chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Commit Graph

  • 1c1bb14e1c Order fields in mjxmacro like in mjmodel and mjdata headers, add tests. Yuval Tassa 2025-08-24 11:16:47 -07:00
  • 7479312218 Use LaTeX macros for prettier uppercase subscripts in documentation. Yuval Tassa 2025-08-23 05:38:50 -07:00
  • a230aa60c5 Improve mj_addM and associated test Yuval Tassa 2025-08-23 03:56:02 -07:00
  • a64a26c3ae No public description Google DeepMind 2025-08-22 15:03:57 -07:00
  • 93c5665730 Add some missing Nullable annotations. Yuval Tassa 2025-08-22 12:14:05 -07:00
  • 1fb1810b07 Add ability to specify a material assignment to a mesh asset. Sam Haves 2025-08-22 09:10:35 -07:00
  • 42d8454555 Internal change. Google DeepMind 2025-08-22 06:40:56 -07:00
  • debbd7c916 Fix cast; should be mjtGeom not mjtMouse. Haroon Qureshi 2025-08-22 05:46:52 -07:00
  • ecfe65242f Add nullable attribute to AST nodes for function parameters in API introspection. Fixes #309 Google DeepMind 2025-08-21 12:33:58 -07:00
  • df6b503101 Update simulate library name in python cmake vidurvij-apptronik 2025-08-21 14:34:12 -05:00
  • b88ec4df73 Fix SimulateDependecies vidurvij-apptronik 2025-08-21 14:10:44 -05:00
  • 3dec35a91e Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent. Baruch Tabanpour 2025-08-21 10:43:09 -07:00
  • 2f28473bc1 Remove transposed Jacobian fields from mjData Yuval Tassa 2025-08-21 07:20:29 -07:00
  • 5fe4224ae7 Compute sparse Jacobian transpose inside solver. Yuval Tassa 2025-08-21 06:54:49 -07:00
  • f71053243e Replace std::array with C-style array for error buffer in GJK tests. Yuval Tassa 2025-08-21 06:02:44 -07:00
  • 174a50442d Allow transposing of sparse sub-matrices whose first row is > 0 Yuval Tassa 2025-08-21 05:55:43 -07:00
  • c7a82c32dc Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent. Yuval Tassa 2025-08-20 11:29:13 -07:00
  • bf04103b6f Import google-deepmind/mujoco_warp from GitHub. Baruch Tabanpour 2025-08-19 16:00:39 -07:00
  • fd96de330e Updates to Playground for warp. Baruch Tabanpour 2025-08-19 15:11:32 -07:00
  • edb17909a7 Update cmake Vidur 2025-08-09 13:06:21 -05:00
  • 4bad134ba2 Add proper handling of MJCF asset/mesh/texturedir compiler attributes to USD plugin. Sam Haves 2025-08-18 11:37:27 -07:00
  • 424226b640 Refactor mj_mulM to use CSR structure Yuval Tassa 2025-08-18 09:08:45 -07:00
  • c2ff60e630 Decrease time step in shell examples. Alessio Quaglino 2025-08-18 08:59:20 -07:00
  • eed43f6982 Add section to OpenUSD/Exporting docs linking to mujoco-usd-converter. Sam Haves 2025-08-18 07:43:44 -07:00
  • 7c10a62f21 Improve island visualization colors and logic. Yuval Tassa 2025-08-18 05:02:57 -07:00
  • b66175eba6 Bending stiffness for curved shells in flex. Alessio Quaglino 2025-08-18 04:12:34 -07:00
  • 972ffd7b90 Improve mj_fullM documentation, add clarifying test. Yuval Tassa 2025-08-17 11:01:18 -07:00
  • 6b41fbe72a Use CSR matrices for dof-dof index mappings Yuval Tassa 2025-08-16 13:05:45 -07:00
  • c0096b51a4 Move ntree to mjModel allocator sizes Yuval Tassa 2025-08-16 09:15:52 -07:00
  • 1447711037 Rename spec to sig in state-related API functions. Yuval Tassa 2025-08-16 08:37:41 -07:00
  • 5a24eb2d34 Add error reporting to model loading in engine tests, where missing Yuval Tassa 2025-08-16 08:11:11 -07:00
  • bbb70d98a4 Add utility functions for mapping between sparse matrix patterns. Yuval Tassa 2025-08-15 11:21:43 -07:00
