chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 4 Packages Projects Releases Wiki Activity
1,917 Commits 2 Branches 1 Tag
c5f958bdfff2a61a62a0b2d49d766ca9d6bba5e2
Commit Graph

1917 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
Nimrod Gileadi c5f958bdff When reporting compilation errors, include warning strings. 
This allows plugins to call mju_warning, and have the string propagate to users.

PiperOrigin-RevId: 650621601
Change-Id: I608e7a3a1ad126ab8da2ff0634fa708458fb9ccc
 2024-07-09 07:33:11 -07:00
Kyle Bayes 450e7ff777 Move user_resource.c to C++. 
PiperOrigin-RevId: 650592110
Change-Id: I5e043970e3aa722e3961e478334cad4f3f1c191e
 2024-07-09 05:33:38 -07:00
Yuval Tassa 70f86617f8 Fix typos in documentation. 
PiperOrigin-RevId: 650191926
Change-Id: I84d098782c6e4585a31e1de6bb1a7af3b3698f94
 2024-07-08 03:49:12 -07:00
Alessio Quaglino f57dc90669 Refactor Default class to use pointers instead of indices. 
This in order to make it easier to append the default tree to another tree.

PiperOrigin-RevId: 649812975
Change-Id: I2915ac7e37957e45eadc24d6caaf7beea236bf29
 2024-07-06 03:51:30 -07:00
Yuval Tassa 9d0812911c Add a test for type attribute. 
PiperOrigin-RevId: 649635359
Change-Id: Ibe5d9fcb5f14371e5f154d645b838a9d012331d5
 2024-07-05 06:16:46 -07:00
Kyle Bayes c6fd002f87 Move engine/engine_resource.{c,h} to user/user_resource.{c,h}. 
PiperOrigin-RevId: 649628768
Change-Id: Id90c983cf70c0f92c3b033ac1b1654c53696955d
 2024-07-05 05:41:55 -07:00
Saran Tunyasuvunakool d029e4ff99 Get rid of unnecessary return value policy specification. 
PiperOrigin-RevId: 649437250
Change-Id: I61f8db0af526ebf667244124fcd4984881c6ef13
 2024-07-04 09:45:22 -07:00
Yuval Tassa 47d25bc4ac Add missing id attributes in Python bindings of mjsElements. 
PiperOrigin-RevId: 649435098
Change-Id: I16383958c25cb8fdc16a107d5abef8626a675632
 2024-07-04 09:32:33 -07:00
Kyle Bayes 57e6760ec9 Re-implement VFS internals in C++, removing the constraints of the previous implementation. 
PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
 2024-07-04 09:22:23 -07:00
Yuval Tassa 118b6810b3 Make "id" a property rather than a method of mjsElements in Python bindings. 
PiperOrigin-RevId: 649424035
Change-Id: I8226b3040aa2001ae9748399257e36ac263b7c8b
 2024-07-04 08:35:37 -07:00
Kyle Bayes f8b944bf7f Fix missing fclose when resource is closed without being read. Fixes #1685. 
PiperOrigin-RevId: 649416747
Change-Id: I05eeb1071868116b6e5be76e26b465788e4d35b1
 2024-07-04 08:07:34 -07:00
Alessio Quaglino a5a3c9efc7 Discard all keyframes when attaching models. 
PiperOrigin-RevId: 649415647
Change-Id: Ie2defe248df7078684d987351985cb66bd754e5b
 2024-07-04 08:04:40 -07:00
Alessio Quaglino a0945e4b5a Add non-tree element lists to python bindings. 
Fixes #1752.

