chenlin/Mujoco_WASM
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133 Commits

Author SHA1 Message Date
Yuval Tassa 431f96572e Remove unused mjOption.apirate. 
PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
 2025-10-06 02:51:17 -07:00
Kyle Bayes ea660f4c13 Expose minimal asset cache API. 
PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
 2025-09-04 12:18:36 -07:00
Alessio Quaglino 8acd83f317 Add passive collision mode for flexes. 
PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
 2025-09-01 04:13:58 -07:00
Yuval Tassa b092563cab Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING. 
PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
 2025-08-29 06:06:28 -07:00
Yuval Tassa ec94bb49aa Make constraint island discovery on by default. 
Also fix latent bug in mjData serialization.

PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
 2025-08-26 04:27:24 -07:00
Yuval Tassa 2b45b39ce5 Move mjtConstraint from mjmodel.h to mjdata.h. 
PiperOrigin-RevId: 798987338
Change-Id: I3117742de7eb3c16366f266fe0c0651262717cb4
 2025-08-24 23:45:14 -07:00
Yuval Tassa d77ecb3f06 Move mjtConstraintState from mjmodel.h to mjdata.h. 
This is the correct location, this enum is only used in `mjData`, not `mjModel`.

PiperOrigin-RevId: 798860951
Change-Id: I48b9a2afc831bd9a6966cc9586429fd03605bdd2
 2025-08-24 12:37:54 -07:00
Alessio Quaglino b66175eba6 Bending stiffness for curved shells in flex. 
PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
 2025-08-18 04:13:18 -07:00
Yuval Tassa 6b41fbe72a Use CSR matrices for dof-dof index mappings 
PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
 2025-08-16 13:06:32 -07:00
Yuval Tassa c0096b51a4 Move ntree to mjModel allocator sizes 
PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
 2025-08-16 09:16:41 -07:00
Yuval Tassa 7eb13777f8 Put sparsity structures in mjModel, don't use them yet. 
PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
 2025-08-14 07:37:42 -07:00
Matija Kecman 23fa7c00d5 Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM. 
PiperOrigin-RevId: 789321991
Change-Id: Ic25fab876c347fc75f5ca24cad09e8fd972f035f
 2025-07-31 07:08:33 -07:00
Alessio Quaglino 51babec9c5 Move tactile sensor to the engine. 
PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
 2025-07-30 05:27:44 -07:00
Yuval Tassa a771fc6c09 Increase mjNSENS to 3 
PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
 2025-07-29 08:38:13 -07:00
Yuval Tassa d0e4771c8c Add contact sensor. 
PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
 2025-07-14 13:03:35 -07:00
Alessio Quaglino 96118da08b Move SDF precomputation to the mujoco compiler. 
Before:
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 Simulation time      : 1.71 s
 Steps per second     : 5854
 Realtime factor      : 11.71 x
 Time per step        : 170.8 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
 2025-07-09 08:57:09 -07:00
Yuval Tassa a3d251f552 Add mjModel.sensor_intprm, integer parameters of sensors 
PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
 2025-07-09 08:00:21 -07:00
Yuval Tassa e6c5715903 Add insidesite sensor for detecting when an object is inside the volume of a site. 
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
 2025-07-09 04:56:42 -07:00
Alessio Quaglino 5c1f1f9dba Add octree to meshes of SDF geoms. 
PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
 2025-06-30 10:50:15 -07:00
Yuval Tassa 14dc7c2a60 Add "cameraid" attribute to visual/global specifying the default camera to use at model load. 
PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
 2025-06-20 11:41:27 -07:00
Google DeepMind 568620dd2f Add texture attribute to lights. 
PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
 2025-05-27 05:04:01 -07:00
Google DeepMind 74cc904edc Convert light directional boolean into a type enum. 
PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
 2025-05-22 08:51:18 -07:00
Google DeepMind 3e9bc79b54 Adds color space to textures. 
PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
 2025-05-22 04:33:40 -07:00
Alessio Quaglino 71bdd915f7 Move bending stiffness from plugin to the compiler. 
PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
 2025-05-14 07:39:24 -07:00
Google DeepMind fa95fe0c59 Add intensity and range parameters to lights. 
PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
 2025-05-14 03:28:03 -07:00
Alessio Quaglino 34e8ff1aad Add flex edge flap connectivity to mjModel. 
PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
 2025-05-14 02:50:37 -07:00
Alessio Quaglino 8a7c42c747 Add SDF functions to public API. 
PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
 2025-05-12 10:53:39 -07:00
Taylor Howell 96dda6ea75 Add tendon actuator force limits and tendon actuator force sensor. 
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
 2025-04-08 05:16:35 -07:00
Yuval Tassa e1f5ceb65a Add mjModel.tendon_armature (in preparation, not yet implemented) 
PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
 2025-04-03 12:06:27 -07:00
Alessio Quaglino c0a7ea1edb Added the element type mjOBJ_SPEC for mjSpec. 
PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
 2025-04-01 06:51:49 -07:00
Taylor Howell 0abf184d49 Align comment in mjmodel.h. 
PiperOrigin-RevId: 741214316
Change-Id: I449c4a6e1c70b30d60636e11f26fb0bc8653f2a5
 2025-03-27 11:05:46 -07:00
Alessio Quaglino 157b074116 Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData. 
PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
 2025-03-25 09:37:49 -07:00
Tom Power be64747166 add mjs_detachDefault to delete a default class from mjSpec 
PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
 2025-03-19 10:31:04 -07:00
Alessio Quaglino 7651cb1b33 Copy texture coordinates from OBJ into flex. Fixes #2464. 
PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
 2025-02-28 06:04:19 -08:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Kyle Bayes 7f3bb062c3 Add fields in mjModel for supporting mesh multicontact in nativeccd. 
PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
 2025-02-19 07:12:26 -08:00
Alessio Quaglino 7cdf180641 Introduce trilinear flex parametrization. 
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.

