chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
2,117 Commits 2 Branches 1 Tag
f986a52e1e6873fbe82ef660e70328b79b856686
Commit Graph

124 Commits

Author SHA1 Message Date
Kyle Bayes 0bffd744f9 Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd. 
PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
 2024-08-16 14:08:35 -07:00
Yuval Tassa f864108c23 using for std::{string, string_view}, where helpful for readibility. 
PiperOrigin-RevId: 663707900
Change-Id: Icbea374d5f99c7d267140d83f541f0ee872de8c1
 2024-08-16 06:14:54 -07:00
Yuval Tassa e0e08aa597 Rename xml_native_writer variables to be consistent with xml_native_reader. 
PiperOrigin-RevId: 663699130
Change-Id: If11ed48d3b30d3c6d09ca77e3d8048c2a3d9f054
 2024-08-16 05:34:30 -07:00
Kyle Bayes 39896f8064 Restructure mjCMesh for caching. 
PiperOrigin-RevId: 662496475
Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f
 2024-08-13 06:40:36 -07:00
Alessio Quaglino 851bb6eef4 Add option to mjspec for creating a texture directly from a buffer. 
PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
 2024-08-12 12:29:08 -07:00
Yuval Tassa 24a555062d Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET. 
- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
 2024-07-30 08:41:59 -07:00
Tom Erez 33e5960653 Allow multiple textures per material in MJCF. 
PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
 2024-07-22 09:57:51 -07:00
Kyle Bayes 8a8a44a4db Refactor numerical parsing in XML. 
PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
 2024-07-19 05:42:02 -07:00
Alessio Quaglino 2f46dec669 Fix bug in frame saving. Fixes #1802 
PiperOrigin-RevId: 651696068
Change-Id: Ie1e2e1de4e83c42f2b5ebcc3afd0540b9afe7bbd
 2024-07-12 01:56:38 -07:00
Nimrod Gileadi 393895bb29 Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes. 
Support actdim attribute on plugin actuators.

Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.

PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
 2024-07-09 09:08:48 -07:00
Alessio Quaglino e0d33eb1d0 Remove mjCBase::def and use mjCBase::classname instead. 
PiperOrigin-RevId: 650629741
Change-Id: I10a9955b99e4a5ff0b5a742e22635ccad1455f1a
 2024-07-09 08:02:32 -07:00
Alessio Quaglino f57dc90669 Refactor Default class to use pointers instead of indices. 
This in order to make it easier to append the default tree to another tree.

PiperOrigin-RevId: 649812975
Change-Id: I2915ac7e37957e45eadc24d6caaf7beea236bf29
 2024-07-06 03:51:30 -07:00
Alessio Quaglino f6cc3f4091 Remove classname from mjs* structs. 
PiperOrigin-RevId: 647277317
Change-Id: Ic3cb0d3bf890d6be2712c0538e21910a8f12ab44
 2024-06-27 05:13:02 -07:00
Yuval Tassa 13fce3e5b0 Use std::array instead of std::vector for a constant array of strings. 
PiperOrigin-RevId: 646826439
Change-Id: I7d9462109027ebb64cb52e3265dde87ca23f906f
 2024-06-26 04:53:08 -07:00
Yuval Tassa 8c380e7ba4 Don't print the fixed name ("main") of the top-level default class when saving XMLs. 
Also insert newlines between top level sections in saved XML.

PiperOrigin-RevId: 646802227
Change-Id: If16b93409bda88aee8ef75f4a78d7ba0419fcfae
 2024-06-26 03:22:22 -07:00
Yuval Tassa 07fc95ca9a Add orthographic cameras. 
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.

Other related changes:

* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.

https://youtu.be/ZXBTEIDWHhs

PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
 2024-06-11 09:23:18 -07:00
Alessio Quaglino 7a06bcfdaf Make model editing API public, fixes #364 
Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
 2024-06-07 22:28:01 -07:00
Alessio Quaglino b35ae973e1 Add mj_parseXML and mj_saveXML to xml_api. 
PiperOrigin-RevId: 640099466
Change-Id: I75f763523c5bc8f6f7c2f2de6806d82ba37ebd4e
 2024-06-04 15:28:14 +01:00
Kyle Bayes e885a3dc3d Make default class members private. 
PiperOrigin-RevId: 634288934
Change-Id: I1b7a5ec8dd51c65377b09bcb85c56a849573cac7
 2024-05-16 03:22:31 -07:00
Yuval Tassa 02d015458c Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51 
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
 2024-05-10 04:52:43 -07:00
Kyle Bayes 13bf9ae6bd Encapsulate mjCModel internal lists. 
PiperOrigin-RevId: 631760335
Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
 2024-05-08 05:02:21 -07:00
Yuval Tassa 62bc837b4c Rename remaining model to spec in xml/ 
PiperOrigin-RevId: 630855094
Change-Id: Ib921fe43b9b5a5a64867ef4c8c1cca217c27a5aa
 2024-05-05 12:03:49 -07:00
Alessio Quaglino 26f23066d1 Add replicate element to MJCF. Fixes #553 
PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
 2024-04-30 06:29:18 -07:00
Yuval Tassa caf215e342 Add metallic and roughness scalar attributes to materials. 
Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.

PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
 2024-04-22 07:39:06 -07:00
Alessio Quaglino 4b6c07cd7d Prevent bodies from overwriting the frame names in xml_native_writer. 
PiperOrigin-RevId: 625632369
Change-Id: If3bd048ac40e116fcb97beb3dca3d99826fe4ad0
 2024-04-17 04:07:50 -07:00
Yuval Tassa 0cd28d2423 Add light radius attribute. 
Also fix bug: light defaults were not being saved.

PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
 2024-04-15 17:55:15 -07:00
Yuval Tassa 5d26b50fce Remove native sensor noise sampling. 
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
 2024-03-28 15:33:03 -07:00
Yuval Tassa 47ba72ea59 Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy. 
PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
 2024-03-28 14:01:52 -07:00
Alessio Quaglino dfe2b75378 Convert mjElement to struct rather than opaque pointer. 
By making mjElement the parent of mjCBase, mjCModel, and mjCDef, this CL enables safer casting using static_cast instead of reinterpret_cast and C-style casting.

PiperOrigin-RevId: 619526291
Change-Id: Ifa2b4bd3ecd95bade61f41a7005c62212f456c00
 2024-03-27 07:37:49 -07:00
Yuval Tassa 4660a297d1 rename mjspec api structs and functions mjm -> mjs 
PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
 2024-03-21 18:04:50 -07:00
Alessio Quaglino bda03af49a Add childclass support to frames. 
PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
 2024-03-13 11:31:22 -07:00
Alessio Quaglino ef3cb7ec2e Renamed mjmModel to mjSpec. 
PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
 2024-03-07 02:48:32 -08:00
Alessio Quaglino 1bd44e73bb Replace mjCModel with mjmModel in mjXBase. 
PiperOrigin-RevId: 611762880
Change-Id: I22254689b6cbf10fe7b61f9742b6ffd6c2074477
 2024-03-01 03:38:28 -08:00
Alessio Quaglino 1f2d673c7b Add missing global fields to mjmModel. 
PiperOrigin-RevId: 610415124
Change-Id: I07f284804bf73cb67703597973b50b8c00ea8deb
 2024-02-26 08:25:08 -08:00
Alessio Quaglino 7edacd39cd Add engine settings to mjmModel. 
PiperOrigin-RevId: 608915453
Change-Id: Ic58566d7a9cdb57e25954caec69f595c8c9ee88a
 2024-02-21 02:26:57 -08:00
Alessio Quaglino 042760eba8 Add compiler settings to mjmModel. 
PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
 2024-02-21 01:58:22 -08:00
Alessio Quaglino 78dc5aee9f Remove mjCPlugin from xml_native_reader. 
PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
 2024-02-20 03:46:42 -08:00
Alessio Quaglino d7c47de353 Add mjStatistic to mjmModel. 
PiperOrigin-RevId: 607657424
Change-Id: I17f6ef37570651e002258ee2a509fc52d213c0f5
 2024-02-16 05:17:35 -08:00
Yuval Tassa f9f7827a64 Trim trailing default values in saved xmls. 
For attributes which accept variable-length inputs. Currently used for `gainprm, biasprm, friction, solref, solimp` Example:

- Saved before: `biasprm="0 -3 -4 0 0 0 0 0 0 0"`.
- Saved after: `biasprm="0 -3 -4"`.

PiperOrigin-RevId: 607609550
Change-Id: I0501348280663867693175236872e2aabc703601
 2024-02-16 01:36:06 -08:00
Alessio Quaglino 6f958bc404 Add mjmSkin to C API. 
PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
 2024-02-15 05:09:10 -08:00
Alessio Quaglino 80a986c0f5 Add mjmBodyPair to C API. 
PiperOrigin-RevId: 606997065
Change-Id: Iefc2dff6ae942ce93ca83ec5f5fe9d7ae8bb6a40
 2024-02-14 08:40:05 -08:00
Alessio Quaglino c9e7586499 Add mjmHField to C API. 
PiperOrigin-RevId: 606933108
Change-Id: I21c895ed3e137dab8f57e2d0bcfb558aae2b971a
 2024-02-14 04:12:29 -08:00
Alessio Quaglino 2ee8a4dabd Add mjmNumeric, mjmText, mjmTuple, mjmKey to C API. 
PiperOrigin-RevId: 606919327
Change-Id: I477f6cd8beefcb3962238722565e3b398b73446c
 2024-02-14 03:10:38 -08:00
Alessio Quaglino 9ecd700923 Add mjmMesh to C API. 
PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
 2024-02-13 09:09:59 -08:00
Alessio Quaglino 06505f49f9 Add mjmTexture to C API. 
PiperOrigin-RevId: 606543622
Change-Id: I2db743c1c40116f0503329fb1d004d9b041e83e7
 2024-02-13 02:09:39 -08:00
Alessio Quaglino 13d6eeacdd Add mjmPair to C API. 
PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
 2024-02-12 09:25:33 -08:00
Alessio Quaglino b224367a9b Add mjmFlex to C API. 
PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
 2024-02-12 08:48:11 -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
Yuval Tassa 3601026b1d Refactor handling of auto-limits. 
PiperOrigin-RevId: 605972151
Change-Id: If468af2081182787178d805124f2d2c90ee29951
 2024-02-10 22:01:13 -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