chenlin/Mujoco_WASM
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Author SHA1 Message Date
Abhishek Joshi e7a493bcca changing name to exporter 2024-02-15 09:34:11 -06:00
Abhishek Joshi 18edadb975 Merge branch 'google-deepmind:main' into usd-integration 2024-02-12 06:04:57 -08:00
Yuval Tassa ab209c41be Align comments in mjm_ structs. 
PiperOrigin-RevId: 606214754
Change-Id: I4d5ddd98baf52fc71acc1bfca0b345cafda4ce7f
 2024-02-12 04:54:03 -08:00
Kyle Bayes ff39d0b812 Keep include elements while parsing XML. No change in behavior. 
PiperOrigin-RevId: 606203141
Change-Id: Ica06f7c121a90597cd29f74692230365edd4302f
 2024-02-12 03:54:44 -08:00
Alessio Quaglino 4e5b194e88 Add mjmMaterial and mjmFrame to C API. 
PiperOrigin-RevId: 606191307
Change-Id: Iaf43f81522029002b28bba14ea046b1c968ab2e7
 2024-02-12 02:56:03 -08:00
Kevin Zakka 4b8363de6d Update docs with new Menagerie models. 
PiperOrigin-RevId: 606126764
Change-Id: I677e7860798e60b2b65d7054f60ad2bc5c4c05b1
 2024-02-11 20:42:59 -08:00
Yuval Tassa 3601026b1d Refactor handling of auto-limits. 
PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
 2024-02-10 22:01:13 -08:00
Yuval Tassa cebd2a657e Clean-up user_api.h and user_init.cc 
PiperOrigin-RevId: 605967516
Change-Id: Ieaf75d764778d81932b860ca9f16007adc0037a1
 2024-02-10 21:21:13 -08:00
Yuval Tassa 230f8c7b63 Increase maximum compiler error message length from 300 to 600. 
PiperOrigin-RevId: 605947931
Change-Id: I5564d0e2d6690ee75996a10e05cd6c7eca49f279
 2024-02-10 18:51:44 -08:00
Alessio Quaglino 1bd6a32af2 Add mjmEquality, mjmTendon and mjmWrap to C API. 
PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
 2024-02-10 03:30:31 -08:00
Yuval Tassa 4ad1dc4b84 Mention the roles of "center" and "extent" in visual/global/{azimuth,elevation}. Fixes #1407. 
PiperOrigin-RevId: 605649532
Change-Id: I0ca0142a3c164a502fefb6b91d204c4bb3d25a95
 2024-02-09 09:22:50 -08:00
Saran Tunyasuvunakool dc40bbd1f5 Refactor global object tables logic. 
This unifies the implementation for plugins and resource providers.

PiperOrigin-RevId: 605617372
Change-Id: I2ea52b4c53f48c4c59edd5fdc1c51c7edba7340e
 2024-02-09 06:50:06 -08:00
Alessio Quaglino 6fa139a693 Add mjmActuator and mjmSensor. 
PiperOrigin-RevId: 605600704
Change-Id: I0a2f5eb9d894c068ca9ee08940c752066021b6ec
 2024-02-09 05:11:13 -08:00
Alessio Quaglino e3cbad280c Add mjmJoint, mjmCamera, and mjmLight to C API. 
PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
 2024-02-09 04:44:58 -08:00
Erik Frey e77c3cb258 Update MJX viewer to use mjx.get_data_into and fix bad function parameters. 
PiperOrigin-RevId: 605461208
Change-Id: I7a4f6a1ed92382e522d50224e7b5cd73d8842750
 2024-02-08 16:32:27 -08:00
Erik Frey 4933a2c7b6 Improve performance of getting and putting MJX device data by reducing cost of ncon. 
PiperOrigin-RevId: 605454760
Change-Id: I5c52a84c12ab67d042fe43f6ada284b51a762294
 2024-02-08 16:06:58 -08:00
Erik Frey 3e2d62c248 Improve performance of getting and putting MJX device data with large numpy arrays. 
ndarray.tobytes() is faster than converting arrays to tuples by orders of magnitude.