PiperOrigin-RevId: 649405039
Change-Id: Ie0b575a3ec912b773141694397ac2f394bff1227
 2024-07-04 07:24:02 -07:00
Kyle Bayes d831153401 Reorganize GJK support logic. 
PiperOrigin-RevId: 649361144
Change-Id: I9868377cf36cccdcf66de3bc27afb872a164da8d
 2024-07-04 03:48:52 -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 ca44ad4f0f Improve docstrings and layout in mjdata.h 
PiperOrigin-RevId: 649195756
Change-Id: Iadf6589c226acacd9f3e85959de552a98fc7435a
 2024-07-03 14:15:51 -07:00
Kyle Bayes 5cce67439b Clean up user_util. 
PiperOrigin-RevId: 649166858
Change-Id: I79423dda628fb4bf3ceae438dd8dc5b96d69d2a9
 2024-07-03 12:38:36 -07:00
Kyle Bayes 2a4410e4e5 Fix bug with absolute meshdirs in included XML files. Fixes #1772. 
PiperOrigin-RevId: 649150979
Change-Id: I5df08c689afc4f5bc625e989a8c0b9733fcfa3c2
 2024-07-03 11:49:17 -07:00
Alessio Quaglino 9107d3b507 Add mjs_findKeyframe. 
PiperOrigin-RevId: 649036650
Change-Id: If514d5c333dd6084af9509324fd658c72576d7b5
 2024-07-03 05:17:41 -07:00
Yuval Tassa 8f16b72f44 Rename mjSpec.euler to eulerseq to match MJCF. 
PiperOrigin-RevId: 649007737
Change-Id: Iedb53c1d8a6e6a082a6ba30a1fb2bb4516839fa1
 2024-07-03 03:10:02 -07:00
Tom Erez df7ea3ed33 Add support for multiple textures in one material (mjModel). 
PiperOrigin-RevId: 648732764
Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b
 2024-07-02 08:50:23 -07:00
Tom Erez 3b73dfe33b Add textured materials to render context, and refactor mjvGeom to refer to those textures. 
PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
 2024-07-02 08:01:40 -07:00
Yuval Tassa af3233f98d Delete unused code. 
PiperOrigin-RevId: 648658198
Change-Id: I1bec6b07becd7cec22af4c67e9cc1a9bcda669b0
 2024-07-02 03:32:55 -07:00
Copybara-Service 0676ad499f Merge pull request #1769 from fanminshi:renderer_context 
PiperOrigin-RevId: 648508835
Change-Id: Ice87cd1221723ed44ba0ddca97b6aac245dd8975
 2024-07-01 15:48:41 -07:00
Yuval Tassa 19d505d847 Remove unused texture attribute in some models. 
PiperOrigin-RevId: 648497401
Change-Id: I9f9a843abfb710afaf25798fa659efd92bcd7007
 2024-07-01 15:05:02 -07:00
Alessio Quaglino 9106f40e2b Add mjSpec bindings. 
Co-authored-by: Saran Tunyasuvunakool <stunya@google.com>
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
 2024-07-01 12:05:50 -07:00
Yuval Tassa f2c3be470f Make seed fixed for random number generator when using <texture mark="random"/> 
Also improve documentation regarding texture height and width attributes.

PiperOrigin-RevId: 648427167
Change-Id: I59a0fe75d3526f8563a5252584ed60ef7fb8fd70
 2024-07-01 11:11:17 -07:00
Yuval Tassa c1ade85490 Add tests for mju_normalize4. 
PiperOrigin-RevId: 648422309
Change-Id: Ie363b396cd854588dc59994ae76059f42f2a54b0
 2024-07-01 10:58:35 -07:00
Yuval Tassa 0c3698f278 Don't normalize mocap quaternions in-place. 
PiperOrigin-RevId: 648394295
Change-Id: I348a0a045c1697f6ef782280d92c90a30759eb33
 2024-07-01 09:29:50 -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
Yuval Tassa 1601ab6078 Remove Makefiles. Fixes #402 
These are no longer needed, as the open-source build uses CMake.

