown_pool to close, fixups

--
f622378543596a208339af0208fa3a70bf2a8007 by Levi Burner <leviburner@gmail.com>:

rollout add missing .close() calls

--
50f3ebca43c53eac03f03943c34bb1e46967bd4f by Levi Burner <leviburner@gmail.com>:

rollout return immediately

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2282 from aftersomemath:rollout-threaded 50f3ebca43c53eac03f03943c34bb1e46967bd4f
PiperOrigin-RevId: 706744277
Change-Id: I1ab2263b7d6ce30cf1908aec8fd5f2eb976a19e6
 2024-12-16 09:57:08 -08:00
Yuval Tassa b26d6f0466 Disable tendon catenary visualization when tendon is actuated. Add note about catenary visualization. 
PiperOrigin-RevId: 706161179
Change-Id: Ifaf571e039306309869078d1a0bcf9a69f1fe9de
 2024-12-14 01:54:40 -08:00
Kyle Bayes ec230fa4b6 Prune face linear map in EPA. 
PiperOrigin-RevId: 705138358
Change-Id: I835ce7094d066b19ee39af48e0b83b51f7a0954e
 2024-12-11 09:44:19 -08:00
Yuval Tassa 2691887500 Add engine-internal convenience macro for allocating typed arrays, improve error message. 
PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
 2024-12-11 09:04:44 -08:00
Yuval Tassa 3ca97248a3 Fix comparison in engine_core_constraint_test. 
(was comparing number to itself)

PiperOrigin-RevId: 705053943
Change-Id: I3d179ab4bb2ed1bc1b74b4edec7ce1114ad16b37
 2024-12-11 04:11:13 -08:00
Yuval Tassa 049a260102 Remove superfluous newlines in Schema exception messages. 
PiperOrigin-RevId: 704781176
Change-Id: Ie23ac2deab4a5173e1e7a60ffe9e751fe054a2dc
 2024-12-10 11:18:51 -08:00
Yuval Tassa f4593d5d79 Highlight XML strings using pygments in mjSpec notebook. 
PiperOrigin-RevId: 704751058
Change-Id: Iaf7fae7f13ef12d59bac762170a6dfca01494164
 2024-12-10 10:06:52 -08:00
Kyle Bayes a364308d5a Use GJK to recover contact points for sphere and capsule geoms in nativeccd. 
PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
 2024-12-10 08:53:27 -08:00
Yuval Tassa a7fed25fdd Document how to save MjSpec to XML. Fixes #2075 
PiperOrigin-RevId: 704712337
Change-Id: I51c1a14c5c48ffc8e37d9e31162a3e70a3b10313
 2024-12-10 08:05:01 -08:00
Copybara-Service 83c0ac148c Merge pull request #2277 from traversaro:patch-43 
PiperOrigin-RevId: 704676667
Change-Id: I9e0161afc7a6b9f45464498aad35337d1d9f9eaa
 2024-12-10 06:05:56 -08:00
Copybara-Service 4a40e3fd15 Merge pull request #1721 from stonfute:main 
PiperOrigin-RevId: 704632980
Change-Id: Iaf90ef7443dd1c519a6df237dfbc4c33c28f179e
 2024-12-10 03:17:08 -08:00
Baruch Tabanpour f3b3024291 Add pyink and isort config. Reformat. 
PiperOrigin-RevId: 704533915
Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
 2024-12-09 21:10:50 -08:00
Taylor Howell 6f6244b739 Fix MJX get_data_into. 
PiperOrigin-RevId: 704367029
Change-Id: I720e624f996a01ab2210a907c610b68ff1ad109c
 2024-12-09 11:54:49 -08:00
Yuval Tassa 1c4c7b012c CSR implementation of mj_solveLD. 
PiperOrigin-RevId: 704316200
Change-Id: Ibaff0284e40b3ebbe43bb489b6211ce739270e27
 2024-12-09 09:34:17 -08:00
Yuval Tassa 537fc2ff45 Use diagonal index to speed up mju_solveLUSparse. 
PiperOrigin-RevId: 704303282
Change-Id: I72c3fbcd31a5564fc792b73efe9d12a151b4d60f
 2024-12-09 08:53:25 -08:00
Taylor Howell bd1d94c282 Fix mjx.rst. 
PiperOrigin-RevId: 704301576
Change-Id: Ia663f5b7fe224ca3e7865829744379eac38fac3e
 2024-12-09 08:47:46 -08:00
Yuval Tassa 3a14ada308 Store index of diagonal element for C and D in mjData. 
PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
 2024-12-09 08:01:30 -08:00
Google DeepMind b8344c191f Internal change. 
PiperOrigin-RevId: 704273388
Change-Id: I6de2aa5bf80353dae4f2faf408c4b4c1c2e14f15
 2024-12-09 07:09:24 -08:00
Yuval Tassa f7f1c84a1e Print solver and solver iterations in testspeed 
PiperOrigin-RevId: 703995960
Change-Id: I9cebcf9e8d29803033ae56991acad4678d8138af
 2024-12-08 06:01:33 -08:00
Silvio Traversaro 376dc59ea0 GitHub Actions: Use macos-13 image instead of deprecated macos-12 2024-12-07 17:25:19 +01:00
Baruch Tabanpour c1d97d4a22 Fix #2237. 
PiperOrigin-RevId: 703547316
Change-Id: I279876a299e56a16f8d5227fc1d0f64265477853
 2024-12-06 10:46:38 -08:00
Copybara-Service 15cb1fdfb4 Merge pull request #2271 from xela-95:patch-1 
PiperOrigin-RevId: 703493322
Change-Id: I5034ecdbc2e129986bb1e61930637fd2c24b96a6
 2024-12-06 07:26:47 -08:00
Saran Tunyasuvunakool fa8af0eea9 Add MuJoCo sparsification fields to MJX data structures. 
PiperOrigin-RevId: 703482996
Change-Id: I981bfc80825a9d4d6597d54035bc40a4f4ae068a
 2024-12-06 06:40:56 -08:00
Yuval Tassa f547d58351 Fix typo in docs 
PiperOrigin-RevId: 703449955
Change-Id: I3a5764278406dea4ff013ff82872cc27f5440f5e
 2024-12-06 04:16:16 -08:00
Alessandro Croci 342a72839a Fix typo in mjx.rst 2024-12-06 09:16:37 +01:00
Jake Harmon fb8e40208c Update references to JAX's GitHub repo 
JAX has moved from https://github.com/google/jax to https://github.com/jax-ml/jax

