chenlin/Mujoco_WASM
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24 Commits

Author SHA1 Message Date
Alessio Quaglino 7eb8c4b9f4 Set all flex edges to rigid when the flex is rigid. 
PiperOrigin-RevId: 629740153
Change-Id: Ib2fb6f64e3d160268d2521d63830f41e44d03b20
 2024-05-01 09:06:01 -07:00
Mohammad Hamid 131b1745db Added support for GMSH22 surface loading 
PiperOrigin-RevId: 629734063
Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
 2024-05-01 08:44:05 -07:00
Google DeepMind 4f0293c6cb Added support for msh2.2 
Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.

Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark

PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
 2024-03-26 10:12:13 -07:00
Yuval Tassa e143b3dbc0 Allow height-field elevation data to be specified in XML. 
PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
 2024-01-29 06:59:28 -08:00
Alessio Quaglino 1e2e0b3053 Remove all visual-only assets if discardvisual is selected, not only the geoms. 
PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
 2024-01-15 06:39:25 -08:00
Alessio Quaglino d12fe594d9 Add suffix to duplicated assets. 
PiperOrigin-RevId: 588775467
Change-Id: I3a0d2a14601cf018b0c8c56728bd3ae22adb8ec2
 2023-12-07 06:46:51 -08:00
Yuval Tassa 493ae95d69 Add stack leak test to WriteReadCompare 
PiperOrigin-RevId: 572953669
Change-Id: Id6cad3fc86777d68f218119f67c9dc473bdcfcc8
 2023-10-12 10:53:24 -07:00
Alessio Quaglino 5a70ad08ab Add Flex component. 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
 2023-10-12 10:49:35 +01:00
Alessio Quaglino dab49d487c Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
 2023-05-16 11:10:38 -07:00
Alessio Quaglino 9d1a21f99d Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
 2023-05-16 08:17:50 -07:00
Alessio Quaglino c943797591 Make shellinertia ignore exactmeshinertia, which is only used for legacy volume computations. Fixes #759. 
PiperOrigin-RevId: 524884880
Change-Id: Ia5b64ee33802866f792cdad4acfec6d9baf2a9e9
 2023-04-17 10:30:20 -07:00
Alessio Quaglino 9756ed0d80 Read normals and textures from OBJ, do not duplicate vertices. 
PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
 2023-02-17 10:15:25 -08:00
Alessio Quaglino 6ba4d6f0de Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates. 
PiperOrigin-RevId: 502624466
Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
 2023-01-17 10:31:50 -08:00
Yuval Tassa adf71cc6b4 Improve mesh-fitting image in changelog. 
PiperOrigin-RevId: 500782543
Change-Id: Iecec45abd3cb1e5a06df58ae32ebe1998584024a
 2023-01-09 12:40:10 -08:00
Alessio Quaglino 19b6c70e13 Use global coordinates for computing the frame position of a primitive geom fitted to a mesh. 
PiperOrigin-RevId: 500720200
Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de
 2023-01-09 08:29:27 -08:00
Kevin Zakka cce35e1816 Add assetdir compiler option. 
PiperOrigin-RevId: 478117894
Change-Id: I4a93108e00558034aa02d22047da80adfa4232b2
 2022-09-30 17:59:25 -07:00
Nimrod Gileadi f556d4d94f Avoid out-of-bounds access when checking file extensions. 
Include the '.' in the file extension check.

PiperOrigin-RevId: 474866478
Change-Id: I809ae975e4c8b00f17278735975a7d07e0748643
 2022-09-16 11:49:33 -07:00
Nimrod Gileadi a693a2d981 Don't infer limited attributes automatically by default. 
This is an amendment to 4bfc2c0311.

Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.

PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90
 2022-09-06 06:11:53 -07:00
Kevin Zakka 4bfc2c0311 Automatically infer *limited field from *range field for joints, tendons and actuators. 
PiperOrigin-RevId: 467980594
Change-Id: If635c55a90cf949796b99a41395a6c2c4f7ea094
 2022-08-16 11:35:34 -07:00
Alessio Quaglino 95d5db3f81 Allow malformed meshes for visualization purposes. Throw error only if the mesh is required for inertia computation. 
PiperOrigin-RevId: 466421062
Change-Id: I947dbc107e481bd8c328b1a6430ab2e88bc82fd6
 2022-08-09 11:41:29 -07:00
Alessio Quaglino 5c5449bf82 Compute moment of inertia for concave and boundary meshes. Resolve #338. 
- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes.
- To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future.
- Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported.

PiperOrigin-RevId: 464368395
Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
 2022-07-31 04:32:28 -07:00
Alessio Quaglino 8dd9971409 Raise error if mesh has flipped faces. 
PiperOrigin-RevId: 461860424
Change-Id: Ib23c50cf7f64de1173404d2f65ad87177fab45b3
 2022-07-19 05:47:46 -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
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00