chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
1,210 Commits 2 Branches 1 Tag
f99e9abc3c8dde43eb51aa2b59322568de7e23ae
Commit Graph

1210 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
Bálint Hodossy f99e9abc3c Remove no longer necessary directive for editor only compilation (solved by assembly definition) 2023-11-17 15:00:19 +00:00
Bálint Hodossy 7062c6f677 Enable mouse spring perturbations when clicking on a geom in scene view 2023-11-17 14:43:10 +00:00
Baruch Tabanpour 4d2a176a8a Modify name of mjx integration tests. 
PiperOrigin-RevId: 583108693
Change-Id: If972c376181ca98201ff61ff06d200c82d214e2b
 2023-11-16 11:24:07 -08:00
Baruch Tabanpour 23cdfef7fe Update C++ dependency versions. 
PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
 2023-11-16 11:15:01 -08:00
Yuval Tassa 8693e0bba5 Stop actuator group disable from mistakenly binding to the number keys (should toggle geom groups, not actuators). 
PiperOrigin-RevId: 583038620
Change-Id: Ibf339aed339b7ad862f61ac72298f43e717e3973
 2023-11-16 07:34:58 -08:00
Yuval Tassa 530058cadb Clarify support for muscles/tendons in future MJX. Add details to the large scene benchmark. 
PiperOrigin-RevId: 583018058
Change-Id: I3d93a73b4bd71ade1ecf28b8cff9a114259e71e1
 2023-11-16 06:10:34 -08:00
Alessio Quaglino 4014196c6c Add pin to flex golden data. 
Also reduce slightly the resolution of the models to make comparing golden data more readable.

PiperOrigin-RevId: 582990641
Change-Id: I4f935a4ce316c70f4b1641e1c0f2fe49f801b32c
 2023-11-16 04:14:58 -08:00
Tom Erez 9952f1708c Remove collision option from Unity plug-in GUI. 
PiperOrigin-RevId: 582978831
Change-Id: I97275438c730655a9c942526fa410bf006189968
 2023-11-16 03:24:05 -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 8d5966eec9 Update changelog for 3.0.1 release. 
PiperOrigin-RevId: 582705280
Change-Id: I6d2a8df7bccfa2ecb76b7ef3ef8d5a7377927589
 2023-11-15 09:30:35 -08:00
Yuval Tassa 2d2b6ecf93 Fix formatting bugs in XMLreference doc page. 
PiperOrigin-RevId: 582661350
Change-Id: I85a67b1286e9d70dc253e541d95fdfc58ce8f451
 2023-11-15 07:00:37 -08:00
Alessio Quaglino e3b3f96373 Add flex_texcoordadr to mjvSceneState. Fixes #1193. 
PiperOrigin-RevId: 582630943
Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
 2023-11-15 05:02:05 -08:00
Yuval Tassa 7051ab99e0 Enable keyframe loading and saving in passive viewer. Fixes #1175 
PiperOrigin-RevId: 582332757
Change-Id: Iff23359e670906c0e88a2d34273c493bc8cbe2af
 2023-11-14 08:38:04 -08:00
Alessio Quaglino f5285e0b23 Add flex to dm_control schema. 
PiperOrigin-RevId: 582323853
Change-Id: I4ce25bf29d0a883bca286954a14c4a07a500f145
 2023-11-14 08:05:29 -08:00
Alessio Quaglino ffca553f64 Do not use the inertia box for volume computation. 
PiperOrigin-RevId: 582319067
Change-Id: I347d820f48faab15b609bcfc8295b07bd2d0f7ed
 2023-11-14 07:46:33 -08:00
Erik Frey c8146372cf Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts. 
PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
 2023-11-13 16:48:49 -08:00
Nimrod Gileadi 97ad543051 Test-only change: Don't update actuator_force in Advance in TestActuator. 
Actuators update actuator_force in compute and not in advance.

PiperOrigin-RevId: 581985081
Change-Id: I013d6c4f0888ee8e25df15a6f58c9e3412d33ceb
 2023-11-13 09:11:42 -08:00
Nimrod Gileadi f1bf394415 Add missing commas in attribute lists in XML reference. 
PiperOrigin-RevId: 581984255
Change-Id: Ie834a9578357bba68839d5172892cd9d6329122e
 2023-11-13 09:08:43 -08:00
Alessio Quaglino 9ae40e718e Define mj_multiRay bindings explicitly. 
Fixes #1184.

PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
 2023-11-13 07:31:22 -08:00
Erik Frey d0cabcf7db Only apply torquescale once, when setting efc_pos. 
PiperOrigin-RevId: 580694671
Change-Id: Ic0e2ee773d65d4fd92f4b4102cdfdd040516680a
 2023-11-08 16:15:36 -08:00
Saran Tunyasuvunakool cdf55e2ae9 Do not override search bar text color when data-theme="auto" in light mode. 
PiperOrigin-RevId: 580546595
Change-Id: If39cd937e9288c860b8b713911f0ef5114aee5f5
 2023-11-08 08:46:08 -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 7207b60b5a Place untrusted data from the git commit metadata in environment variables. 
This prevents bash from executing strings in the commit metadata as code when reporting build errors.

PiperOrigin-RevId: 580155315
Change-Id: I4046eabd76eba14297fffe4e2fced59259d80f21
 2023-11-07 06:14:17 -08:00
Yuval Tassa 1881c2d881 Improve sorting of samples in documentation. 
PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
 2023-11-06 08:12:24 -08:00
Yuval Tassa 8a5e2b19a8 Improve mjContact documentation. Fixes #1136 
PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
 2023-11-06 07:28:51 -08:00
Yuval Tassa dafd041ad8 Minor documentation improvements. 
PiperOrigin-RevId: 579825348
Change-Id: Iba81616fe9fc7d57a640775efd46afb5fc2f27bf
 2023-11-06 06:36:13 -08:00
Yuval Tassa 0f37deca0d Documentation improvements. 
Fixes #598 #691 #1071 #1072

PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
 2023-11-06 05:56:02 -08:00
Yuval Tassa 5a9239e11c Improve inline documentation of mj_passive and mj_subtreeVel. 
PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
 2023-11-06 05:12:11 -08:00
Yuval Tassa a6687885a5 In mj_sensorAcc, flip condition for triggering call to mj_rnePostConstraint to enumerate sensors that require the call rather than eliminating those that do not. 
PiperOrigin-RevId: 579804886
Change-Id: I1093fcfa66e637015cd702d7e59ec3bcddc670ef
 2023-11-06 04:51:53 -08:00
Alessio Quaglino 19de607ec8 Undo incorrect change in height field processing. 
PiperOrigin-RevId: 579502934
Change-Id: Id1fba8fe29a8eb4d4f0358173b34093401e6230e
 2023-11-04 12:33:21 -07:00
Alessio Quaglino 549fdddf3d Fixed a bug with height fields AABB. 
PiperOrigin-RevId: 579488048
Change-Id: I69a2d05f922b58947b1d468b5b31a4743d375d71
 2023-11-04 10:28:00 -07:00
Yuval Tassa c45996bba8 Add cell to tutorial colab demonstrating procedural camera control. 
https://youtu.be/cE3s_IfO4g4

PiperOrigin-RevId: 579466532
Change-Id: I433db285bcfa2b9fab0c11e1fef1e25af8187901
 2023-11-04 07:43:06 -07:00
Kevin Zakka 7b9a0cdce6 Correct passive viewer pane argument documentation. Resolves #1166. 
PiperOrigin-RevId: 579360444
Change-Id: I9fffa9d466f57eed1cfd5b4b86110739e8e66399
 2023-11-03 18:57:07 -07:00
Yuval Tassa f70cec5775 Remove temporary banner 
PiperOrigin-RevId: 579317175
Change-Id: I26444eb467919e40d249ee5befee0164250a28d7
 2023-11-03 15:07:40 -07:00
Saran Tunyasuvunakool f7bdd5dc0e Upgrade pip to version 23.3.1. 
PiperOrigin-RevId: 579062729
Change-Id: Id6a78e6002a7aabb0f947d7722d5c178d5d9ca62
 2023-11-02 21:20:55 -07:00
Alessio Quaglino 7a7cfc0f60 Improve flex docs. 
Fixes #1141 and #1152.

