chenlin/Mujoco_WASM
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72 Commits

Author SHA1 Message Date
Yuval Tassa bb42ff1657 Fix order of enable flag strings. Before this change, using the UI to toggle the "InvDiscrete" and "Sensornoise" flags would toggle the opposite flag. 
PiperOrigin-RevId: 618658133
Change-Id: I35d4b9da2fdf68fed24efd518a30af60d3a806eb
 2024-03-24 13:13:21 -07:00
Yuval Tassa dd2580e546 Add internal functions for 3x3 matmul. 
PiperOrigin-RevId: 616749614
Change-Id: I7f3ac2ffc826076b6c97424324f03ecd9ccd4655
 2024-03-18 01:44:10 -07:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -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
Vyankatesh 063edf5a09 corrections 2024-02-26 12:03:42 +05:30
Vyankatesh Ashtekar fe9b057dfe minor style corrections 2024-02-25 21:17:44 +05:30
Vyankatesh Ashtekar fad7ed30d2 added function mj_subtreeAngMomMat() 2024-02-25 21:09:11 +05:30
Meghha Dhoke f763254a00 Updating Mujoco Release version number to v3.1.3 
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
 2024-02-05 15:59:20 -08:00
Yuval Tassa 2feefbc5d2 Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID. 
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
 2024-01-17 10:54:23 -08:00
Google DeepMind 7fb448613f Post release version update: Update to V3.1.2 
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
 2023-12-18 15:03:37 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00
Baruch Tabanpour 1554048856 Bump dev version number to 3.0.2. 
PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
 2023-11-15 12:51:04 -08:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00
Yuval Tassa a9ee497e33 Add spaces around comparison operators. 
PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
 2023-10-15 07:40:10 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Alessio Quaglino 8af09eb70d Add timing of collision phases. 
PiperOrigin-RevId: 572273621
Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
 2023-10-10 09:27:45 -07:00
Yuval Tassa ee78b8f76b Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints. 
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
 2023-10-03 09:32:24 -07:00
Yuval Tassa dfd48dd821 Replace mjMIN and mjMAX with mju_min and mju_max, where possible. 
PiperOrigin-RevId: 566602924
Change-Id: I2d24183d0d9df3e647bb2d7d7544473582f38128
 2023-09-19 05:40:41 -07:00
Yuval Tassa 63fd23a934 Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE. 
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.

- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).

- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).

PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
 2023-09-16 08:03:45 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool 329ed193ac Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC. 
PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
 2023-09-05 11:05:04 -07:00
Yuval Tassa d5292976de Add internal utility for zeroing int vectors. 
Remove unnecessary branches in related functions.

PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
 2023-09-05 07:15:14 -07:00
Yuval Tassa 1aa375ef9a Allow RHS vector in mj_mulM_island to use uncompressed memory. 
PiperOrigin-RevId: 562605681
Change-Id: If34bceed9eade59957ac9fd9b6a41fb736b58024
 2023-09-04 13:56:54 -07:00
Yuval Tassa 9fd186ac2b Add private function mj_mulM_island for mass matrix multiplication with sub indices corresponding to one island. 
PiperOrigin-RevId: 561639405
Change-Id: I3777cea51ef22f6847b3cf3e17bdac5cf621c019
 2023-08-31 06:42:33 -07:00
Yuval Tassa ac150f751d Clean up mj_mulM. 
PiperOrigin-RevId: 561404770
Change-Id: Ie802f5d7f1df6bf32d4549d3db6809d0f507d1e1
 2023-08-30 11:46:55 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -07:00
Tom Erez 819b5cb982 Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse. 
PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
 2023-08-25 12:08:37 -07:00
Yuval Tassa b7cf479abe Add flag for disabling implicit integration of joint damping in the Euler integrator. 
PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
 2023-08-23 05:51:37 -07:00
Yuval Tassa 5f2a2a325c Fix typo. 
PiperOrigin-RevId: 559393250
Change-Id: Ibe257d7db371868d87fbea56111972d3f96f7147
 2023-08-23 05:20:50 -07:00
Matthew Bennice 59138af10b Refactor stack allocations to have a clean byte allocation interface. 
PiperOrigin-RevId: 558881470
Change-Id: I08c45cb5fa25a1a9c39560e598e805cfa5141c3e
 2023-08-21 13:18:29 -07:00
Kyle Bayes ba12a1354b Optimize and refactor combineSparse and combineSparseCount. 
PiperOrigin-RevId: 558126391
Change-Id: Iead14c31136e789560f3c8124b84bd4e383158f4
 2023-08-18 06:14:09 -07:00
Yuval Tassa 3e034e38b2 Add constraint island discovery 
PiperOrigin-RevId: 557067599
Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
 2023-08-15 02:30:05 -07:00
Yuval Tassa e4dddea42a Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage. 
PiperOrigin-RevId: 556854229
Change-Id: I36a5d146d776e10b946e2f9b51ace4ef3866471b
 2023-08-14 11:17:47 -07:00
Kyle Bayes f34cb22bd3 Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM. 
PiperOrigin-RevId: 556823353
Change-Id: I650ac83767d60c69859aae6e38aa331f43814378
 2023-08-14 09:49:34 -07:00
Kyle Bayes 2d7d5319f7 Rework sparse addM function to support compressed sparse matrices. 
Note:

- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.

PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
 2023-08-07 06:07:24 -07:00
Saran Tunyasuvunakool eaf78b798b Bump dev version number to 2.3.8. 
PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
 2023-07-20 03:27:50 -07:00
Saran Tunyasuvunakool c9246e1f50 Release version 2.3.7. 
PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
 2023-07-20 02:13:55 -07:00
Kyle Bayes ac1f41160d Add engine internal error macro mjERROR to prepend calling function to error function. 
PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
 2023-06-19 03:29:31 -07:00
Yuval Tassa f67e359532 Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions. 
PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
 2023-06-12 08:56:48 -07:00
Kyle Bayes 81d74c56e1 Separate mj_addM into dense and sparse functions. 
PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
 2023-06-09 06:44:19 -07:00
Yuval Tassa 455b1cd2e2 Add spaces around comparison operators in engine source files. 
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
 2023-05-28 05:02:34 -07:00
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Yuval Tassa 49066e1794 equivalent but clearer quat-diff call in mj_differentiatePos 
PiperOrigin-RevId: 530075836
Change-Id: I3bbe5dec17ccdf53c372bb81087dddde30a24c5c
 2023-05-07 02:21:52 -07:00
Saran Tunyasuvunakool 90e14ac8d0 Bump version number to 2.3.6. 
Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.

PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
 2023-04-27 14:40:32 -07:00
Saran Tunyasuvunakool db3b49b60f Bump version number to 2.3.5. 
PiperOrigin-RevId: 526918869
Change-Id: I9f19600b0c1b855ef0834e5c026b204bf1dc06c4
 2023-04-25 03:52:12 -07:00
Saran Tunyasuvunakool 0630b7543d Bump version number to 2.3.4. 
PiperOrigin-RevId: 525745444
Change-Id: I8a9994b72a0a2ba3f371bee2c2bea947ad8f4fd1
 2023-04-20 07:52:46 -07:00
Yuval Tassa d6f2dd143d Avoid variable name shadowing in all engine source files. 
PiperOrigin-RevId: 519179975
Change-Id: I2f9269cd88857b9e758c63978b20f9c9dd17207e
 2023-03-24 10:33:42 -07:00