PiperOrigin-RevId: 703126479
Change-Id: Ie50003b4620db767663f2f95be40557cfe0b8dd3
 2024-12-05 08:37:01 -08:00
Alessio Quaglino 41968f1527 Support body.find_all("joint") in bindings. 
PiperOrigin-RevId: 703071822
Change-Id: I6457ca0561c794447cc06aab29dcd0aac82c49a0
 2024-12-05 04:54:42 -08:00
Alessio Quaglino a729acb4fa Add spec find_sensor, find_actuator functions. 
PiperOrigin-RevId: 703054696
Change-Id: Ie384f1a31de3ecd9b22b7f4be43234d452e7bb88
 2024-12-05 03:42:26 -08:00
Alessio Quaglino f882f4b065 Remove requirement to specify a name prefix or suffix during attach. 
PiperOrigin-RevId: 703049862
Change-Id: I5fd6da0581331b1b716110292a8160ae16934157
 2024-12-05 03:19:57 -08:00
Alessio Quaglino 503e5e1815 Change site.attach to accept a spec instead of a body. 
Add site.attach_body for attaching a body to a site.

PiperOrigin-RevId: 703047770
Change-Id: Ibc1f916f8741872135220461cda7cebc4b418913
 2024-12-05 03:10:17 -08:00
Alessio Quaglino 10239a673b Change from parent ID to parent pointer in mjCBody. 
This is required to have parent body info during attach and during body to frame tranformation for uncompiled models.

PiperOrigin-RevId: 703038426
Change-Id: Ib482059ba419a020860c649d6ea1b1088045f2e1
 2024-12-05 02:32:56 -08:00
Alessio Quaglino 977fb913cf Remove hanging vertex from flexcomp circle type. 
PiperOrigin-RevId: 702777882
Change-Id: I3ce09c0ed81a9b153c606debc8c22fbb47c93e8b
 2024-12-04 10:37:42 -08:00
Alessio Quaglino a3b9f986c0 Add spec.find_site(). 
PiperOrigin-RevId: 702733068
Change-Id: I4cc7fd2b9b59185a4458fdac8537f8287af1f295
 2024-12-04 08:20:57 -08:00
Alessio Quaglino d1b02556ef Allow keyword arguments in attach. 
PiperOrigin-RevId: 702718597
Change-Id: I1f1a5e9c88c8e102d5cbe5984511e7923ec7be3e
 2024-12-04 07:32:31 -08:00
Alessio Quaglino afc86ac1b3 Associate children of deleted body to the newly created frame in mjs_bodyToFrame. 
Also associate all children that need a parent body to the parent of the deleted body.