  • 931036adda Always try to find the skybox texture, even if there are no materials in the MJCF. Fixes #2412 Google DeepMind 2025-08-15 09:52:39 -07:00
  • b566ef2883 Ignore geoms with tiny mass in inertiafromgeom computation. Fixes #2754 Yuval Tassa 2025-08-15 07:56:14 -07:00
  • 977f94e9df Delete sparsity structures from mjData, use the ones in mjModel Yuval Tassa 2025-08-14 09:11:47 -07:00
  • 7eb13777f8 Put sparsity structures in mjModel, don't use them yet. Yuval Tassa 2025-08-14 07:36:59 -07:00
  • f077fd00a9 Compute sparse matrix sizes before making the mjModel in the compiler. Yuval Tassa 2025-08-14 05:50:29 -07:00
  • 0ba31e2c1f MJX safe division. Fixes #2776, #2568, #2657. Taylor Howell 2025-08-14 05:48:22 -07:00
  • 07e7417d26 Add prefix to asset paths when appending specs. Alessio Quaglino 2025-08-14 03:48:13 -07:00
  • 1763fa537a Add ten_length as MJX public field and warp tendon function call to MJX. Baruch Tabanpour 2025-08-13 21:53:29 -07:00
  • d3ff929bc6 Add ten_length as MJX public field and warp tendon function call to MJX. Google DeepMind 2025-08-13 18:08:39 -07:00
  • d7e925bd8a Add ten_length as MJX public field and warp tendon function call to MJX. Baruch Tabanpour 2025-08-13 17:26:17 -07:00
  • 1a7ec97b07 Import google-deepmind/mujoco_warp from GitHub. Baruch Tabanpour 2025-08-13 16:07:18 -07:00
  • eff4dda189 Suffix asset names when attaching specs. Alessio Quaglino 2025-08-13 13:42:33 -07:00
  • dcdf0a9c5c Use mj_rayMesh for computing an inexact SDF for mesh-SDF collisions. Alessio Quaglino 2025-08-13 07:49:00 -07:00
  • cc52d0242b Do not strip the path when compiling an mjSpec. Alessio Quaglino 2025-08-13 07:42:31 -07:00
  • 6a9e68a542 Update MJX-W testspeed. Baruch Tabanpour 2025-08-13 06:23:21 -07:00
  • da9037e2b0 Fix bug in MJX contact sensor. Baruch Tabanpour 2025-08-12 02:22:53 -07:00
  • 0a02e7b722 Fix MJX test_sensor_contact. Taylor Howell 2025-08-11 05:03:06 -07:00
  • 84ba12e7b3 Clean up and standardize mj_printFormattedData Yuval Tassa 2025-08-09 14:02:17 -07:00
  • ca4ca173ab Fix oct_distance return value. Alessio Quaglino 2025-08-09 00:32:26 -07:00
  • ed3ff15870 Update MuJoCo's version number following the 3.3.5 release. Rishi Krishnan 2025-08-08 16:44:24 -07:00
  • 3152458a6b Update Mujoco Deps in preperation for the 3.3.5 release Rishi Krishnan 2025-08-08 14:05:45 -07:00
  • 249b0cd87d Improve field order and comments in mjdata.h Yuval Tassa 2025-08-08 08:51:43 -07:00
  • 50fa598d93 Update x_norm in tetrahedron case in GJK. Kyle Bayes 2025-08-08 07:50:41 -07:00
  • 19781b60a1 Fix a gcc-related compilation error. Yuval Tassa 2025-08-08 05:59:20 -07:00
  • 8b5213c557 Cleanup: extract local functions in compiler for setting datatype and needstage Yuval Tassa 2025-08-08 04:10:14 -07:00
  • 3c6e4f1ece Clean up engine_core_smooth.c Yuval Tassa 2025-08-08 04:04:34 -07:00
  • 92d77819fd Note the mjs parsing error in the changelog. Alessio Quaglino 2025-08-07 15:39:26 -07:00
  • 45476483f6 Fix race condition in warp tests. Baruch Tabanpour 2025-08-07 13:27:48 -07:00
  • 9b9b7030e7 Copy mjwarp viewer s.t. MJX users can debug models effectively. Baruch Tabanpour 2025-08-07 12:14:41 -07:00
  • 9e5fdd6983 Add warp graph capture and allow graph conditional. Baruch Tabanpour 2025-08-07 10:09:22 -07:00
  • 4533129103 Import google-deepmind/mujoco_warp from GitHub. Baruch Tabanpour 2025-08-07 09:53:15 -07:00
  • bb4aeb44f1 Import NVIDIA/warp from GitHub. Baruch Tabanpour 2025-08-07 09:26:56 -07:00
  • eb1da7c43d Compute the interpolation coefficients per vertex rather than per node. Alessio Quaglino 2025-08-07 06:01:58 -07:00