PiperOrigin-RevId: 578855375
Change-Id: I44746c3ae331edcb22b7e16744fb38369039e888
 2023-11-02 08:05:12 -07:00
Google DeepMind e6dc5ed176 Add inner radius as a parameter for the sdf gear plugin. 
PiperOrigin-RevId: 578789045
Change-Id: Id69418d6b1adcce404927de4ed68c94a5ec1f66f
 2023-11-02 03:02:32 -07:00
Erik Frey 3c0a56c1e5 Adds support for Newton solver to MJX. 
PiperOrigin-RevId: 578738033
Change-Id: Id0e68c7b961380cb1ed88b40d99f202c3fa8e228
 2023-11-01 22:05:10 -07:00
Yuval Tassa e82cb9f420 Delete mentions of MuJoCo 2.0 in the docs. 
PiperOrigin-RevId: 578501679
Change-Id: Ie1fdd1d11d2e1e12b3f9f1e59bd4da705b3a7c7e
 2023-11-01 06:44:20 -07:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Baruch Tabanpour 45878b7eef Raise an exception in MJX if given a model with tendons. 
Fixes #1149

PiperOrigin-RevId: 578278430
Change-Id: Ie633975b830379ca554438307a6e674675eaf8e7
 2023-10-31 13:09:27 -07:00
Google DeepMind 7e419276ca Increase maximum number of UI elements per section in Simulate. 
PiperOrigin-RevId: 578268786
Change-Id: Ia584fb1782a6f20cdb64ec13bfa0bbcb211b1165
 2023-10-31 12:36:39 -07:00
Nimrod Gileadi 084facc9ab Python bindings: Store a reference to MjModel in MjDataWrapper. 
Before this change, MjDataWrapper contained a custom data structure called MjDataMetadata, which contained the sizes of various arrays needed to create MjData. This was used for serialization and deserialization, as well as copying MjData instances.

This worked fine for native MuJoCo models, but as soon as plugins were used, there was information in the model that was needed and not available in MjDataMetadata. Since plugins are so general, keeping MjDataMetadata was untenable.

PiperOrigin-RevId: 578205355
Change-Id: I11b9ee797d1da5aaf1fecbbe170b3b0f1f1a3e6c
 2023-10-31 09:16:40 -07:00
Nimrod Gileadi 64a59bb2dc Use the correct free function to free plugin data. 
The array was created with `mju_malloc` (which does an aligned alloc) and released with `free` (which doesn't care about alignment), which led to errors on Windows.

PiperOrigin-RevId: 578186714
Change-Id: I193987bed061e945c49d7268a9a9af3f17af362a
 2023-10-31 08:07:22 -07:00
Erik Frey 7069976557 Implement joint equality constraint. Streamline constraint functions. 
PiperOrigin-RevId: 577905570
Change-Id: I70580d21e3c612606b967cdd84ad22794c672397
 2023-10-30 11:38:15 -07:00
Alessio Quaglino 50843cad30 Add defaults to SDF plugin attributes. 
Expose diameter and number of teeth for the gear SDF.

PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
 2023-10-30 03:09:25 -07:00
Yuval Tassa c921c3956e Change keyboard shortcut key to visualize equality constraints from N to E. Delete the keyboard shortcut of the Selection Point. 
PiperOrigin-RevId: 577770608
Change-Id: I5428a58dff93c95bcb71c27d0e65d2303a23b129
 2023-10-30 02:42:26 -07:00
Yuval Tassa 0f94b4a5ad Documentation improvements. 
PiperOrigin-RevId: 577620389
Change-Id: Ib104a57a2b2b35c334855782d548ff064e74e9d2
 2023-10-29 06:56:59 -07:00
Yuval Tassa 86d9c84e59 Fix bug in implementation of torquescale 
PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
 2023-10-28 08:25:25 -07:00
Erik Frey 930c707e00 Ensure equality constraints are active irrespective of sign. 
Fixes #1129

PiperOrigin-RevId: 577337939
Change-Id: Id835bb6d361525e5cb26f7696038d73d3c1a703e
 2023-10-27 16:51:58 -07:00