chenlin/Mujoco_WASM
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445 Commits

Author SHA1 Message Date
Baruch Tabanpour dc8bac2f4d Fix supported equality constraint in doc. 
https://github.com/google-deepmind/mujoco/issues/1105

PiperOrigin-RevId: 574950690
Change-Id: I1c029e9b31235fdcaa8e8f35b5117fec373fa25f
 2023-10-19 11:43:02 -07:00
Baruch Tabanpour 7a802a1820 PUBLIX: Fix typo in mjx doc. 
https://github.com/google-deepmind/mujoco/issues/1106

PiperOrigin-RevId: 574928021
Change-Id: I8f3f096ba71c41da1fdfdae8bd0f88f160d2678e
 2023-10-19 10:44:41 -07:00
Nimrod Gileadi 9393c690d4 Correctly handle full screen and vsync buttons. 
Fixes #1110.

The code was using outdated indices since 48eb75ae92. It now uses the more stable pdata pointer.

PiperOrigin-RevId: 574805349
Change-Id: If6112fb2af7d60f17b35599233b24f33b6a8cac6
 2023-10-19 03:38:11 -07:00
Copybara-Service 48ec2d465b Merge pull request #1102 from johannespitz:main 
PiperOrigin-RevId: 574531155
Change-Id: I92c5cbd735ac29680b8532a0f0901bbc5d5072ce
 2023-10-18 11:05:56 -07:00
Yuval Tassa 553f2bd953 Update overview.rst 
PiperOrigin-RevId: 574510917
Change-Id: I7aef5bdf0c2d9d135322502fd2470d47595e1eb1
 2023-10-18 10:06:30 -07:00
Johannes Pitz 56006355b2 Fix link 2023-10-18 16:12:35 +02:00
Saran Tunyasuvunakool 269d88ad92 Bump dev version number to 3.0.1. 
PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
 2023-10-18 15:01:21 +01:00
Google DeepMind 98cc3a6fb2 Typo and minor changes. 
PiperOrigin-RevId: 574403633
Change-Id: I1798f91e27911e351ee99c749c6dd62d851b61cf
 2023-10-18 02:55:49 -07:00
Erik Frey 8f9c690c85 Add MJX and bump version number to 3.0.0. 
Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
 2023-10-18 10:33:29 +01:00
Yuval Tassa d0bdb78207 Disable island discovery for models with flexes. 
PiperOrigin-RevId: 574244981
Change-Id: I7c08b23cf5f29338a04ec684ad7a0d4d8a0397df
 2023-10-17 13:17:24 -07:00
Yuval Tassa 18e4e10142 Mention fluid force documentation in the changelog. 
PiperOrigin-RevId: 574206986
Change-Id: Ia5246f369070c463c10a2d63cf2ae29b40317724
 2023-10-17 11:08:49 -07:00
Google DeepMind 65e66d0fc9 Fluid force documentation: Rename d to r, update description of passive viscous forces. 
PiperOrigin-RevId: 574195315
Change-Id: Ic045a2d1606c85a7d87b0000f505c792b6477917
 2023-10-17 10:35:12 -07:00
Alessio Quaglino 139a8ae298 Add flex and elasticity documentation. Fixes #873. 
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
 2023-10-17 09:46:07 -07:00
Alessio Quaglino 110ade1435 Update Solid and Shell plugins to use FlexComp. 
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
 2023-10-16 03:03:06 -07:00
Yuval Tassa 93d1c3c92e Add GitHub link to the docs sidebar 
PiperOrigin-RevId: 573621667
Change-Id: Iac0fe218267dd8691bc503f5c8ea31c62ba216a9
 2023-10-15 07:58:24 -07:00
Yuval Tassa a1b6026b8c Delete derivative code sample. 
PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
 2023-10-14 08:38:37 -07:00
Yuval Tassa c0357ef3d0 Improve documentation related to engine-internal threading. 
PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
 2023-10-13 16:32:38 -07:00
Yuval Tassa fb4cf472ed Delete testxml code sample. 
PiperOrigin-RevId: 573202693
Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
 2023-10-13 06:33:24 -07:00
Yuval Tassa d88675a034 Change the default of <compiler autolimits> from "false" to "true". 
PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
 2023-10-13 05:05:24 -07:00
Alessio Quaglino 389e13938e Fix typos in docs. 
PiperOrigin-RevId: 573172715
Change-Id: I0073d0872597b01d84151b9eea578cc0ae0a5013
 2023-10-13 04:05:30 -07:00
Saran Tunyasuvunakool 36de0cc084 Tweak CSS selector 
PiperOrigin-RevId: 572980162
Change-Id: Ic4d4e58f20c4324d24824fd2b62f4138e5384a5d
 2023-10-12 12:25:58 -07:00
Copybara-Service 59164702ab Merge pull request #978 from aftersomemath:depth-precision-in-place 
PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
 2023-10-12 11:18:36 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Matthew Bennice 2842245ca9 Multithread parallelizable operations in mj_fwdPosition 
PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
 2023-10-11 08:01:53 -07:00
Saran Tunyasuvunakool 742f15fb18 Add redirects for {computation,programming,APIreference}.html. 
This prevents us from breaking existing URLs pointing to computation.html before we turned it into a directory.

