chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
2,194 Commits 2 Branches 1 Tag
be00fafc43fef4e4e25042e29baf925788399a21
Commit Graph

196 Commits

Author SHA1 Message Date
Taylor Howell fa156ed22f Add accelerometer to MJX. 
PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
 2024-09-05 06:57:09 -07:00
Taylor Howell 20296466b1 Add subtreelinvel and subtreeangmom sensors to MJX. 
PiperOrigin-RevId: 671347528
Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
 2024-09-05 06:21:50 -07:00
Taylor Howell 7b073b60c4 Add rne_postconstraint function to MJX. This function matches mj_rnePostConstraint and computes cacc, cfrc_ext, and cfrc_int. 
PiperOrigin-RevId: 671336319
Change-Id: I263b46c56a7609b9a8a30895c012798579d3dffa
 2024-09-05 05:35:26 -07:00
Taylor Howell cd8ff4401d Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX. 
PiperOrigin-RevId: 671225109
Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc
 2024-09-04 22:00:36 -07:00
Yuval Tassa 8954a088ce Add automatic free-joint alignment. 
PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
 2024-09-04 10:07:33 -07:00
Baruch Tabanpour 303e5e7718 Fix test threshold for external tests. 
PiperOrigin-RevId: 670720396
Change-Id: I28bff46535ffdd99724c75f8137834d84c3ec534
 2024-09-03 15:06:42 -07:00
Baruch Tabanpour 49711fa14f Add support for joint and tendon frictionloss to MJX. 
PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
 2024-09-03 13:17:41 -07:00
Taylor Howell 9805df616b Add framelinvel and frameangvel sensors to MJX. 
PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
 2024-08-31 06:12:37 -07:00
Taylor Howell 5391e6011a Add sensor cutoff to MJX. 
PiperOrigin-RevId: 669363779
Change-Id: Ia5c3f913c1b84e1893aa6072268a334123f00aeb
 2024-08-30 10:09:17 -07:00
Taylor Howell cf02171bf8 Add velocimeter and gyro sensors to MJX. 
PiperOrigin-RevId: 669337697
Change-Id: I5e7f245b96eb334ffddd01757a9f631d9ad862cd
 2024-08-30 08:39:40 -07:00
Erik Frey 494e166f28 Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices. 
PiperOrigin-RevId: 669087189
Change-Id: I39e97264a192a621e67ae5e079334fc8be38a25d
 2024-08-29 15:40:08 -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
Taylor Howell a2649d6cec Add efc_margin to MJX. 
PiperOrigin-RevId: 666273240
Change-Id: I12d6cc0d3edd3c3faff5a876335910b42e9cc9bf
 2024-08-22 03:27:02 -07:00
Taylor Howell b2174a7ec3 Add framequat sensor to MJX. 
PiperOrigin-RevId: 666254481
Change-Id: I50be8574e1e4677ef5dc23a2bdcbc296f301d7fc
 2024-08-22 02:21:20 -07:00
Taylor Howell b42780a5f4 Add subtree_vel function to MJX. This function matches mj_subtreeVel. 
PiperOrigin-RevId: 666078305
Change-Id: Ia0ecbf8279e914f49ee60b862541d697e8d4abb1
 2024-08-21 16:21:57 -07:00
Copybara-Service e76168141a Merge pull request #1914 from google-deepmind:dependabot/pip/mjx/zipp-3.19.1 
PiperOrigin-RevId: 665892706
Change-Id: Ib9891d5bb75560251d9eb0dac8100e04ca06f54f
 2024-08-21 08:35:00 -07:00
Taylor Howell 806b8c8e2e Add support for actuatorfrc and jointactfrc sensors in MJX. 
PiperOrigin-RevId: 665804850
Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf
 2024-08-21 03:46:26 -07:00
dependabot[bot] 029fbd5172 Bump zipp from 3.17.0 to 3.19.1 in /mjx 
Bumps [zipp](https://github.com/jaraco/zipp) from 3.17.0 to 3.19.1.
- [Release notes](https://github.com/jaraco/zipp/releases)
- [Changelog](https://github.com/jaraco/zipp/blob/main/NEWS.rst)
- [Commits](https://github.com/jaraco/zipp/compare/v3.17.0...v3.19.1)

