chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
2,852 Commits 2 Branches 1 Tag
d6943731b284ee51375147a3f7e520259cf2beb5
Commit Graph

1191 Commits

Author SHA1 Message Date
Kyle Bayes d6943731b2 Fix bug in nativeccd multiccd. 
PiperOrigin-RevId: 740495321
Change-Id: I7eaa0da8514e27c233d49567c276d1d238808d1f
 2025-03-25 14:56:21 -07:00
Alessio Quaglino 69f8349203 Add signature error checking at the end of compilation. 
Fixed some edge cases that caused the new error to be triggered.

PiperOrigin-RevId: 740483759
Change-Id: I6ced3ba55476d5c18103e205151ecace94f2b29b
 2025-03-25 14:22:58 -07:00
Alessio Quaglino 157b074116 Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData. 
PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
 2025-03-25 09:37:49 -07:00
Yuval Tassa c931565fdc Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon. 
Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2
 2025-03-25 09:36:30 -07:00
Alessio Quaglino 4e206c29c1 Keep tree lists updated at all times. 
This simplifies the compiler logic since an updated tree list was necessary at many stages (e.g. attach and keyframes resizing) and it will be anyway required when computing the mjSpec signature.

PiperOrigin-RevId: 740356447
Change-Id: I7f2ec25b27b8d4ca4364801c9a401c40c6d84569
 2025-03-25 08:21:22 -07:00
Kyle Bayes 12b40b948e Remove MuJoCo stack calls in nativeccd. 
1. There is now thread local static memory for use with a conservative max number of iterations needed for contact.
2. For possible needs of high precision contact recovery with large iteration numbers (i.e. ellipsoid-ellipsoid collisions), there are callbacks to allocate memory when needed.

PiperOrigin-RevId: 739187134
Change-Id: I3d210f75218922d969c78465da3fe50da4fe3080
 2025-03-21 08:20:51 -07:00
Alessio Quaglino dc96ed6bdb Remove plugins that are not referenced after detaching a body. 
Fixes #2497.

Also, use `Release()` instead of `delete` for removing elements when detaching a body in order to preserve correct reference count.

PiperOrigin-RevId: 739133888
Change-Id: I7ccfad84446fb15259bad30c4ba1e6f7fa601518
 2025-03-21 04:34:05 -07:00
Tom Power 8d92a0fbe6 Clear body subtreedofs when compiling. Fixes issue when attaching previously compiled model. 
PiperOrigin-RevId: 738906593
Change-Id: I74875b4d07c422e397358dff5daf6682ec1bd655
 2025-03-20 12:52:36 -07:00
Tom Power be64747166 add mjs_detachDefault to delete a default class from mjSpec 
PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
 2025-03-19 10:31:04 -07:00
Kyle Bayes a1b9ffd124 Fix memory over-allocation in nativeccd. 
PiperOrigin-RevId: 738383181
Change-Id: Ibf9e2b146da671e8d3a48339c8f4c6813f537456
 2025-03-19 07:08:21 -07:00
Alessio Quaglino 209d2bd2c5 Added functionality for user payload data in mjSpec. 
PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
 2025-03-19 04:36:00 -07:00
Kyle Bayes dc50fbbb9b Add safeguard if n is invalid in GJK. 
PiperOrigin-RevId: 738340065
Change-Id: I2288eb731621e5b84dcc0f078d8dbd84dca94cd4
 2025-03-19 04:21:11 -07:00
Yuval Tassa efe213a7b3 Cosmetic improvements to src/xml/ source files. 
PiperOrigin-RevId: 738010419
Change-Id: Idb90a42a374682450737684e67388329c184c777
 2025-03-18 08:12:29 -07:00
Yuval Tassa 205599ac1a Cosmetic improvements to src/user/ source files. 
PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958
 2025-03-18 02:59:12 -07:00
Alessio Quaglino bae5175cf2 Accumulate rotation after updating pos and quat in replicate. 
Fixes #2501.