PiperOrigin-RevId: 605437697
Change-Id: I7d42c10e178b1aec80ff38a82e863e0701c15e62
 2024-02-08 15:02:21 -08:00
Alessio Quaglino 1fe258fb60 Add mjmGeom to C API. 
PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
 2024-02-08 06:53:01 -08:00
Baruch Tabanpour 3baab3784a Update MJX notebook to work with brax 0.10.0. 
PiperOrigin-RevId: 605105172
Change-Id: Icd209ada7977439ed7d5213588412d37dd54ffc0
 2024-02-07 14:49:17 -08:00
Matthew Bennice e4fada1963 Correct use of uninitialized value and clean up FullInertia function 
PiperOrigin-RevId: 605049375
Change-Id: I7ffb6bd56b08111036e8490bf767fb9393499f13
 2024-02-07 11:38:02 -08:00
Erik Frey ea69f20b43 Unrolled matmul for small matrices in MJX improves steps/sec by 10-20%. 
PiperOrigin-RevId: 605033188
Change-Id: I9da723d01e1f6511abaf4522b4c8f829a8091772
 2024-02-07 10:48:45 -08:00
Alessio Quaglino 8b17d260a3 Add user_init for setting default parameters. 
PiperOrigin-RevId: 604942840
Change-Id: I746ac7bb28f508b606bc0b8544136f523ce50d4c
 2024-02-07 04:42:41 -08:00
Alessio Quaglino a3e49d582e Add mjmBody and mjmPlugin and their compiler C APIs. 
PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
 2024-02-07 04:17:30 -08:00
Matthew Bennice b9c50ad79c Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias. 
PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
 2024-02-06 17:21:31 -08:00
Copybara-Service 19c41aa965 Merge pull request #1401 from driesmarzougui:main 
PiperOrigin-RevId: 604771114
Change-Id: I9389828e9b588c22eb24a4074a23283943ca748d
 2024-02-06 14:49:35 -08:00
Erik Frey 38cbc9e543 Improve MJX performance on NVIDIA GPU by enabling Triton GEMM. 
PiperOrigin-RevId: 604691509
Change-Id: Iba11a9e1b79848624a1ef6eb4e61e2093d36e662
 2024-02-06 10:31:49 -08:00
Matthew Bennice 84f20ffb66 Automated g4 rollback of changelist 604607692. 
*** Reason for rollback ***

breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's

*** Original change description ***

Move fullinertia from mjCAlternative to mjCBody.

***

PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
 2024-02-06 09:47:04 -08:00
Alessio Quaglino 737342bdfe Move fullinertia from mjCAlternative to mjCBody. 
PiperOrigin-RevId: 604607692
Change-Id: Ic2fcc08b9073d01ab190e7acacc3d827dbdfbca4
 2024-02-06 04:43:12 -08:00
Alessio Quaglino 01439f28b3 Add AddFreeJoint and remove isfree from AddJoint. 
PiperOrigin-RevId: 604597442
Change-Id: I2fe03cf0f9a59b425080cc5cc12b236fea9c020d
 2024-02-06 03:49:49 -08:00
Alessio Quaglino 3b2dd06c54 Add compiler C API for mjmSite. 
PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
 2024-02-06 01:50:47 -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
Meghha Dhoke f75923a48d Updated version numbers to cmake files
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PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
 2024-02-05 12:55:30 -08:00
Meghha Dhoke 81adba763e Update title - Version number and date to Version 3.1.2 (February 05, 2024) 
PiperOrigin-RevId: 604371807
Change-Id: I55638fea18e05a322a99332f020f255be218c763
 2024-02-05 11:04:33 -08:00
Nimrod Gileadi 41ad07c4ff Fix numbering in changelog.rst 
PiperOrigin-RevId: 604347513
Change-Id: Id9dda4d6de2dc0a6175a8c6137a4b99b1ebe947e
 2024-02-05 09:50:19 -08:00
Copybara-Service 55cbbd00af Merge pull request #1381 from ryanwhite04:patch-1 
PiperOrigin-RevId: 604293006
Change-Id: Ic81506e82c11c789df95e688ca590769aa88d964
 2024-02-05 05:57:19 -08:00
Nimrod Gileadi e3dc54f609 Emit only one warning about ARB_depth_buffer_float or ARB_clip_control. 
This code was warning on every frame, which was unhelpful.

