chenlin/Mujoco_WASM
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301 Commits

Author SHA1 Message Date
Yuval Tassa c9f78ad8a8 Rename nnzJ to nJ in mjData. 
This naming is more consistent.

PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
 2024-10-31 10:43:10 -07:00
Alessio Quaglino 94bbf297fc Replace flex_xvert0 with flex_vert0 
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.

PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
 2024-10-31 06:30:36 -07:00
Yuxuan Jiang e1cb43819a Fix typo in MJDATA_VECTOR definition 2024-10-30 14:27:32 +08:00
Taylor Howell f47840e57c Add mju_dense2sparse to public API. 
PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
 2024-10-29 12:47:48 -07:00
Yuval Tassa d8494fef3b Remove deprecated mjv_makeConnector function. 
PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
 2024-10-28 04:51:47 -07:00
Yuval Tassa 7dc8aef807 Remove the convexhull compiler option. 
PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
 2024-10-27 04:31:10 -07:00
Yuval Tassa a3ea01e57e Remove deprecated mju_rotVecMat and mju_rotVecMatT functions. 
PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
 2024-10-24 09:15:23 -07:00
Alessio Quaglino 159f23e6b4 Remember compiler options during attach. 
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
 2024-10-24 08:31:15 -07:00
Alessio Quaglino d17d9e835c Do not delete attached specs after compilation. 
Also, copy them when copying the spec.

PiperOrigin-RevId: 688998464
Change-Id: I7229fd8032eafede582194ccf73ab4160fe06768
 2024-10-23 09:42:05 -07:00
Yuval Tassa e14aebfd16 Expose mju_sparse2dense to public API. 
PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
 2024-10-23 09:01:25 -07:00
Alessio Quaglino b598d79b3f Move mesh inertia specification from global <compiler> to <asset/mesh>. 
Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)

Fixes #2152

PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
 2024-10-23 07:06:31 -07:00
Saran Tunyasuvunakool 98478f8811 Minor changes to inline comments in mjModel and mjData headers. 
PiperOrigin-RevId: 688231631
Change-Id: Iae5430142cab256a73a0fb8c698992ceba21b28c
 2024-10-21 12:31:15 -07:00
Taylor Howell 36e8845599 Add actuator_moment Jacobian sparsity pattern to mjData. 
PiperOrigin-RevId: 688124236
Change-Id: Ieccc8131d0046100ec9a2783ffb43dd784f0a63b
 2024-10-21 07:11:25 -07:00
Alessio Quaglino dcf2816543 Remove copy_back from Python bindings and mj_copyBack from the C API. 
PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
 2024-10-18 11:55:04 -07:00
Google DeepMind ffdb800e45 Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release. 
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
 2024-10-16 14:24:06 -07:00
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Yuval Tassa ee7b994021 Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369. 
PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
 2024-10-14 09:07:22 -07:00
Alessio Quaglino 766cd20273 Add mjs_bodyToFrame() to convert a body to a frame. 
Also add test for attaching the world body.

PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
 2024-10-14 00:39:20 -07:00
Alessio Quaglino cdb167f275 Add mjs_attachToSite for attaching a body to a site. 
PiperOrigin-RevId: 684432183
Change-Id: I7100bebfb6521f9dbfbb07f31490b2b9298bf18c
 2024-10-10 07:12:49 -07:00
Alessio Quaglino a26ba2012e Return 0 on success from mjs_activatePlugin instead of using mju_error. 
PiperOrigin-RevId: 684102823
Change-Id: I86b7702094ae886539e1dfb6294381952d507bc1
 2024-10-09 11:09:33 -07:00
Yuval Tassa b66da3d369 Add mjData.L, sparse Cholesky factor of Newton solver Hessian. 
PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
 2024-10-08 10:13:08 -07:00
Alessio Quaglino 1f9dca8bc4 Do not expose plugin_slot. 
PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
 2024-10-07 09:38:01 -07:00
Alessio Quaglino 66faba9aa5 Avoid changing semantics of mjsPlugin.name across XML sections. 
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.

PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
 2024-10-07 07:57:03 -07:00
Alessio Quaglino 6e66cafe76 Capture mjs_attach error message in the Python bindings. 
PiperOrigin-RevId: 682409212
Change-Id: I391ee48626e7dcd985f65a231370ef5ec16124d7
 2024-10-04 12:19:42 -07:00
Alessio Quaglino 89aea5e217 Add body.find_all() to Python bindings. 
This enables to generate a list of all body children of a given type.

