chenlin/Mujoco_WASM
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235 Commits

Author SHA1 Message Date
Gabe Oppenheimer 225619c964 Update MuJoCo internal version to be the external version +1 
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
 2024-04-10 14:32:54 -07:00
Yuval Tassa 5a365603f8 Add mju_euler2Quat. 
PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
 2024-04-10 06:02:50 -07:00
Yuval Tassa 5d26b50fce Remove native sensor noise sampling. 
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
 2024-03-28 15:33:03 -07:00
Yuval Tassa 47ba72ea59 Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy. 
PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
 2024-03-28 14:01:52 -07:00
Balint-H c2bef232b6 Handle the implicit auto value for limits now written by the compiler to the xml 2024-03-14 12:38:56 +00:00
Alessio Quaglino bda03af49a Add childclass support to frames. 
PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
 2024-03-13 11:31:22 -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 0631a406c4 Merge pull request #1470 from Balint-H:bugfix/unity-tendon-rendering 
PiperOrigin-RevId: 612839845
Change-Id: Idf5b5cec4adc350b3ed36e902e2e52fbe9080281
 2024-03-05 07:49:57 -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
Balint-H f70db6b0ee Remove unnecessary using 2024-03-04 13:51:08 +00:00
Balint-H 2f64cf36c5 Conditional compilation for Tendon visualization 2024-03-04 13:49:00 +00:00
Balint-H 1baa478b64 Fix rendering of tendons 2024-03-04 13:41:50 +00:00
Copybara-Service 73f65ec408 Merge pull request #1428 from Balint-H:feature/unity-plugins 
PiperOrigin-RevId: 612144507
Change-Id: Ie355c0da2b4a51331aadcfce865a1edd720381b5
 2024-03-03 02:16:08 -08:00
Kyle Bayes a4a621f6e3 Add checksums (used as a timestamp) to VFS. 
Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.

PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
 2024-02-21 02:25:36 -08:00
Bálint Hodossy c65410a92d Preliminary support for plugins. Load all plugins in plugin folder. 2024-02-18 14:45:54 +00:00
Yuval Tassa b6873ec8a2 Move mjModel.mesh_{pos,quat} before mesh_pathadr so all attributes related to original asset data are next to each other. 
PiperOrigin-RevId: 606277473
Change-Id: Ia4f6df552192c8a2847126975b6a1a31df63cf65
 2024-02-12 09:37:48 -08:00
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
Bálint Hodossy ee071242c6 Constrain MjScene EventHandlers as events, consistently use MjStepArgs 2024-01-26 14:35:03 +00:00
Yuval Tassa fea7c10b95 Add bvhactive flag to visual/global. Fixes #1279. 
PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
 2024-01-19 02:59:56 -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
Yuval Tassa 67a00a3a51 Rename mjMAXTHREADS -> mjMAXTHREAD (consistency). 
PiperOrigin-RevId: 599130235
Change-Id: Ia80379b8ae0574a7cd8fbc668657f806e90d6c5c
 2024-01-17 04:33:44 -08:00
Copybara-Service 3b440921df Merge pull request #1268 from Balint-H:feature/unity-hmap-dyn 
PiperOrigin-RevId: 598652839
Change-Id: I3285f041c5c2e3e9286f1bb106825ee20e7147e3
 2024-01-15 12:54:06 -08:00
Tom Erez 2388b651e8 Unity plug-in: Fix for when xml file has no <compiler> section. 
PiperOrigin-RevId: 598646137
Change-Id: Id27635dc3064f8568ae0d86c2cdee8c2d414dd2f
 2024-01-15 12:04:26 -08:00
Copybara-Service c77f984d9b Merge pull request #1330 from Balint-H:fix/unity-joint-limits 
PiperOrigin-RevId: 598603093
Change-Id: I441631e33e812988694f8eed48c719c6bab86148
 2024-01-15 07:08:03 -08:00
Bálint Hodossy 66a0cd3b0b Perform autolimit check on actuators 2024-01-11 16:29:08 +00:00
Bálint Hodossy 3a00450d00 Rephrase condition for default limited definition so it's more intuitive 2024-01-11 16:20:13 +00:00
Bálint Hodossy 56b30d9d15 Check the autolimits attribute before assigning default values for joint limitedness 2024-01-11 16:09:06 +00:00
Bálint Hodossy 2c024164ea Edit hfield_data in Unity 2023-12-21 16:04:25 +00:00
Bálint Hodossy 1028051d1a Merge branch 'main' of https://github.com/google-deepmind/mujoco into feature/unity-hmap-dyn 
Merge with main to keep branch up to date
 2023-12-21 11:45:49 +00:00
Bálint Hodossy d0b505c67b Reformat scripts to better follow guidelines 2023-12-19 13:54:49 +00:00
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
Nimrod Gileadi 7cb7c87f70 Fix a few issues with the passive viewer. 
1. Create an arena for the mjData instance used by the passive viewer visualization.

