chenlin/Mujoco_WASM
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eab1f0da7dfef5f5ff75827fa501bcfc63ecd59e
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22 Commits

Author SHA1 Message Date
Tom Erez 151449c47a binary retriever is only relevant for the Editor. 
PiperOrigin-RevId: 461629986
Change-Id: Ib2e27bdf30c1fb696773b8d05b3e42a6adc3e0fe
 2022-07-18 08:47:03 -07:00
Tom Erez e8a9db82b8 Retrieve the binary only when the MuJoCo package is installed. 
PiperOrigin-RevId: 461524833
Change-Id: Ie8ca9dda71b35262f99688d02f71be77c251ea3e
 2022-07-17 20:48:06 -07:00
Tom Erez 0180d839a9 Change assembly definition to target only the Editor. 
PiperOrigin-RevId: 461522513
Change-Id: I3eb146eff71f0293c6f63d835d776b66b07c52ff
 2022-07-17 20:21:42 -07:00
Tom Erez 26a0441e7c add a script that converts MJCF models to PhysX. 
PiperOrigin-RevId: 461520759
Change-Id: I177195af60645169294180da8b99740426d23d8f
 2022-07-17 20:08:31 -07:00
Saran Tunyasuvunakool 373cc894a8 Bump version number to 2.2.1. 
PiperOrigin-RevId: 461471944
Change-Id: Ia752d992fabdc57b822bc30b01030c19162917ac
 2022-07-17 09:50:31 -07:00
Yuval Tassa 09a5efc09e Add control values to keyframes. 
- Add basic test for keyframes.
- Add missing documentation for keyframe mocap positions and quaternions.

PiperOrigin-RevId: 459021649
Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
 2022-07-05 01:07:37 -07:00
Tom Erez 3df3c95812 Update C# bindings. 
PiperOrigin-RevId: 458919739
Change-Id: I7737d2736491dae8fce46bc36aa5135007a7a588
 2022-07-04 08:47:29 -07:00
Alessio Quaglino 307cf692e5 Add <damper> actuator shortcut and related mjGAIN_AFFINE. 
**Rationale**

A general `mjGAIN_AFFINE` actuator adds the term `force = (c + kp * length + kv * velocity) * ctrl`. The damper shortcut restricts it to `kv * velocity * ctrl` and sets the `ctrllimited` attribute to true.

**API**

```xml
<actuator>
  <damper ctrlrange="0 1" kv="1"/>
</actuator>
```

* Required attributes: `ctrlrange` (>=0)
* Optional attributes: `kv` (>=0)

PiperOrigin-RevId: 455366866
Change-Id: I88773abbeccabb6442f215c9fc05e205df63f692
 2022-06-16 06:21:17 -07:00
Tom Erez 02f300c762 Refactor: separate buffer indexing and swizzling. 
This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.

PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
 2022-05-29 00:24:30 -07:00
Tom Erez ef9fa9dfe4 Get rid of the opaque "entryIndex" argument. 
Use pointer arithmetic instead.

PiperOrigin-RevId: 451493057
Change-Id: Ic89ad8ff1d3191180031a1011c1b100eaea12f6f
 2022-05-27 15:24:22 -07:00
Copybara-Service dee54ede2a Merge pull request #275 from jespersmith:feature/UnityFixes 
PiperOrigin-RevId: 450975561
Change-Id: I06deabfa19dd7649cf465bfb529206266371d5cc
 2022-05-25 11:39:29 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00
Jesper Smith a83a8f642f Add priority settings to geometry 2022-05-13 17:40:11 +02:00
Jesper Smith c62c68d744 Fixed reading offsets for Sensors. Added Advanced Settings property to MjGeomEditor 2022-05-13 13:32:40 +02:00
Saran Tunyasuvunakool 87539dbd24 Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD. 
PiperOrigin-RevId: 441482552
Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
 2022-04-13 16:22:26 +01:00
Saran Tunyasuvunakool 90dea1bdfb Version 2.1.4: Switch to GLAD, minor improvements to simulate. 
PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
 2022-04-04 13:53:21 +01:00
Nimrod Gileadi df048e54c0 Update MuJoCo to version 2.1.3. 
PiperOrigin-RevId: 436727767
Change-Id: I9b1b0084021e83f790efa46eab9a980cbde4953f
 2022-03-23 16:57:26 +00:00
Tom Erez 286c23169d Update binary version in Unity installation script. 
PiperOrigin-RevId: 435178219
Change-Id: I0cf372bc5e42aa585dbf2ce60f97ea7fcec2595f
 2022-03-17 14:30:28 +00:00
Tom Erez e7670179fd Adding a note about the locale fix in the Unity CHANGELOG. 
PiperOrigin-RevId: 435173666
Change-Id: I1ac3cfe120e590dfdd452df2be9b0efffc3fa62c
 2022-03-17 14:30:28 +00:00
Saran Tunyasuvunakool 3577e2cf8b Version 2.1.2: Python bindings, OBJ assets support, bugfixes. 
PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
 2022-03-15 14:04:44 +00:00
Tom Erez 175d25cd9f Add copyright headers. 
PiperOrigin-RevId: 427984296
Change-Id: Icb09d12ebf97fa64d858c70d8ddcef9bc07802ac
 2022-02-11 14:10:45 +00:00
Tom Erez 6de9eafa13 Initial release of the Unity plugin. 
PiperOrigin-RevId: 425947505
 2022-02-02 20:44:39 +00:00