  • 781242ae95 Avoid duplicated vertices in the SDF octree. Alessio Quaglino 2025-08-07 05:26:04 -07:00
  • 840108cf7c Refactor octree in preparation for continuous interpolation. Alessio Quaglino 2025-08-07 04:04:59 -07:00
  • 4e67fe79f3 Fix use of DYLD_FALLBACK_LIBRARY_PATH in mjpython. Saran Tunyasuvunakool 2025-08-06 16:52:33 -07:00
  • fb5792b420 Add back warp as an optional dep. Baruch Tabanpour 2025-08-06 16:49:09 -07:00
  • 9b149f334f Add warp-lang requirements back. Baruch Tabanpour 2025-08-06 15:40:45 -07:00
  • 132f90b17f Validate mjs_setFrame dest parameter and raise an error if null. Alessio Quaglino 2025-08-06 10:18:08 -07:00
  • 21a7ac7dd9 Change the license field in pyproject.toml to SPDX string. Saran Tunyasuvunakool 2025-08-06 09:10:10 -07:00
  • 2e60d05887 Update Kokoro script to use CUDA 12.8 and manylinux_2_28. Saran Tunyasuvunakool 2025-08-06 09:05:50 -07:00
  • e45150747a Import qhull/qhull from GitHub. Saran Tunyasuvunakool 2025-08-06 06:59:19 -07:00
  • 49f45a93c8 Guard against division by zero when calculating pressure in tactile sensor. Alessio Quaglino 2025-08-06 05:06:07 -07:00
  • 3821ff1dcf Fix MJX contact sensor. Taylor Howell 2025-08-05 12:11:05 -07:00
  • 784c7a419b Improve builtin hemisphere docs Yuval Tassa 2025-08-05 10:24:45 -07:00
  • fde479736e Finalize built-in mesh example model and documentation Yuval Tassa 2025-08-05 08:31:46 -07:00
  • 2f4375dda3 Add font_scale option to Renderer Yuval Tassa 2025-08-05 07:49:36 -07:00
  • 705ec6d7fb Adds built-in superellipsoid mesh. Yuval Tassa 2025-08-05 07:01:52 -07:00
  • e74cee652f Add README to mjcPhysics. Sam Haves 2025-08-05 06:17:35 -07:00
  • a5d4d1000e Add built-in supertoroid mesh. Yuval Tassa 2025-08-05 06:05:44 -07:00
  • e543ba95c5 Fix comments in meshNormals. Kyle Bayes 2025-08-05 05:26:40 -07:00
  • 996f0040fd Add built-in sphere mesh. Yuval Tassa 2025-08-05 05:04:11 -07:00
  • 5220767457 Add built-in hemisphere mesh. Yuval Tassa 2025-08-05 04:15:27 -07:00
  • a5a6379f83 Add built-in cone mesh type. Yuval Tassa 2025-08-04 19:34:35 -07:00
  • 4a91c34239 Modify warp-lang deps. Baruch Tabanpour 2025-08-04 15:59:02 -07:00
  • 5e6bde07ab Patch fix to pyproject.toml for internal CI. Baruch Tabanpour 2025-08-04 09:46:05 -07:00
  • 7b9f5bdae7 Fix bug in raycast to hfield. Fixes #2765 Yuval Tassa 2025-08-04 09:39:45 -07:00
  • f2a2afeb03 Fix address bug in meshEdgeNormals in doing edge multiccd with meshes. Kyle Bayes 2025-08-04 07:02:16 -07:00
  • 7baaa39846 Add SDF geom to test/testdata/model.xml. Alessio Quaglino 2025-08-04 03:52:37 -07:00
  • 100b1a06fd Decrease opacity of taxels with zero value. Alessio Quaglino 2025-08-03 08:34:55 -07:00
  • 80befd64ae Do not cull mjGEOM_TRIANGLE. Alessio Quaglino 2025-08-01 05:26:48 -07:00
  • 3d537c85ef Fix mjcPhysics typo in USD docs. Sam Haves 2025-07-31 10:22:55 -07:00
  • 7ea92c65ec Fix to github CI. Baruch Tabanpour 2025-07-31 10:09:04 -07:00
  • 47bc16a37c Add mujoco_warp as an implementation in mjx. Baruch Tabanpour 2025-07-31 09:32:23 -07:00
  • 700da7c5bd Add initial documentation for experimental OpenUSD support in MuJoCo. Sam Haves 2025-07-31 09:29:38 -07:00
  • 32c7d3f085 Tag nullable arguments in main header. Fixes #309 Yuval Tassa 2025-07-31 08:38:01 -07:00
  • ee63b82e1c Fix the format string when printing uintptr_t Matija Kecman 2025-07-31 07:49:42 -07:00
  • 23fa7c00d5 Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM. Matija Kecman 2025-07-31 07:06:58 -07:00