PiperOrigin-RevId: 737929158
Change-Id: I0cad2de37190f1d30d427ae646acbde335b5be56
 2025-03-18 02:51:05 -07:00
Alessio Quaglino 1bf24e9f67 Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site. 
PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
 2025-03-17 10:21:38 -07:00
Alessio Quaglino da04688071 Automatically compile mjSpec in to_xml(). 
Also, move mj_compile from MjModelWrapper to MjSpec.

PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
 2025-03-17 09:21:10 -07:00
Alessio Quaglino 35774706ee Set parent frame of new frames after copying all frames. 
PiperOrigin-RevId: 737620918
Change-Id: I8f49570cab39bd84b2da908d3683dddc3b29cb3c
 2025-03-17 08:19:04 -07:00
Kyle Bayes b10b0b7055 Cache all processed mesh data. 
PiperOrigin-RevId: 737576455
Change-Id: I87628ce7842d0d7d0e7fe02eb9afb2ddefa68ff8
 2025-03-17 05:20:41 -07:00
Kyle Bayes 1a67aaf1b7 Remove pointers from BVH for caching in mjCMesh. 
PiperOrigin-RevId: 736849392
Change-Id: I684cca918c65718b29a1bcb41ecd6bad8d88f8f9
 2025-03-14 07:01:18 -07:00
Alessio Quaglino f25fc63f0f Default flex internal contacts to "false". 
This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500, #2079, #1900, and #1433. It should be used only if element inversion cannot be prevented otherwise.

PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
 2025-03-14 04:55:09 -07:00
Alessio Quaglino 8e300eb628 Update list ids immediately during body detach. 
Fixes #2499.

PiperOrigin-RevId: 736449320
Change-Id: Ieeae52bdbbbb896d886221ab088229c8287a32a3
 2025-03-13 03:55:58 -07:00
Tom Power 8f4c5c4b16 add support for non-rgb textures in xml_native_writer 
PiperOrigin-RevId: 736221430
Change-Id: I83c19e06f0f7be054a88c3e894807e7b90ee012a
 2025-03-12 12:17:32 -07:00
Google DeepMind 5c3bab4d09 Change default metallic value to 0, as per the XMLreference doc. 
See https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-material-metallic

PiperOrigin-RevId: 736190166
Change-Id: Ic841df9510aff5df8f5ea3394732ab65b550aa65
 2025-03-12 10:54:29 -07:00
Alessio Quaglino 775c45c60e Do not lookup compiler options by name when attaching. 
Also, fix a pre-existing bug that caused incorrect compiler option propagation with nested attachments.

Fixes #2480.

PiperOrigin-RevId: 736156202
Change-Id: Ib430493e8c60556c2312603198587b39de9b8a4a
 2025-03-12 09:18:47 -07:00
Kyle Bayes 995bbf0f0f Refactor and fold in code into Process in mjCMesh for caching. 
PiperOrigin-RevId: 736052216
Change-Id: Ia0e055fd99ce429b9dee97f3f9effbf2fa1aa4f9
 2025-03-12 02:12:53 -07:00
Yuval Tassa de48f4178f Add missing term in mj_jacDot 
PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
 2025-03-11 03:01:29 -07:00
Alessio Quaglino 019e0a806c Throw an error if a child attached by reference to a parent is compiled. 
Fixes #2482.

PiperOrigin-RevId: 735665098
Change-Id: Ia3436fdd2ff572f8f0c1ded434742a4a9186f2f7
 2025-03-11 01:24:17 -07:00
Alessio Quaglino 14dc6fd33b Do not use inertia during mesh compilation. 
Fixes #2479.

PiperOrigin-RevId: 735387473
Change-Id: Ib241f2a0efc100bbe2cec24e0399bfcc87268094
 2025-03-10 08:35:33 -07:00
Tom Power e7a715497e Write mesh inertia to defaults when exporting to xml. Fixes #2478 
PiperOrigin-RevId: 735338748
Change-Id: Id0b71d06c77baef417f7968ae8a14154243a1f83
 2025-03-10 05:31:55 -07:00
Alessio Quaglino adc3cc06fa Change private->public spec for error checking in mjCSkin recompilation. 
Fixes #2485.