---
updated-dependencies:
- dependency-name: zipp
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>
 2024-08-20 12:13:10 +00:00
Erik Frey a68141eeff Implicitfast integration for MJX. 
PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
 2024-08-19 11:12:36 -07:00
Taylor Howell 6241814ad7 Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity. 
PiperOrigin-RevId: 664461284
Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76
 2024-08-18 08:47:35 -07:00
Taylor Howell 6a12787a32 Add camera projection sensor to MJX. 
PiperOrigin-RevId: 664426007
Change-Id: I0f2681c156b12ab62503d45beb2cd8752e7202d6
 2024-08-18 05:57:33 -07:00
Taylor Howell 51733c2a8a Add rangefinder sensor to MJX. 
PiperOrigin-RevId: 664417458
Change-Id: I1ad7720e48541349f155984584314b2b49ccbf36
 2024-08-18 05:15:58 -07:00
Taylor Howell 6acf40613d Add support for disabling MJX sensors. 
PiperOrigin-RevId: 664410169
Change-Id: Icb278e9d7a9a493d5a61ab04c1300d8e412d0e83
 2024-08-18 04:41:24 -07:00
Erik Frey 390bce2352 Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data. 
PiperOrigin-RevId: 663808411
Change-Id: Ic55875f87f5c36b9dfe21e5ed5891d64c7003cab
 2024-08-16 12:02:21 -07:00
Taylor Howell ce9c0ea351 Modify MJX sensor_pos to handle unsupported sensors. 
PiperOrigin-RevId: 663768186
Change-Id: I2e7600e77855a96a47f012fb64b6cc43abbf6f64
 2024-08-16 10:10:37 -07:00
Taylor Howell 6db96e07e4 Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock. 
PiperOrigin-RevId: 663668212
Change-Id: Ifc9adc6bff4544172ab22572da04a093aebfdbd4
 2024-08-16 03:10:24 -07:00
Taylor Howell a74c184f9d Add efc_pos to MJX. 
fixes #1388

PiperOrigin-RevId: 663358494
Change-Id: I63885f9208d12edbaa4b7d123ce4c6d16f40dcbe
 2024-08-15 10:33:44 -07:00
Saran Tunyasuvunakool 1141b4abbc Force dtype of mjx.Contact.{geom1,geom2,geom} to int32. 
This improves compatibility with MuJoCo.

PiperOrigin-RevId: 662655282
Change-Id: I2a336d9453f40cf0bfa85a7203b55709e23a07fe
 2024-08-13 14:34:43 -07:00
Taylor Howell ebf887e14d Add sensors to MJX. Implements jointpos and actuatorpos as examples. 
PiperOrigin-RevId: 660891329
Change-Id: Ie6c282a397de2f52843775ec747495e9be46d307
 2024-08-08 10:33:19 -07:00
Taylor Howell 2c56946547 Increase mjVERSIONSTRING to 3.2.3 after release. 
PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
 2024-08-08 10:31:57 -07:00
Gabe Oppenheimer ebc48d2783 Update the MuJoCo version to v3.2.2 following the 3.2.1 release. 
PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
 2024-08-06 11:39:30 -07:00
Gabe Oppenheimer d538bf994d Update version to 3.2.1 following the 3.2.0 release. 
PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
 2024-08-01 08:35:42 -07:00
Erik Frey 2d24c58819 Adds support for fixed tendons to MJX. 
PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
 2024-07-22 10:49:13 -07:00
Saran Tunyasuvunakool d49d4bf64c Make unsupported feature checking optional in put_model. 
PiperOrigin-RevId: 654141976
Change-Id: I35b5f1e4c5b07e32075e847d4a757698a0b603c1
 2024-07-19 15:23:32 -07:00
Saran Tunyasuvunakool db1d51a1f5 Add more fields to mjx.Option and mjx.Statistic for MuJoCo compatibility. 
Also add metadata fields to the Python bindings of mjModel and mjOption,
and fix dtype of a number of fields.

PiperOrigin-RevId: 654138876
Change-Id: If2bbe41bf3dfdb350d60b5289afc65fffb397ce9
 2024-07-19 15:13:01 -07:00
Erik Frey 85532b74e1 Speed up hfield JIT time by reducing XLA code generation overhead. 
PiperOrigin-RevId: 653766462
Change-Id: I9d7e7fa3a4d33ae0fa9d00babd5c5478eb4eff88
 2024-07-18 15:01:43 -07:00
Saran Tunyasuvunakool dbe18f5740 Add additional MuJoCo fields to MJX structs. 
PiperOrigin-RevId: 653270676
Change-Id: I5f7a62d3bd542abc0d618e63d2426663e7d6406f
 2024-07-17 10:04:52 -07:00
Saran Tunyasuvunakool 7f46e936f6 Update setuptools to version 70.3.0. 
Addresses CVE-2024-6345.

