chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity
874 Commits 2 Branches 1 Tag
dac34c91bb29a99fc6b2de42de3db2d0bafdb11f
Commit Graph

218 Commits

Author SHA1 Message Date
Nimrod Gileadi dac34c91bb Set tendon_invweight0=0 for models with no dofs. 
PiperOrigin-RevId: 551851674
Change-Id: I9d2fd1728b4b654e5bb91ac8f0d203e275b7b93a
 2023-07-28 07:54:08 -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
Yuval Tassa 51aa375af0 Improvements related to models where joint-actuator relationship is not one-to-one: 
- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.

PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
 2023-07-19 10:29:32 -07:00
Saran Tunyasuvunakool 7603b07a20 Fix broken Linux build in 5fcdae771b. 
PiperOrigin-RevId: 549338643
Change-Id: Icb2de7aa77ddb5d6c9bbf6a1140ef388ead5368c
 2023-07-19 09:27:25 -07:00
taylor howell e695a95efb fix mjd_transitionFD comment 2023-07-14 13:50:57 -07:00
Kyle Bayes 242aea93c6 Bump oldest supported MacOS to version 11. 
PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
 2023-07-12 06:38:26 -07:00
Yuval Tassa 77b3533d90 Improve mju_cross implementation. 
- Allow in-place cross product a = a x b using `mju_cross(a, a, b)`.
- Easier for compiler to optimize since tmp cannot alias a or b (verified with godbolt).

PiperOrigin-RevId: 547265908
Change-Id: If965867e08c1bc980e71729e38f6855e32de18b2
 2023-07-11 12:35:02 -07:00
Alessio Quaglino e2677d6057 Check references for BVH data structure. 
PiperOrigin-RevId: 547175700
Change-Id: I10e47f0c81ad25563d1f149bf4d2310ee515b1be
 2023-07-11 06:49:20 -07:00
Yuval Tassa 5cfbb6ac8b Add mjd_quatIntegrate, expose mjd_subQuat. 
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
 2023-07-07 05:33:24 -07:00
Saran Tunyasuvunakool 2b38148d24 Explicitly zero out cinert of the world body. 
Values of `cinert` are only set by `mj_comPos` for body 1 and above, which leaves the values for body 0 uninitialized. This triggers a `use-of-uninitialized-value` error under msan when the entire `cinert` array is read.

PiperOrigin-RevId: 545453619
Change-Id: I7bfdb4e4e33677903fc90c6ad070490aa65bf464
 2023-07-04 08:26:02 -07:00
Kyle Bayes 95167fab2d Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly. 
PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
 2023-07-04 08:09:01 -07:00
Kyle Bayes 82e85e24e5 Fix nv precounting bug for dense allocation in contact constraint. 
PiperOrigin-RevId: 545441998
Change-Id: I12951d9022d78838a67d8e1d9d80d41b73e7c29d
 2023-07-04 07:26:49 -07:00
Yuval Tassa bce2043762 Tighten const qualifiers in collision functions. 
PiperOrigin-RevId: 543789453
Change-Id: I929c68b9100a093738c0de6c0965dab4ded1084b
 2023-06-27 10:44:58 -07:00
Yuval Tassa a7021df63e Add primitive sphere-cylinder collider. 
PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
 2023-06-26 17:25:32 -07:00
Yuval Tassa 1d6d6f33bf Cosmetic clean-up and a few micro-optimisations for primitive colliders. 
PiperOrigin-RevId: 543559919
Change-Id: I345ccbdca4303e82d1097a5a4bf9381c9f845617
 2023-06-26 15:36:20 -07:00
Yuval Tassa c50c92ccc8 Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization. 
PiperOrigin-RevId: 542343761
Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e
 2023-06-21 13:19:36 -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 d82f5ce5a4 Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -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
Saran Tunyasuvunakool 1d79657512 Fix out-of-bound read in mju_combineSparseCount. 
PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
 2023-05-26 07:44:47 -07:00
Yuval Tassa cce7fb04d1 Fix out of bounds write in clampedDiff in engine_derivative_fd.c 
PiperOrigin-RevId: 535234007
Change-Id: I1ca54df1324346cd250409125939fdf6f63cee04
 2023-05-25 06:25:08 -07:00
Yuval Tassa c66d79409c Change mj_ray behaviour to match geom visualisation conventions: 
- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.

Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.

PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
 2023-05-24 13:52:21 -07:00
Saran Tunyasuvunakool 55c7f45dc5 Fix sparse matmul logic in addJTBJSparse. 
Also rename arguments and loop variables in `addJTBJSparse` for additional clarity.