PiperOrigin-RevId: 735323174
Change-Id: Ifcc2055f6a74afaa18ad5228633f36f760adcffd
 2025-03-10 04:19:40 -07:00
Kyle Bayes 4d024f9421 Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation. 
PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
 2025-03-07 05:17:49 -08:00
Yuval Tassa a816ca6dd5 Use qLDiagInv instead of qLD in engine_vis_interact.c 
PiperOrigin-RevId: 734399015
Change-Id: I97c80a8b25dbd40e86560c328cc786a0bed6a2d1
 2025-03-06 21:15:36 -08:00
Yuval Tassa 109a223cf6 Narrow some includes in src/user/ 
PiperOrigin-RevId: 734389490
Change-Id: I2834aadbbb38b396536e467c0dfea11dcc21972f
 2025-03-06 20:45:18 -08:00
Alessio Quaglino e04e0e5c3d Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency. 
PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b
 2025-03-06 08:28:36 -08:00
Kyle Bayes 37d6d7792a Fix bug with handling of invalid maxhullvert values (smaller than 4). 
PiperOrigin-RevId: 734136442
Change-Id: I531e5a5b9244e026a9368e0d6a83d2b559c1b58d
 2025-03-06 07:33:41 -08:00
Yuval Tassa 0f563ecf31 Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism. 
PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
 2025-03-04 17:34:35 -08:00
Yuval Tassa 7d9df8c9a9 Fill-in qM CSR matrix structure on mjData (currently unused). 
PiperOrigin-RevId: 733258529
Change-Id: I903548ae60139e4858550194e1aedf0efa2f3033
 2025-03-04 03:20:11 -08:00
Yuval Tassa 8f37ae1bf2 Add missing fields in mj_printData, don't print integration-related fields if identically zero. 
PiperOrigin-RevId: 732917127
Change-Id: Ia5fe8e4b6c2485fcf4336847535c1cc72b9d6d62
 2025-03-03 07:34:14 -08:00
Alessio Quaglino 7651cb1b33 Copy texture coordinates from OBJ into flex. Fixes #2464. 
PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
 2025-02-28 06:04:19 -08:00
Kevin Sayed 06e217df7e [MJ3.3.1] Bumping internal version number. 
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
 2025-02-27 14:53:28 -08:00
Kevin Sayed 9996500de9 update the version number to 3.3.0 instead of 3.2.8 
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
 2025-02-26 11:42:55 -08:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Kyle Bayes 4f691eeae4 Fix minor issues in EPA in nativeccd. 
PiperOrigin-RevId: 731327356
Change-Id: Iba8215b7991ef74bf890c8da7e9332474e19e9c3
 2025-02-26 08:28:35 -08:00
Kyle Bayes bd66fbd046 Fix return value in mesh edge contact in nativeccd. 
PiperOrigin-RevId: 730924994
Change-Id: Iab4f26da126713bae6629eef502bb2aad690c595
 2025-02-25 09:54:05 -08:00
Alessio Quaglino ed7adf3d17 Do not namespace the body that contains the frame during mjs_attachFrame. 
PiperOrigin-RevId: 730912252
Change-Id: I026993af648766c09d569709d268430207d83169
 2025-02-25 09:16:44 -08:00
Kyle Bayes fbe0990b17 Fix bugs in nativeccd with collisions with margin. 
PiperOrigin-RevId: 730903745
Change-Id: I45ddb674f32cb1f28ff37c587ea953ec595241b3
 2025-02-25 08:51:21 -08:00
Alessio Quaglino ce82b63155 Add mjs_attachFrameToSite. 
This is required in preparation of changing the spec.attach behavior in the Python bindings.

PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
 2025-02-25 03:21:05 -08:00
Alessio Quaglino 14c8dc62f0 Add termination character to flattened plugin attributes if empty. 
Fixes #2450.

PiperOrigin-RevId: 730521722
Change-Id: Iec3fa377c65693d782eeb766a144a1c89096d1f3
 2025-02-24 11:07:18 -08:00
Kyle Bayes 024616345d Support edge contacts with multiccd in nativeccd. 
PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
 2025-02-24 09:48:43 -08:00