chenlin/Mujoco_WASM
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221 Commits

Author SHA1 Message Date
Yuval Tassa fa1b01360a Delete reference to nonexistent flag in docs. 
PiperOrigin-RevId: 737434746
Change-Id: I277b9d910f050315b4f5c855d1955989e668c46f
 2025-03-16 17:34:29 -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
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
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
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
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Alessio Quaglino b3aa5df68a Improve composite docs and changelog. 
PiperOrigin-RevId: 730394496
Change-Id: Ie993214deb82b526a96510e02f6ecff103c58607
 2025-02-24 04:26:35 -08:00
Alessio Quaglino c52d1b3941 Remove the particle composite (replaced by replicate). 
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
 2025-02-23 03:14:11 -08:00
Alessio Quaglino 0fcd20f0da Remove grid from composite types. 
Replaced it with flexcomp in the models.

PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
 2025-02-23 01:31:41 -08:00
Tom Power 89253d957d Changes to inertia inference from meshes. 
PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
 2025-02-12 07:43:13 -08:00
Alessio Quaglino 7cdf180641 Introduce trilinear flex parametrization. 
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.

On an 8x8x8 cube, the performance using DOFs at all vertices is

```
 Simulation time      : 18.74 s
 Steps per second     : 533
 Realtime factor      : 0.53 x
 Time per step        : 1874.4 µs

 Contacts per step    : 114.88
 Constraints per step : 3322.51
 Degrees of freedom   : 1536
```

With the new implementation, it is the following:

```
 Simulation time      : 1.82 s
 Steps per second     : 5507
 Realtime factor      : 5.51 x
 Time per step        : 181.6 µs

 Contacts per step    : 38.84
 Constraints per step : 155.36
 Degrees of freedom   : 24
```

PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
 2025-01-29 09:38:22 -08:00
Yuval Tassa 8c22181156 Fix documentation typos. 
PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
 2025-01-27 10:58:22 -08:00
Yuval Tassa b2d353d062 Document default visible geom groups in XMLreference. 
PiperOrigin-RevId: 717050528
Change-Id: I0414495d2f5a17ac2d8ba35c9353ecf0b7e8a18d
 2025-01-18 12:42:01 -08:00
Yuval Tassa 463bc47633 Clarify that equality constraints defined using the body-based semantic are assumed to be satisfied at `mjData.qpos0`. 
PiperOrigin-RevId: 717050088
Change-Id: I02e82cab5a60f0af48f7f921ba9bca11837f8063
 2025-01-18 12:39:40 -08:00
Yuval Tassa 240a7afdee Add sensors for potential and kinetic energy. 
PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
 2025-01-17 13:10:12 -08:00
Alessio Quaglino ee6f4837f3 Auto-generate 3D mesh from convex OBJ if dim=3 in flex. 
This requires the user to explicitly specify an origin.

PiperOrigin-RevId: 712483526
Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
 2025-01-06 04:35:59 -08:00
Yuval Tassa e67599f517 Add weak deprecation notice include in XMLreference. 
PiperOrigin-RevId: 710300945
Change-Id: I5a3dd066ef643d606d97ec36ffe1e797bb628659
 2024-12-28 08:50:31 -08:00
Yuval Tassa b26d6f0466 Disable tendon catenary visualization when tendon is actuated. Add note about catenary visualization. 
PiperOrigin-RevId: 706161179
Change-Id: Ifaf571e039306309869078d1a0bcf9a69f1fe9de
 2024-12-14 01:54:40 -08:00
Yuval Tassa f547d58351 Fix typo in docs 
PiperOrigin-RevId: 703449955
Change-Id: I3a5764278406dea4ff013ff82872cc27f5440f5e
 2024-12-06 04:16:16 -08:00
Alessio Quaglino 300450f8b8 Add circle to flexcomp and remove rope and loop from composite. 
Add pulley example to show a circle use case.

Switch on flex edge rendering by default (no effect when flex skin is rendered).

PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
 2024-11-27 10:14:25 -08:00
Yuval Tassa efa5709c94 Fix broken link in XMLreference. 
PiperOrigin-RevId: 692669798
Change-Id: I8f61d1032d11c63945264a1b9dc1c034b7401d98
 2024-11-03 04:18:43 -08:00
Alessio Quaglino 831d9881d3 Remove box, cylinder and ellipsoid composite types. 
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013.

PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
 2024-11-02 11:14:13 -07:00
Yuval Tassa 7dc8aef807 Remove the convexhull compiler option. 
PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
 2024-10-27 04:31:10 -07:00
Yuval Tassa 61cb552f8a Refactor PBR texture layers from separate sub-elements to a single layer sub-element. 
Add new element to PyMJCF schema.

PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
 2024-10-26 07:41:38 -07:00
Alessio Quaglino b598d79b3f Move mesh inertia specification from global <compiler> to <asset/mesh>. 
Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)

Fixes #2152

PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
 2024-10-23 07:06:31 -07:00
Alessio Quaglino bfa78614c8 Require prefix for the attach tag. 
For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.

It is tempting for users to not use a prefix (see #2162), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.

PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
 2024-10-22 07:08:33 -07:00
Alessio Quaglino 766cd20273 Add mjs_bodyToFrame() to convert a body to a frame. 
Also add test for attaching the world body.

PiperOrigin-RevId: 685603933
Change-Id: I3cfe7d226d6f032b5a587e44d0f4f18207977188
 2024-10-14 00:39:20 -07:00
Yuval Tassa 534aedd47d Improve documentation of joint/armature. 
See Drake [discussion](https://github.com/RobotLocomotion/drake/pull/21967) for more context.

PiperOrigin-RevId: 685428316
Change-Id: I80e8d4f097697f28529f5891a763979390c59e99
 2024-10-13 07:25:15 -07:00
Nimrod Gileadi d758349632 Correct the docs about available attributes on the default/mesh tag. 
PiperOrigin-RevId: 679125186
Change-Id: I5cd597ac12b0600a835cdd23bda69c9aae4f651f
 2024-09-26 06:31:27 -07:00
Alessio Quaglino 4998e7b392 Move flex damping to the engine and remove membrane and solid plugins. 
PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
 2024-09-19 09:01:30 -07:00
Copybara-Service 3839ad186e Merge pull request #2050 from kevinzakka:doc-fix 
PiperOrigin-RevId: 676339046
Change-Id: Ibefee71f7437999f9c78f7833bfaaa252e902ea4
 2024-09-19 03:05:07 -07:00
Alessio Quaglino b15de2c951 Add elasticity parameters to the schema. 
PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
 2024-09-16 05:56:36 -07:00
Taylor Howell 60a1921b34 Add site semantics to weld constraint. Fixes #1896 
PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
 2024-09-16 05:46:01 -07:00
Kevin Zakka 7137f4b3c0 Fix typo in attach/model name attribute in the XML reference. 2024-09-09 16:39:36 -07:00
Yuval Tassa be00fafc43 Various documentation improvements. 
- Replace two "below" instances in `XMLreference.rst` with proper links (there are many more that need fixing).
- Discuss friction cones and 32-bit floats in Performance Tuning.
- Delete Damping subsection in Tips and Tricks, no longer relevant after the introduction of the implicit/fast integrators.
- Simplify discussion of free bodies, mention free joint alignment.
- Clarify frame used by kinematic Jacobians.

PiperOrigin-RevId: 672615057
Change-Id: Ib59b71e3c09cdd13415519fc4a964131b155718f
 2024-09-09 11:36:07 -07:00
Alessio Quaglino 4862b9e765 Remove plugin support from Composite particles. 
This functionality is replaced by FlexComp.

PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
 2024-09-09 04:58:26 -07:00
Yuval Tassa 4a4db13eba Update documentation to reflect that multi-threading is now used when loading meshes. 
PiperOrigin-RevId: 671063740
Change-Id: I77f2e028c3e9e9801c03e8e107eb6d8830becf22
 2024-09-04 12:38:29 -07:00
Yuval Tassa 8954a088ce Add automatic free-joint alignment. 
PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
 2024-09-04 10:07:33 -07:00
Alessio Quaglino 0e8c0b80eb add content_type to model in the XML schema. 
PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
 2024-09-04 07:25:55 -07:00
Kevin Zakka f60ab4492d Remove vestigial mentions of mjOption.collision in the docs. 2024-08-31 16:49:25 -07:00
Yuval Tassa a1036b86d3 Allow connect constraints to be specified using sites. 
PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
 2024-08-29 07:10:51 -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
Kyle Bayes 0bffd744f9 Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd. 
PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
 2024-08-16 14:08:35 -07:00
Alessio Quaglino cfc7dc9848 Clarify that keyframes are not replicated in nested attachments. 
PiperOrigin-RevId: 663683684
Change-Id: Id180b3a6afad6809d8189a7a525c474bd3a91fc1
 2024-08-16 04:22:21 -07:00
Alessio Quaglino 4c64e6f036 Add mocap state to SaveState/RestoreState and attached keyframes. 
PiperOrigin-RevId: 662975257
Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab
 2024-08-14 10:42:49 -07:00
Yuval Tassa 7efd690471 Document where mesh transforms are saved, fixes #1894 
PiperOrigin-RevId: 662836678
Change-Id: I060e3b1f29e82c6c3c188e730657cda7b99f63e9
 2024-08-14 02:24:46 -07:00
Taylor Howell 466368efc6 Add shellinertia support for primitives: sphere, capsule, cylinder, ellipsoid, and box. 
PiperOrigin-RevId: 661407997
Change-Id: Icddac58c540c71ea26ac7a3be874788443bd1122
 2024-08-09 14:40:13 -07:00
Yuval Tassa fd892ee8f5 Fix some documentation bugs 
PiperOrigin-RevId: 660010085
Change-Id: I0e4d7bef6acc4e432545266c6301f7ca08e6b883
 2024-08-06 10:34:08 -07:00
Yuval Tassa 24a555062d Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET. 
- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
 2024-07-30 08:41:59 -07:00
Yuval Tassa a4bd2bec0a Skip disabled actuators in mjd_actuator_vel. 
Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.

Fixes #1838

PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
 2024-07-29 07:31:58 -07:00