PiperOrigin-RevId: 604267726
Change-Id: Ied1d46e3d84d58f3b21201e3752e3c2d43ea3ba9
 2024-02-05 03:36:23 -08:00
Yuval Tassa 2bbf5424e4 Improve option/actuatorgroupdisable documentation. 
PiperOrigin-RevId: 604266156
Change-Id: I7fd112085fc46214173628db8ebfd295e13df342
 2024-02-05 03:26:52 -08:00
Dries Marzougui ed36956b0d fix https://github.com/google-deepmind/mujoco/issues/1379 2024-02-05 10:59:08 +01:00
Tom Erez ced37ffbb2 Add refsite to list of non-defaultable attributes. 
PiperOrigin-RevId: 604195547
Change-Id: Id14b5b571e320f995a38d2ad16f3325c70d37d78
 2024-02-04 20:47:23 -08:00
Copybara-Service 66a8bef6fa Merge pull request #1392 from alefram:fix-mj_forward-link 
PiperOrigin-RevId: 604116464
Change-Id: If4de574e0206c46a98c03949e7123178be73f6c3
 2024-02-04 09:49:27 -08:00
Yuval Tassa eb844a4b77 When computing suitable initial font scale for a display, let 250% be the maximum size. Workaround for #1274. 
PiperOrigin-RevId: 603791510
Change-Id: I37aa3431dcaf42dae8daa77ed87e108ca4d78ea0
 2024-02-02 14:41:12 -08:00
Alexis f3b48edf2b fix metadata and update mj_forward link 2024-02-02 18:26:32 -04:00
Alexis d8577bfc9a Revert "fix link of mj_forward on tutorial" 
This reverts commit 40c0a91a40.
 2024-02-02 17:39:44 -04:00
Alessio Quaglino 1ed8694dbe Replace xmlpos with info string for mjCError. 
PiperOrigin-RevId: 603759456
Change-Id: I0d86d8e61e31a70da77169107268728d6c052778
 2024-02-02 12:34:52 -08:00
Alessio Quaglino df76b55fe0 Add line error check to user_objects and xml_native_reader tests. 
PiperOrigin-RevId: 603714614
Change-Id: Ic031f33a9a6eb45b3e61cb666e0d4890bfe08275
 2024-02-02 09:57:49 -08:00
Saran Tunyasuvunakool fe57ae498f Fix typo and improve code snippet in documentation for user_scn.flags. 
PiperOrigin-RevId: 603685657
Change-Id: Ia6af7a62db3d8955048fae4cbc30209bb1f7efd7
 2024-02-02 07:50:38 -08:00
Saran Tunyasuvunakool 914a001753 Update UI when rendering flags are changed via user_scn. 
PiperOrigin-RevId: 603679619
Change-Id: If094836f97c8086a7f70bd235b8c8cc8ab69c639
 2024-02-02 07:16:37 -08:00
Saran Tunyasuvunakool 7bb0ce4211 [Python Viewer] Allow users to override rendering flags via user_scn. 
Fixes #1190

PiperOrigin-RevId: 603672602
Change-Id: I3ff1bb0dca7e913b36f1b241aaea8b8bb95cadff
 2024-02-02 06:39:08 -08:00
Alexis 40c0a91a40 fix link of mj_forward on tutorial 2024-02-01 23:28:40 -04:00
Alexis bfa359cb2e Revert "fix mj_forward link typo" 
This reverts commit 9f006dccdb.
 2024-02-01 23:25:56 -04:00