On an 8x8x8 cube, the performance using DOFs at all vertices is

```
 Simulation time      : 18.74 s
 Steps per second     : 533
 Realtime factor      : 0.53 x
 Time per step        : 1874.4 µs

 Contacts per step    : 114.88
 Constraints per step : 3322.51
 Degrees of freedom   : 1536
```

With the new implementation, it is the following:

```
 Simulation time      : 1.82 s
 Steps per second     : 5507
 Realtime factor      : 5.51 x
 Time per step        : 181.6 µs

 Contacts per step    : 38.84
 Constraints per step : 155.36
 Degrees of freedom   : 24
```

PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
 2025-01-29 09:38:22 -08:00
Yuval Tassa 240a7afdee Add sensors for potential and kinetic energy. 
PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
 2025-01-17 13:10:12 -08:00
Taylor Howell aae5fd6906 Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel. 
PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
 2024-11-20 04:30:47 -08:00
Yuval Tassa 9f51ba50db Fix field ordering in mjModel. 
`nnames_map` is not required for `mjModel` construction, it is set during construction.

PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
 2024-11-14 03:45:34 -08:00
Alessio Quaglino 94bbf297fc Replace flex_xvert0 with flex_vert0 
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.

PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
 2024-10-31 06:30:36 -07:00
Saran Tunyasuvunakool 98478f8811 Minor changes to inline comments in mjModel and mjData headers. 
PiperOrigin-RevId: 688231631
Change-Id: Iae5430142cab256a73a0fb8c698992ceba21b28c
 2024-10-21 12:31:15 -07:00
Alessio Quaglino 4998e7b392 Move flex damping to the engine and remove membrane and solid plugins. 
PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
 2024-09-19 09:01:30 -07:00
Alessio Quaglino 31abd7900a Add edge ids to flex elements in mjModel. 
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
 2024-09-16 06:58:10 -07:00
Alessio Quaglino 2da15cf137 Add flex elasticity stiffness matrix to mjModel. 
PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
 2024-09-16 05:00:54 -07:00
Yuval Tassa 3437361bfb Add reduced sparse dof-dof matrix structures to mjData. 
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
 2024-09-04 04:24:02 -07:00
Yuval Tassa a1036b86d3 Allow connect constraints to be specified using sites. 
PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
 2024-08-29 07:10:51 -07:00
Yuval Tassa 088079eff0 Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations. 
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
 2024-08-22 12:01:54 -07:00
Yuval Tassa 2efbd31762 Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts. 
PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
 2024-08-22 06:08:25 -07:00
Yuval Tassa 8b03daa09b Add mjtSameFrame enum to specify frame alignment of bodies with their children. 
PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
 2024-08-22 05:17:06 -07:00