This is a bug that was causing the former children of the body that gets transformed to a frame to not be children of the new frame.

PiperOrigin-RevId: 702702853
Change-Id: I36d48f0446bc87c665b18d34e0b0609d82c70f51
 2024-12-04 06:30:21 -08:00
Yuval Tassa 0ba717a653 Print supernode values in mj_printData 
PiperOrigin-RevId: 702677257
Change-Id: Icecc5dd8604fcadc02bba5fc69c9fd5fd4fbd825
 2024-12-04 04:41:10 -08:00
Yuval Tassa 0e7d2ef6df Fix bug in box-sphere collider. Fixes #2206 
PiperOrigin-RevId: 702627603
Change-Id: Ie6015b7fa6f8507459325d692581b0f5f83aa159
 2024-12-04 01:19:27 -08:00
Yuval Tassa ec9986dcb7 Clean up changelog. 
PiperOrigin-RevId: 702369712
Change-Id: I44293f18de54ddc65af31f64c40dfbe608278b6d
 2024-12-03 09:39:14 -08:00
Yuval Tassa 13d3bdedad Add debugging method for printing matrices to stderr to fixture.h 
PiperOrigin-RevId: 702301299
Change-Id: I01738b6634a91cde6b146475d06731471dcf3764
 2024-12-03 05:20:54 -08:00
Taylor Howell a793a3417a Raise error in mjx.rne_postconstraint for currently unsupported connect and weld constraints and raise error in mjx.put_model for unsupported sensor and equality constraint combinations. 
PiperOrigin-RevId: 702119449
Change-Id: I034363db41629f19ef98bea79ec89140052a7a3c
 2024-12-02 16:28:23 -08:00
Gabe Oppenheimer c90a63a926 Update the version number to 3.2.7 following the 3.2.6 release. 
PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
 2024-12-02 15:30:52 -08:00
Gabe Oppenheimer 0f64959e27 Update the version of eigen3 ahead of the 3.2.6 release 
PiperOrigin-RevId: 702026493
Change-Id: Ibb0447b7106e9b873386c153283c81685583350f
 2024-12-02 11:12:39 -08:00
Gabe Oppenheimer bbedc7f339 Update the chancelog for the v3.2.6 release 
PiperOrigin-RevId: 702021093
Change-Id: I1c748581ad63ae934b043f56b929d7a5a362bb23
 2024-12-02 10:56:29 -08:00
Alessio Quaglino 82b6dbeb40 Copy attached spec before attaching anything else. 
Spec were copied after bodies are attached, so the reference to the source spec got lost during mj_copySpec().

PiperOrigin-RevId: 701287267
Change-Id: I55eff53c7ae9d42b03957be48ea506b80d274e03
 2024-11-29 07:41:49 -08:00
Alessio Quaglino 300450f8b8 Add circle to flexcomp and remove rope and loop from composite. 
Add pulley example to show a circle use case.

Switch on flex edge rendering by default (no effect when flex skin is rendered).

PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
 2024-11-27 10:14:25 -08:00
Copybara-Service 85c6fc1bdb Merge pull request #2250 from aftersomemath:rollout-list 
PiperOrigin-RevId: 700715697
Change-Id: Ia3af7c6af8a9fe1eb8b020efedd1755ae606f77b
 2024-11-27 08:52:17 -08:00
Baruch Tabanpour f2e9e38edf Set geom_matid as a jax.Array for visual domain randomization. 
PiperOrigin-RevId: 700706160
Change-Id: I13ef4da8cd3a671446e4bdd186dcacb4d0b3fb00
 2024-11-27 08:13:36 -08:00
Levi Burner e6eab04dd0 rollout fixups and correctly initialize unspecified controls 2024-11-27 07:04:23 -05:00
Levi Burner 41b325785a fix creation of std::vector 2024-11-26 16:42:08 -05:00
Alessio Quaglino 203602b01f Move computation of flex_vert0 to user_mesh.cc. 
This removes the dependency of flex_vert0 from mj_flex and mjData.

PiperOrigin-RevId: 700382297
Change-Id: I0b6d023c2e1ba14fa92417b65bfc288f37c223ae
 2024-11-26 10:17:16 -08:00