PiperOrigin-RevId: 572522650
Change-Id: Ib0e6679099be38b002777c08ffa647c9902439a9
 2023-10-11 03:21:40 -07:00
Saran Tunyasuvunakool a1d0cbd654 Add show_{left,right}_ui kwarg to viewer.launch(_passive). 
Fixes #857

PiperOrigin-RevId: 572333909
Change-Id: I12247fe856afddf808eb8f386a594acac47c34b5
 2023-10-10 12:31:11 -07:00
Saran Tunyasuvunakool 2e15574b58 Allow user-defined visualization geoms to be added to the passive viewer. 
Fixes #1023, #1082

PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
 2023-10-10 10:52:21 -07:00
Google DeepMind 1bd6c94e6d Fix setting wrong value in efc_diagApprox for rotational components of weld constraints. 
PiperOrigin-RevId: 572276016
Change-Id: Ic985a342777aca976f5c4bc781133fb4a8976e3f
 2023-10-10 09:34:34 -07:00
Alessio Quaglino 8af09eb70d Add timing of collision phases. 
PiperOrigin-RevId: 572273621
Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
 2023-10-10 09:27:45 -07:00
Yuval Tassa 7cd6b3db73 Fix typo in changelog 
PiperOrigin-RevId: 572264830
Change-Id: Ifbbb9d7ee06a73c768b4c13aad843146e8aa9dde
 2023-10-10 08:55:59 -07:00
Yuval Tassa 95fec9f84e Add derivation of ellipsoid projection lemma in collapsible element. 
PiperOrigin-RevId: 572243118
Change-Id: I7b6c97dcf046f1bec85a0970bc018411d3009ae7
 2023-10-10 07:34:59 -07:00
Alessio Quaglino 77d0400733 Accelerate inertia computation for simple bodies. 
PiperOrigin-RevId: 571411319
Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
 2023-10-06 12:51:14 -07:00
Yuval Tassa 7b7cf5e86c Add cards.xml model. 
PiperOrigin-RevId: 571341445
Change-Id: I3a02bb01099cacb62e0c599e6198ed90b48baad0
 2023-10-06 08:13:33 -07:00
Yuval Tassa a9b761ee1b Add double underscore suffix to all links in the changelog. 
PiperOrigin-RevId: 571304907
Change-Id: Ie726f3d703421f9d13a5d16f2282123c71c2b530
 2023-10-06 05:01:09 -07:00
Matthew Bennice 071af3b015 Implement threading for island constraint solving. 
Humanoids22 No threads:
 Benchmark Execution Time: 9.475905812s

Humanoids22 with 10 Threads:
 Benchmark Execution Time: 4.871352s

PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
 2023-10-05 21:05:19 -07:00
Saran Tunyasuvunakool 991aa97bc4 Make the doc search text readable in dark theme. 
Currently it's dark blue text on dark grey background.

PiperOrigin-RevId: 570985075
Change-Id: I7dc97163babd4d6c2f99fa600b259274e69fdd8b
 2023-10-05 05:33:55 -07:00
Yuval Tassa 3e12f0d50c Add history scrubbing mechanism to simulate. 
[screen capture](https://www.youtube.com/watch?v=YSvWn_poqWs)

PiperOrigin-RevId: 570676968
Change-Id: Id9a1fccc9418b851e007ddcf3fa89acd4edff3e9
 2023-10-04 06:36:34 -07:00
Yuval Tassa 1e94c12cdd Fix typos in docs. 
PiperOrigin-RevId: 570643723
Change-Id: I20a999c7a5ff79bdb67ced209105cca6751a50dc
 2023-10-04 03:32:49 -07:00
Yuval Tassa ee78b8f76b Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints. 
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".

Fixes #876.

PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
 2023-10-03 09:32:24 -07:00
Yuval Tassa 177aec68dc Add overlay positions in the center of viewport edges, move PAUSE and LOADING... overlays to the top center. 
PiperOrigin-RevId: 570054949
Change-Id: If0046df382e67ad3a48e7138a75e9e200c0626b9
 2023-10-02 07:05:50 -07:00
Levi Burner 9868486af0 Add changelog.rst entry for reversed Z rendering 2023-09-29 20:52:31 -04:00
Yuval Tassa ebded4747f Replace fruitfly image with a more dynamic pose. 
PiperOrigin-RevId: 569481337
Change-Id: I00246c4ed8264252a89b979a118463d8b35fa8ce
 2023-09-29 07:01:00 -07:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Saran Tunyasuvunakool 8ed321d469 Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section. 
PiperOrigin-RevId: 568911603
Change-Id: I8f21c3d1cc9c73b6a95292a50f262b1a199d0898
 2023-09-27 11:32:10 -07:00
Alessio Quaglino d3d46e16a4 Remove cloth and rope composites and deprecate loop. 
PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
 2023-09-25 03:38:43 -07:00
Matthew Bennice 7f8018a3f3 Update XML parsing to store asset path so that assets can be recovered and sent to external renderers 
PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
 2023-09-21 10:27:52 -07:00
Matthew Bennice 4f34cacf35 Add maxuse_threadstack to mjData 
PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
 2023-09-21 09:41:00 -07:00
Alessio Quaglino dd5a7115cf Add shell plugin. 
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges

PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
 2023-09-20 09:00:20 -07:00
Yuval Tassa c54aba15f9 Fix typo in docs. 
PiperOrigin-RevId: 566957533
Change-Id: I39ebafaf3ad938837d864b3272ae2c4af6510583
 2023-09-20 07:29:16 -07:00
Yuval Tassa 35e7bb354d Add documentation of ellipsoid-based fluid drag model. 
PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
 2023-09-20 05:41:44 -07:00