PiperOrigin-RevId: 652857861
Change-Id: Iea5f6cb58b825b226ba61d259775ddbee05acd6d
 2024-07-16 08:38:56 -07:00
Gabe Oppenheimer 22ce22ac8a Update the MuJoCo version number ahead of the 3.2.0 release. 
PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
 2024-07-15 13:16:06 -07:00
Erik Frey c145b79f6e Using typing instead of collections.abc. Fixes #1763 
PiperOrigin-RevId: 651186508
Change-Id: I844ec884b802837554b0b60f2414d6bc37f2da14
 2024-07-10 16:21:00 -07:00
Copybara-Service 4b733b14d7 Merge pull request #1770 from fanminshi:fix_mjx_import 
PiperOrigin-RevId: 649199077
Change-Id: Ie1e404cfb0c33db077fa6299edc45645aaecd1cf
 2024-07-03 14:27:00 -07:00
Yuval Tassa c5cefdc2f6 Remove unidentified entries from mjx/requirements.txt 
PiperOrigin-RevId: 648363514
Change-Id: Ia4e60c088a078a9e3fc2e619c1819f4a3f2edcf1
 2024-07-01 07:33:40 -07:00
fanmin shi ec03aa9c9b Fix missing import in training_apg.ipynb 
When you run the notebook, you will immedidately
observe  ModuleNotFoundError for few modules. This
installs required dependencies.
 2024-06-30 23:11:26 +00:00
Yuval Tassa 4d4b0bb2c3 Don't normalize mjData->qpos quaternions in-place. 
PiperOrigin-RevId: 647927542
Change-Id: I13b0be55498d1da3af2cdc414cfed4c3908a6fe1
 2024-06-29 03:07:10 -07:00
Emo Todorov ee6a1dba28 UI improvements. Fixes #1274. 
Copybara import of the project:

--
a1297d997d0b3cc624bbd1e704ffb7fbb2c5db9d by Emo Todorov <etodorov@gmail.com>:

UI imrovements

When OpenGL buffer size is too small to hold entire UI with all sections open, older sections (as determined by latest mouse click) are automatically closed as needed.

To test this new functionality, uncomment the test near the top of mjui_resize().

UI items now have userid, which can be used for event handling.  It is set through the (new) last field of mjuiDef, called otherint.

Sections titles can now have a checkmark - in which case they are rendered differently. Set via mjuiDef.otherint: 0- none (as before), 1- rendering changed but box not shown, 2- box shown.  This can be used to label sections of special interest to the application.

--
b0405bfb3005586ef1d2656ea9cc43c608225927 by Emo Todorov <etodorov@gmail.com>:

more ui improvements

Implemented mjPRESERVE state for adding sections and separators, so you don't have to keep track of old states.

simulate.cc is now modified to use this new functionality.  I also made the separators in the Physics section collapsible. If you don't like it, change them back to state 1.

Also added functionality for handling section checkboxes.

--
10f4c49be62a6605a38b7c0c7bfae1629024ba31 by Emo Todorov <etodorov@gmail.com>:

even more ui improvements

Selection boxes that extend below the current UI height are finally rendered in full.

Sections and collapsible separators now have rounded corners. The radius can be controlled from theme spacing.

More theme color settings were added. In particular, color gradients can now be disabled (the two end colors are set independently).

--
96c2dc601a25d31c93b21f8e089d349e729e829e by Emo Todorov <etodorov@gmail.com>:

final ui improvements

Cleaned up the code a bit.

Added more control for color gradients.

--
c9eddb679f36df3f0745d37e3fa90c4e66ee6b98 by Emo Todorov <etodorov@gmail.com>:

bug fix

Fixed some rendering bugs in the new functionality.

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1749 from emotodorov:ui_improve ddfc21dbcf0482b8f0d5eacab21847c302f71440
PiperOrigin-RevId: 646060325
Change-Id: Idb27aae7cd0311d00f26387bcadf5891175e867d
 2024-06-24 05:33:51 -07:00
Yuval Tassa 44417f0059 Update mjx/requirements.txt 
PiperOrigin-RevId: 644744086
Change-Id: Ie6733ddbd1af9da43785b35c06e465e90267d9a3
 2024-06-19 07:35:27 -07:00
Yuval Tassa 6067048537 Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3. 
These functions names and argument ordering are more consistent with the rest of the API.

PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
 2024-06-16 10:02:36 -07:00
Taylor Howell 28e5ba2d29 Copybara import of the project: 
--
8857485483508e2c82c6a827daee8b457f88d1c8 by Taylor <taylor.athaniel.howell@gmail.com>:

velcoity -> velocity

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1733 from thowell:docs 8857485483508e2c82c6a827daee8b457f88d1c8
PiperOrigin-RevId: 642779993
Change-Id: I84d15237314af8b823fe616f72bd79a088a21d61
 2024-06-12 16:42:30 -07:00
Google DeepMind 238736393b #mjx Make Data.time strongly typed. 
PiperOrigin-RevId: 641774798
Change-Id: I5e13e3cefeb7942083f623f29757a459656062dd
 2024-06-09 20:56:33 -07:00
Erik Frey 4c3d9461ae Elliptic friction in MJX. 
PiperOrigin-RevId: 641384367
Change-Id: I510c565940324fbbf392ce537ce27e0cb9af3eb1
 2024-06-07 16:05:58 -07:00