Also, add recursive option to mjs_firstChild and mjs_nextChild. Fixes #2112.

PiperOrigin-RevId: 681039348
Change-Id: Iebbb26fd5ec314150206edfdddd88633baa0bec6
 2024-10-01 08:57:25 -07:00
Alessio Quaglino 6832df3091 Replace mjs_setActivePlugins with mjs_activatePlugin. 
PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
 2024-09-30 09:46:47 -07:00
Copybara-Service 807ee852d0 Merge pull request #2097 from emotodorov:ui 
PiperOrigin-RevId: 679704368
Change-Id: Iae396a134e6019c8cdb935a306f097f9427e134c
 2024-09-27 13:16:01 -07:00
Alessio Quaglino 25e4d75a07 Return attached body/frame in mjs_attachBody/Frame. 
PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
 2024-09-27 08:34:00 -07:00
Emo Todorov a985faef51 section checkbox highligting 2024-09-26 22:22:02 -04:00
Yuval Tassa 41ea95f077 Add a section for element casting in the function API reference, move these functions to the end. 
PiperOrigin-RevId: 677783917
Change-Id: I5042e7df20f2a2e0ecfe01a85a1969ccfc2307cd
 2024-09-23 07:26:01 -07:00
Alessio Quaglino 0ba11b9623 Add plugins list to mjSpec Python API. 
Fixes #2061.

PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
 2024-09-23 06:13:42 -07:00
Alessio Quaglino 4998e7b392 Move flex damping to the engine and remove membrane and solid plugins. 
PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
 2024-09-19 09:01:30 -07:00
Alessio Quaglino 31abd7900a Add edge ids to flex elements in mjModel. 
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
 2024-09-16 06:58:10 -07:00
Alessio Quaglino b15de2c951 Add elasticity parameters to the schema. 
PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
 2024-09-16 05:56:36 -07:00
Alessio Quaglino 2da15cf137 Add flex elasticity stiffness matrix to mjModel. 
PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
 2024-09-16 05:00:54 -07:00
Yuval Tassa e4d4153352 Move sanitizer instrumentation to a separate header file. Fixes #2049. 
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
 2024-09-10 09:05:35 -07:00
Yuval Tassa e3cda3e0e3 Fix alignment in mjxmacro.h 
PiperOrigin-RevId: 671759410
Change-Id: I4f92d8b60a64d89016af4c717beddf8b4b844996
 2024-09-06 08:04:12 -07:00
Kyle Bayes 81618f95f9 Update doc for mj_addFileVFS and mj_addBufferVFS as VFS is no longer memory limited. 
PiperOrigin-RevId: 671087960
Change-Id: I0b022554f4f47fe2e64c8201cd855b63d514c344
 2024-09-04 13:51:43 -07:00
Yuval Tassa 8954a088ce Add automatic free-joint alignment. 
PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
 2024-09-04 10:07:33 -07:00
Alessio Quaglino d3dfa6f970 Add mjs_findElement() to find any element in a spec by name. 
Also, remove mjs_findMesh() and mjs_findKeyframe().

PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
 2024-09-04 08:24:22 -07:00
Yuval Tassa 3437361bfb Add reduced sparse dof-dof matrix structures to mjData. 
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
 2024-09-04 04:24:02 -07:00
Yuval Tassa 42eb669e4e Precompute mappings between M <-> D sparse representations. 
PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
 2024-09-04 02:57:13 -07:00
Yuval Tassa 2d3d5415b7 Add mj_jacDot: Time derivative of kinematic Jacobian. 
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
 2024-09-03 04:49:47 -07:00
Yuval Tassa a1036b86d3 Allow connect constraints to be specified using sites. 
PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
 2024-08-29 07:10:51 -07:00
Alessio Quaglino 505d01a1c1 Add error handling to mj_recompile. 
This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception.

PiperOrigin-RevId: 666784579
Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48
 2024-08-23 07:18:28 -07:00
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
Yuval Tassa 2efbd31762 Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts. 
PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
 2024-08-22 06:08:25 -07:00
Yuval Tassa 8b03daa09b Add mjtSameFrame enum to specify frame alignment of bodies with their children. 
PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
 2024-08-22 05:17:06 -07:00
Yuval Tassa 5d91231d31 Rename mjBuffer to mjByteVec. 
PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
 2024-08-19 10:40:26 -07:00
Kyle Bayes 0bffd744f9 Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd. 
PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
 2024-08-16 14:08:35 -07:00