PiperOrigin-RevId: 648340374
Change-Id: Ibc704ca3aaab1c48d245e24b071bed6cd846c110
 2024-07-01 05:51:47 -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
fanmin shi 521922f133 Use Renderer context manager format in tutorial.py 2024-06-30 22:44:17 +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
Saran Tunyasuvunakool 0e19722c61 Split name2id and id2name into a separate source file. 
PiperOrigin-RevId: 647373431
Change-Id: I3bab0ea7157750b79826739e3d739e4114fa0af7
 2024-06-27 10:50:21 -07:00
Yuval Tassa 44be878e7e Enable inter-procedural optimization by default in cmake 
PiperOrigin-RevId: 647336693
Change-Id: I44acf48ed9825dd3e71b06f2aca581cdb17dce34
 2024-06-27 09:05:49 -07:00
Alessio Quaglino f6cc3f4091 Remove classname from mjs* structs. 
PiperOrigin-RevId: 647277317
Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
 2024-06-27 05:13:02 -07:00
Yuval Tassa 62e2842116 Skip deprecated mju_rotVecMat and mju_rotVecMatT in Python bindings. 
PiperOrigin-RevId: 647275284
Change-Id: I371236182b22eb399041959901085bb82af3f670
 2024-06-27 05:06:01 -07:00
Yuval Tassa 13fce3e5b0 Use std::array instead of std::vector for a constant array of strings. 
PiperOrigin-RevId: 646826439
Change-Id: I7d9462109027ebb64cb52e3265dde87ca23f906f
 2024-06-26 04:53:08 -07:00
Yuval Tassa 8c380e7ba4 Don't print the fixed name ("main") of the top-level default class when saving XMLs. 
Also insert newlines between top level sections in saved XML.

PiperOrigin-RevId: 646802227
Change-Id: If16b93409bda88aee8ef75f4a78d7ba0419fcfae
 2024-06-26 03:22:22 -07:00
Alessio Quaglino 6be4e0697e Simplify mjs_addDefault. 
PiperOrigin-RevId: 646534046
Change-Id: I658224e4800849231e68ed02d8fad07b8d796231
 2024-06-25 10:51:57 -07:00
Kyle Bayes 5e39fc0564 Improvements to GJK implementation: 
- Fix various bugs
- Improve readability
- Add support for recovering witness points.

PiperOrigin-RevId: 646515019
Change-Id: I295cf90d885e32013e595ea7aad07ed6c1869239
 2024-06-25 10:00:58 -07:00
Yuval Tassa 5a513a0afb simulate improvements 
- Add RGBA color editing for visualization
- Make some separator sections closed by default

PiperOrigin-RevId: 646502122
Change-Id: Id863d983b7fb53e6bbe86a92833876e40b74a5d8
 2024-06-25 09:16:25 -07:00
Yuval Tassa d8b85245a7 Informative error if mis-naming the top-level default class. 
Also:
- Move the the top-level default class name into the mjCModel constructor.
- Fix bug in default class propagation in frame elements.
PiperOrigin-RevId: 646384669
Change-Id: Icc6154124361a234b84a07e2b5ecaa7c8b18ebf7
 2024-06-25 01:46:18 -07:00
Yuval Tassa 9e9a0c637e Fix docstring of mjData.arena. Fixes #1753 
PiperOrigin-RevId: 646121139
Change-Id: I46c7fb32b0e705fb3b8301272d7fc55ba0dacd7c
 2024-06-24 09:29:12 -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
Kyle Bayes e66b9a36b2 Remove mj_makeEmptyFileVFS and mj_findFileVFS from MuJoCo API. 
PiperOrigin-RevId: 645393666
Change-Id: Iabe939c88f60b80dce20f84c7ff9a6396717cc84
 2024-06-21 08:12:51 -07:00
Kyle Bayes 14fe527ea2 Fix small typo/bug in gjk implementation. 
PiperOrigin-RevId: 645378191
Change-Id: Icdba53b30c934ac3059bb6f7b6d1081d71823131
 2024-06-21 07:04:22 -07:00
Kyle Bayes 1e8454820d Implement initial GJK algorithm. 
PiperOrigin-RevId: 645368315
Change-Id: I40a1e1023fd9f14a59e11a9dcc6ac22df241b6ae
 2024-06-21 06:17:43 -07:00
Kyle Bayes b0b934cb5f Separate CCD code from support/center logic. 
PiperOrigin-RevId: 645355865
Change-Id: I71303ffd7bbee37c5e8ac7e770f810768780c2e6
 2024-06-21 05:17:57 -07:00