PiperOrigin-RevId: 534908360
Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
 2023-05-24 11:02:35 -07:00
Yuval Tassa d82465d710 Fix use of uninitialised memory. 
PiperOrigin-RevId: 534783070
Change-Id: I4fddc983a8ac7213049366d909c57c303ab0e521
 2023-05-24 04:39:57 -07:00
Alessio Quaglino 03d6d27f64 Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
 2023-05-22 12:05:20 -07:00
Alessio Quaglino a09246c095 Removed key for visualizing the mesh tree. 
PiperOrigin-RevId: 533126358
Change-Id: I8b30691c78cbae4b8ad44ac16fb7567b2a131dcf
 2023-05-18 07:52:34 -07:00
Alessio Quaglino dab49d487c Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
 2023-05-16 11:10:38 -07:00
Alessio Quaglino 9d1a21f99d Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
 2023-05-16 08:17:50 -07:00
Yuval Tassa 4ea8218466 If inertia is being visualised, draw body frames at the inertial frame. 
PiperOrigin-RevId: 532458388
Change-Id: Ie58cea8dee4215ad9e40ef827361bc3793c8f449
 2023-05-16 07:55:34 -07:00
Yuval Tassa b81793371b Fix typo. 
PiperOrigin-RevId: 532447706
Change-Id: Icea63f7ebf381906dce03175cdbf16e96c3828d7
 2023-05-16 07:09:47 -07:00
Alessio Quaglino fcc825c5e6 Add cutoff argument to mj_multiRay. 
PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
 2023-05-15 10:44:37 -07:00
Yuval Tassa 770b4b363a Added optional smoothing to muscle dynamics: 
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.

PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
 2023-05-12 04:58:53 -07:00
Saran Tunyasuvunakool 133b8d0978 Make MuJoCo buildable with Visual Studio 2019 update 7 and earlier. 
Also enable MSVC 2019 builds on GitHub Actions.

Fixes #862.

PiperOrigin-RevId: 531167754
Change-Id: I17687fb287c38a7f2245c6f7ba59a22b772e3a8c
 2023-05-11 04:54:53 -07:00
Alessio Quaglino 4c487e07ed Add mesh BVH. 
PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
 2023-05-09 03:31:06 -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
Yuval Tassa 49efa9cc15 Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment. 
Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
 2023-05-06 09:22:37 -07:00
Saran Tunyasuvunakool 496755a55d Fix mju_getfiledir when the path contains a mixture of / and \. 
PiperOrigin-RevId: 529754511
Change-Id: Ifce2b86bc339a8cae584db639b7901b270e56384
 2023-05-05 10:35:55 -07:00
Kyle Bayes 67f0f5154f Add various improvements for resource providers. 
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
 2023-05-05 07:03:49 -07:00
Alessio Quaglino b798f89212 Fix bug with the position of bounding sphere in mj_multiRay. 
PiperOrigin-RevId: 529665457
Change-Id: I486a094303b3b26c8067f8be7aca03afbe8e6217
 2023-05-05 02:53:11 -07:00
Yuval Tassa 90813b8198 Add mjd_subQuat (private function) 
PiperOrigin-RevId: 529418945
Change-Id: I6764ae866b13482ef3aa951f427b58cae007c301
 2023-05-04 08:40:34 -07:00
Alessio Quaglino 267299fb59 Change elevation to [0,pi] in mj_multiRay. 
PiperOrigin-RevId: 529393944
Change-Id: I23f3113fd91e909fa1dc23b620d66e963db59355
 2023-05-04 06:43:16 -07:00
Alessio Quaglino 7e49d935ba mj_multiRay: Reset elevation angle if crossing the coordinate singularity. 
PiperOrigin-RevId: 529341397
Change-Id: I0ca6ed5b97bcc585b0f426d6fb8a6b4cf9367a2b
 2023-05-04 01:50:38 -07:00
Yuval Tassa 42a16f65c2 Fix typo in mjd_inverseFD documentation. 
PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
 2023-05-03 01:30:44 -07:00
Yuval Tassa b0bc330b54 Add utility functions for banded-then-dense symmetric matrices. 
PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
 2023-05-02 05:58:08 -07:00
Alessio Quaglino 2ad82d5998 Add mj_multiRay function to perform multiple ray intersection with the same source. 
PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
 2023-05-01 23:02:45 -07:00
Yuval Tassa c50177d301 Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians. 
Fixes #703.

PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
 2023-04-28 09:04:41 -07:00