chenlin/Mujoco_WASM
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aefab0e9dca00786ac2df479b966414a4967e8dc
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26 Commits

Author SHA1 Message Date
Saran Tunyasuvunakool aefab0e9dc Build Python bindings in build.yml. 
We currently skip building the Python bindings on Windows since MSVC takes an hour+ on them. Internally, we use Clang for our Windows build, so are not affected by this issue.

PiperOrigin-RevId: 450914163
Change-Id: I329aab28f3a2aeb1896242a8712f89d8ecff2f92
 2022-05-25 07:01:59 -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 0e5d062302 Fix GIL-not-held bug in mjr_readPixels. 
PiperOrigin-RevId: 441813459
Change-Id: I2f15cb77ca243b890fd0825ebbc9b910d3ece56f
 2022-04-14 11:35:43 -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 55c1c91382 Don't return ndarray with empty shape through named indexers. 
NumPy arrays with an empty shape cannot be assigned via the usual syntax.

Fixes: #238.
Related: #237.
PiperOrigin-RevId: 441265437
Change-Id: Ib0de22c83f9babe9a97682dc5a32660c198ad68c
 2022-04-12 20:57:16 +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
Saran Tunyasuvunakool 3c71720d83 Revert commit d627374545. 
This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.

Fixes #217.

Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
 2022-03-31 11:54:51 +01:00
Copybara-Service e1e0d5c435 Merge pull request #210 from kevinzakka:version-no 
PiperOrigin-RevId: 438310559
Change-Id: I8b7409c513144805d3f5afc0f1c2a23b5d649630
 2022-03-30 08:39:09 -07:00
Copybara-Service 4616529f32 Merge pull request #209 from kevinzakka:install-instructions 
PiperOrigin-RevId: 438270229
Change-Id: I6ea4b1a7f6763f06e5a931b2ab252195da6c287a
 2022-03-30 04:45:59 -07:00
Kevin Zakka 0c9bbec26f Nit. 2022-03-29 15:32:04 -07:00
Kevin Zakka c047b9a530 Remove screenshot and assets dir. 2022-03-29 15:25:07 -07:00
Kevin Zakka 117a9cfcf2 Nits. 2022-03-29 10:56:07 -07:00
Kevin Zakka 647fc7770e Address Saran's comments. 2022-03-29 10:32:16 -07:00
Kevin Zakka 5639ee22fc Remove extraneous line. 2022-03-29 10:11:41 -07:00
Kevin Zakka 8dc08d3733 Use mujoco function instead. 2022-03-29 10:08:43 -07:00
Yuval Tassa d627374545 Add contact frame visualisation. 
This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.

PiperOrigin-RevId: 437256700
Change-Id: I5eab737fc98018399e151552778c6109088bf614
 2022-03-29 13:08:05 +01:00
Kevin Zakka 691ea00716 Add module level version dunder. 2022-03-26 20:38:57 -07:00
Kevin Zakka 95350ce482 Improve source installation of python bindings. 
Add support for conda environments.
Add step by step instructions in the README.
 2022-03-26 18:46:10 -07:00
Nimrod Gileadi df048e54c0 Update MuJoCo to version 2.1.3. 
PiperOrigin-RevId: 436727767
Change-Id: I9b1b0084021e83f790efa46eab9a980cbde4953f
 2022-03-23 16:57:26 +00:00
Nimrod Gileadi c6984b42af Add a free() method to mujoco.MjrContext. 
Up the mujoco bindings version to 2.1.2.post2.

Keep the capsule deconstructor which calls mj_freeContext, because mjr_freeContext is idempotent.

PiperOrigin-RevId: 435714183
Change-Id: I9f8615f85f2b3e383f447f6684e61200039d57d4
 2022-03-23 16:57:25 +00:00
Saran Tunyasuvunakool df202d23b1 Implement reversed arithmetic operators for enums and fix division behavior. 
PiperOrigin-RevId: 435408435
Change-Id: Ifeeff679cff658d5aae96a9ba5fee19d499656a3
 2022-03-23 16:57:25 +00:00
Saran Tunyasuvunakool 295602b3eb Implement binary operations between enums and numbers. 
PiperOrigin-RevId: 435352475
Change-Id: I95ffab7d35898b8e04e00e2f37933b7959b90097
 2022-03-23 16:57:25 +00:00
Levi Burner 4d1ed50388 Make python build work with older cmake versions (at least 3.16.3 as comes with Ubuntu 20.04) 
Merge pull request #192 from aftersomemath:lower-cmake-version-required

Closes #192

PiperOrigin-RevId: 435330489
Change-Id: I15e182fef12692a446e70da99176c001ee255be7
 2022-03-17 14:30:28 +00:00
Saran Tunyasuvunakool b7b7af06d9 Add .cmake files and fix LICENSE file path in make_sdist.sh. 
Also make minor modifications to Python bindings code for GCC compatibility.

Fixes #191.

PiperOrigin-RevId: 435127640
Change-Id: I8bd3a35bbb2724a24341072ba8df3da4372f83d3
 2022-03-16 19:42:11 +00:00
Saran Tunyasuvunakool b44fe609e4 Remove a stray print statement in __init__.py. 
Also declare a dependency of libglewegl.so on libOpenGL.so.

PiperOrigin-RevId: 435071069
Change-Id: Ie1c7aedcb37523c4829b129d06738e570c5bc1a5
 2022-03-16 19:42:11 +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