chenlin/Mujoco_WASM
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85 Commits

Author SHA1 Message Date
Yuval Tassa 1c8ff66cc9 Remove const from argv argument in sample.cc 
PiperOrigin-RevId: 627746353
Change-Id: Ib27f9e911a74565d99a7bf0a173085c513047878
 2024-04-24 09:01:45 -07:00
Gabe Oppenheimer 225619c964 Update MuJoCo internal version to be the external version +1 
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
 2024-04-10 14:32:54 -07:00
Copybara-Service 2ba80206ab Merge pull request #1479 from jmargeta:fix-record-command-docs 
PiperOrigin-RevId: 613927858
Change-Id: I8fe30db8677811c98ed4f881b51a0f430d93dd3b
 2024-03-08 07:29:57 -08:00
Jan Margeta 32dc89b425 Rename depthoverlay to adddepth 2024-03-06 21:17:43 +01:00
Jan Margeta 548177d46c Rename depthoverlay argument 2024-03-06 19:14:32 +01:00
Jan Margeta be68f90190 Make depth overlay in video recording optional 
Add docs for the record arguments
 2024-03-06 18:47:14 +01:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -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
Yuval Tassa 2feefbc5d2 Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID. 
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
 2024-01-17 10:54:23 -08:00
Google DeepMind 7fb448613f Post release version update: Update to V3.1.2 
PiperOrigin-RevId: 592019826
Change-Id: I64fd7da628bf3312ede4970b9b10ef5d0cc75b45
 2023-12-18 15:03:37 -08:00
Google DeepMind c2c76195dd Updating Mujoco Release version number to v3.1.1 
PiperOrigin-RevId: 590712172
Change-Id: Ibf32322222212c1bf098e75bbb2e145344c57b93
 2023-12-13 14:26:08 -08:00
Google DeepMind fcebdf4d09 Update MuJoCo to v3.1.0 for release. 
PiperOrigin-RevId: 590256664
Change-Id: I42ad788d609dde0ff00b13a2e456b2a8d3d9e952
 2023-12-12 10:37:47 -08:00
Baruch Tabanpour 1554048856 Bump dev version number to 3.0.2. 
PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
 2023-11-15 12:51:04 -08:00
Yuval Tassa 57e6940f57 Prevent division by zero in testspeed. This can happen when parts of the pipeline are disabled. 
PiperOrigin-RevId: 580208528
Change-Id: Ia5971ea9f15e0b19896392e86a65592357b2df61
 2023-11-07 09:38:30 -08:00
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
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 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
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Yuval Tassa bad6bee64f Improve component printout in testspeed 
PiperOrigin-RevId: 572610538
Change-Id: I28745840e457ccef7276c3d37ecf3055d0f594da
 2023-10-11 10:12:32 -07:00
Matthew Bennice 2842245ca9 Multithread parallelizable operations in mj_fwdPosition 
PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
 2023-10-11 08:01:53 -07:00
Yuval Tassa 18d9f1abb0 Improvements to timing. 
- Fixed bug in timing of kinematics, was under-reported.
- Moved timing of inertia and collision into respective functions, in preparation for multi-threading.
- Detailed profiling in `testspeed` is always on, removed command-line flag.
- Improved `testspeed` self-documentation.

PiperOrigin-RevId: 571989548
Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
 2023-10-09 11:14:44 -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
Yuval Tassa 63fd23a934 Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE. 
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.

- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).

- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).

PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
 2023-09-16 08:03:45 -07:00
Alessio Quaglino 492b6a72ec Prevent patches to be applied to an already patched dependency. 
See https://gitlab.kitware.com/cmake/cmake/-/issues/21146

BEGIN_PUBLIC
Prevent patches to be applied to an already patched dependency.
END_PUBLIC

PiperOrigin-RevId: 565624168
Change-Id: I29b36d2cd02f58d5d9e84f9cae5e5bbf8be1b404
 2023-09-15 02:58:54 -07:00
Saran Tunyasuvunakool 860f7b376a Fix GCC and MSVC build. 
PiperOrigin-RevId: 564390190
Change-Id: Icba3eefb394b8d17798679dd9876f127fba5a599
 2023-09-11 08:17:08 -07:00
Saran Tunyasuvunakool 78183e60e1 Refactor thread pool implementation. 
- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.