When using the passive viewer, stuff gets copied from the real mjData into a minimal struct.
That struct didn't have a stack, and now visualization for Flex does stack allocs.

2. Add missing a missing field in scene state for flex visualization.

3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer.

4. Add some locks in places where the render thread and Simulate::Sync collide.

This fixes #1280.

PiperOrigin-RevId: 591891676
Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
 2023-12-18 07:33:19 -08:00
Yuval Tassa 38fa756a20 Add mjGEOM_LINEBOX, used in visualization of collision trees. 
PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
 2023-12-15 05:36:35 -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
Yuval Tassa 28a9e6d9a2 Add mjNOBJECT value to mjtObj enum. 
PiperOrigin-RevId: 590164716
Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
 2023-12-12 05:15:00 -08:00
Bálint Hodossy 315a2f334f Fix whitespace in reformatted code from GitHub 2023-12-11 14:57:40 +00:00
Bálint Hodossy 28f19fbe7c Merge branch 'feature/unity-hmap-dyn' of https://github.com/Balint-H/mujoco into feature/unity-hmap-dyn 
Merge in format from GitHub
 2023-12-11 14:56:19 +00:00
Bálint Hodossy af133f4022 Fix whitespace placements 2023-12-11 14:54:55 +00:00
Balint-H d3429f97cc Merge branch 'main' into feature/unity-hmap-dyn 2023-12-07 14:07:21 +00:00
Bálint Hodossy 0b413656b8 Restrict access to height range properties of the HField shape 2023-12-07 14:02:21 +00:00
Bálint Hodossy 2adfd09b87 Rebuild scenes on terrain changes for dynamic heighfields 2023-12-07 13:34:33 +00:00
Copybara-Service e4359c04df Merge pull request #1253 from Balint-H:feature/unity-hmap 
PiperOrigin-RevId: 588420615
Change-Id: I2340f2fc025017133644eeedacf94b5c83e04669
 2023-12-06 07:32:45 -08:00
Bálint Hodossy 3e3687d022 Add functionality to synchronise rendered terrain to position of the geom 2023-12-05 18:49:32 +00:00
Bálint Hodossy f5a2879f9d Fix braces convention 2023-12-04 14:00:24 +00:00
Bálint Hodossy 8ec1e4e2b8 Add heightfield geom type with Unity terrain, import not yet supported 2023-12-04 13:55:38 +00:00
Matthew Bennice c0b7b9873d Store paths for hfields, textures, and skins similar to meshes. 
PiperOrigin-RevId: 587283093
Change-Id: Ie6d8d2ecb185697a27d1b6f7fca1312df006af12
 2023-12-02 03:51:25 -08:00
Yuval Tassa 822b03446c Improve pipeline documentation, expose mj_implicit function to public header. 
PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
 2023-11-29 10:18:57 -08:00
Copybara-Service 9075f2cb74 Merge pull request #1222 from Balint-H:fix/ball-joint-tooltip 
PiperOrigin-RevId: 585964341
Change-Id: I59fca025b1005317279f43b8f621e62b0f80fe62
 2023-11-28 07:04:50 -08:00
Alessio Quaglino 8010aad7be Add flex_elemlayer to mjvSceneState. Fixes #1193 and #1219. 
PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
 2023-11-27 02:25:05 -08:00