chenlin/Mujoco_WASM
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354 Commits

Author SHA1 Message Date
Yuval Tassa ecb769fc3a Refactor islands to be memory contiguous. 
PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
 2025-05-07 05:06:27 -07:00
Google DeepMind 4137a4c774 Bump version to 3.3.3 following the 3.3.2 release 
PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
 2025-04-28 16:09:25 -07:00
Yuval Tassa 8f768be2da Remove solver_nisland field from mjData. 
PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
 2025-04-23 03:27:41 -07:00
Gabe Oppenheimer 440ce5eb7a Update the version number to 3.3.2 following the 3.3.1 release. 
PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
 2025-04-10 13:17:20 -07:00
Taylor Howell 96dda6ea75 Add tendon actuator force limits and tendon actuator force sensor. 
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
 2025-04-08 05:16:35 -07:00
Yuval Tassa e1f5ceb65a Add mjModel.tendon_armature (in preparation, not yet implemented) 
PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
 2025-04-03 12:06:27 -07:00
Yuval Tassa f96f3e1c22 Add XML compiler/saveinertial flag. Fixes #2405 
PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
 2025-04-03 10:12:42 -07:00
Alessio Quaglino c0a7ea1edb Added the element type mjOBJ_SPEC for mjSpec. 
PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
 2025-04-01 06:51:49 -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
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
Yuval Tassa c72c83aa3b Allocate qM CSR matrix structure on mjData (currently empty). 
PiperOrigin-RevId: 733247419
Change-Id: I814e574e3161875e89433a6e03f2c9e200d8b1d6
 2025-03-04 02:37:47 -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
Alessio Quaglino 6a86247810 Fix flex textures for 3D grids. 
Fixes #2013.

PiperOrigin-RevId: 728673726
Change-Id: Idb2b6bf9e5392576d0b09f3e71dbea6f4636ae81
 2025-02-19 07:59:22 -08:00
Kyle Bayes 7f3bb062c3 Add fields in mjModel for supporting mesh multicontact in nativeccd. 
PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
 2025-02-19 07:12:26 -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
Maxim Evtush 1025335c0c Update MjXmlModifiers.cs 2025-02-08 22:14:03 +01:00
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 240a7afdee Add sensors for potential and kinetic energy. 
PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
 2025-01-17 13:10:12 -08:00
Gabe Oppenheimer 6436055c6c Update the version number to 3.2.8 following the 3.2.7 release. 
PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
 2025-01-15 11:13:27 -08:00
Yuval Tassa 2409a6e537 Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix. 
PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
 2025-01-10 09:23:55 -08:00
Yuval Tassa b5df2c10bf Remove mjData.C_diag, no longer required as C is now lower triangular. 
PiperOrigin-RevId: 712514204
Change-Id: I8293f65ebc09c6a8fed76b0e59d2e2a667e01a43
 2025-01-06 06:58:19 -08:00
Yuval Tassa 69c9ac074a Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2. 
- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).

PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
 2024-12-30 15:24:36 -08:00
Copybara-Service 4a40e3fd15 Merge pull request #1721 from stonfute:main 
PiperOrigin-RevId: 704632980
Change-Id: Iaf90ef7443dd1c519a6df237dfbc4c33c28f179e
 2024-12-10 03:17:08 -08:00
Yuval Tassa 3a14ada308 Store index of diagonal element for C and D in mjData. 
PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
 2024-12-09 08:01:30 -08:00
Gabe Oppenheimer c90a63a926 Update the version number to 3.2.7 following the 3.2.6 release. 
PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
 2024-12-02 15:30:52 -08:00
Alessio Quaglino 7e46e21ef3 Add mju_mat2Rot. 
This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.

PiperOrigin-RevId: 700006006
Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
 2024-11-25 09:19:10 -08:00
Balint-H e9a2f055f0 Copybara import of the project: 
--
9d63ebca419496e36f94fbfec6f97f0227846cf5 by Balint-H <bkh16@ic.ac.uk>:

Throw exception if OBJ file is referenced in MJCF when loading in Unity

--
a50486c19a3483cd914e7957d7d4a5efaab9d977 by Balint-H <bkh16@ic.ac.uk>:

Adjust line length

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2248 from Balint-H:fix/unity-obj-warning a50486c19a3483cd914e7957d7d4a5efaab9d977
PiperOrigin-RevId: 699962619
Change-Id: I2edff691fd5cedf79e2564f2ac5f2115393a4bf6
 2024-11-25 06:39:15 -08:00
Copybara-Service 38e4c4812f Merge pull request #2231 from Balint-H:fix/unity-tendon-import 
PiperOrigin-RevId: 699962497
Change-Id: I6284c0a3da4ecc907551c948290229f796448800
 2024-11-25 06:38:09 -08:00
Yuval Tassa 1d64362adc Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization. 
This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.

PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
 2024-11-22 09:38:08 -08:00
Taylor Howell aae5fd6906 Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel. 
PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
 2024-11-20 04:30:47 -08:00
Yuval Tassa 5c23ae11ef Fix bug in material texrepeat attribute, fixes #2223. 
Was mistakenly cast from float to int, bug introduced in 3.2.0

PiperOrigin-RevId: 697993181
Change-Id: I643a07e2b0866a4af56d7cbd3344e764a7caf56f
 2024-11-19 06:30:55 -08:00
Balint-H 6b3d34d9be Fix swapped params in tendons on XML import 2024-11-14 17:32:28 +00:00
Yuval Tassa 9f51ba50db Fix field ordering in mjModel. 
`nnames_map` is not required for `mjModel` construction, it is set during construction.

PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
 2024-11-14 03:45:34 -08:00
Kevin Sayed 276f5b04cd Bump MuJoCo version to 3.2.6. 
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
 2024-11-05 14:13:08 -08:00
Yuval Tassa c9f78ad8a8 Rename nnzJ to nJ in mjData. 
This naming is more consistent.

PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
 2024-10-31 10:43:10 -07:00
Alessio Quaglino 94bbf297fc Replace flex_xvert0 with flex_vert0 
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.

PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
 2024-10-31 06:30:36 -07:00
Taylor Howell f47840e57c Add mju_dense2sparse to public API. 
PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
 2024-10-29 12:47:48 -07:00
Yuval Tassa d8494fef3b Remove deprecated mjv_makeConnector function. 
PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
 2024-10-28 04:51:47 -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 a3ea01e57e Remove deprecated mju_rotVecMat and mju_rotVecMatT functions. 
PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
 2024-10-24 09:15:23 -07:00
Alessio Quaglino 159f23e6b4 Remember compiler options during attach. 
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
 2024-10-24 08:31:15 -07:00
Yuval Tassa e14aebfd16 Expose mju_sparse2dense to public API. 
PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
 2024-10-23 09:01:25 -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
Taylor Howell 36e8845599 Add actuator_moment Jacobian sparsity pattern to mjData. 
PiperOrigin-RevId: 688124236
Change-Id: Ieccc8131d0046100ec9a2783ffb43dd784f0a63b
 2024-10-21 07:11:25 -07:00
Google DeepMind ffdb800e45 Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release. 
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
 2024-10-16 14:24:06 -07:00
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Yuval Tassa ee7b994021 Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369. 
PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
 2024-10-14 09:07:22 -07:00