Otherwise the functionality remains identical.

PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
 2023-09-11 07:20:34 -07:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Saran Tunyasuvunakool 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. 
PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
 2023-09-05 11:41:43 -07:00
Saran Tunyasuvunakool 329ed193ac Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC. 
PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
 2023-09-05 11:05:04 -07:00
Saran Tunyasuvunakool b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. 
PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
 2023-08-29 08:43:03 -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
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 761649c3a3 Improvements to testspeed.cc: 
- Turn on internal profiling by default, adding "other" category.
- Print step timing in microseconds.

PiperOrigin-RevId: 545493349
Change-Id: I0cd5fea1206b3f86f1c757130169975d6862733d
 2023-07-04 12:53:59 -07:00
Saran Tunyasuvunakool 90e14ac8d0 Bump version number to 2.3.6. 
Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.

PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
 2023-04-27 14:40:32 -07:00
Saran Tunyasuvunakool db3b49b60f Bump version number to 2.3.5. 
PiperOrigin-RevId: 526918869
Change-Id: I9f19600b0c1b855ef0834e5c026b204bf1dc06c4
 2023-04-25 03:52:12 -07:00
Saran Tunyasuvunakool 0630b7543d Bump version number to 2.3.4. 
PiperOrigin-RevId: 525745444
Change-Id: I8a9994b72a0a2ba3f371bee2c2bea947ad8f4fd1
 2023-04-20 07:52:46 -07:00
Alessio Quaglino 5f132af625 Add midphase and broadphase statistics to mjData. 
PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
 2023-04-03 00:59:59 -07:00
Nimrod Gileadi 33a2ce73d4 Update MuJoCo version to 2.3.3. 
PiperOrigin-RevId: 517931617
Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9
 2023-03-20 04:36:09 -07:00
Nimrod Gileadi 08027b4e43 Only use -Wgnu-empty-initializer on Clang and not GCC. 
Broken by ee566eb880.

PiperOrigin-RevId: 517390165
Change-Id: Ibd8ec46647873050899cffe435e3f5c293279aae
 2023-03-17 05:35:16 -07:00
Alessio Quaglino ee566eb880 Remove empty initializers to ensure MSVC compatibility. 
Add -Wgnu-empty-initializer to Clang builds to catch this issue in the future. Initialising arrays with empty braces is not part of the C standard and fails on MSVC. This commit should catch the issue earlier by detecting it in Clang.

PiperOrigin-RevId: 517373961
Change-Id: I518006e84151e8d5b45a7fe00ba7675dfb031ca0
 2023-03-17 04:02:24 -07:00
Kyle Bayes d3d789cf7d Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated. 
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
 2023-03-09 13:51:27 -08:00
Saran Tunyasuvunakool 5e989d18c3 Enable compiler errors for implicit switch case fallthroughs. 
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
 2023-02-10 03:49:00 -08:00
Alessio Quaglino dd632b7ccc Bump MuJoCo version to 2.3.2. 
PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
 2023-02-07 02:35:17 -08:00
Copybara-Service 36836d8e42 Merge pull request #636 from traversaro:fixextglfw 
PiperOrigin-RevId: 507618773
Change-Id: I74362535e9840c97b7c4c3fbff29e06bcdcaf41a
 2023-02-06 16:50:54 -08:00
Silvio Traversaro ca70d8bfaf Pass glfw3 as PACKAGE_NAME in glfw's findorfetch invocations 2022-12-07 19:25:18 +01:00
Kyle Bayes 73fb61e3e2 Bump version number to 2.3.1. 
PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
 2022-12-05 12:13:55 -08:00
Alessio Quaglino c17375fa32 Stop profiling mju_halton in testspeed and bechmarks. 
PiperOrigin-RevId: 490239351
Change-Id: Id73c101672e5b974f16b6b4da3aae757a657de15
 2022-11-22 07:41:02 -08:00