chenlin/Mujoco_WASM
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  • 04f8403d8e Add unit tests for NativeCCD to produce better test coverage. Kyle Bayes 2024-09-23 07:54:39 -07:00
  • b5bcc91a03 Add bindings generation for mjOption, mjVisual, and mjStatistic. Alessio Quaglino 2024-09-23 07:41:52 -07:00
  • 41ea95f077 Add a section for element casting in the function API reference, move these functions to the end. Yuval Tassa 2024-09-23 07:24:53 -07:00
  • 0ba11b9623 Add plugins list to mjSpec Python API. Alessio Quaglino 2024-09-23 06:12:42 -07:00
  • 91cedfd65c Avoid square roots in barycentric coordinate computation. Yuval Tassa 2024-09-20 09:36:38 -07:00
  • ab3954d892 Set actuator_force in MJX. Fixes #2068. Taylor Howell 2024-09-20 09:15:45 -07:00
  • 50f43b8745 Fix various issues with body inertial parsing and compiling. Yuval Tassa 2024-09-20 07:52:31 -07:00
  • 78832db53f Use designated initializers for mjCCDObj. Yuval Tassa 2024-09-20 04:31:00 -07:00
  • 7a92423cf2 Add height fields to list of discrete objects in NativeCCD. Kyle Bayes 2024-09-19 09:47:40 -07:00
  • 4998e7b392 Move flex damping to the engine and remove membrane and solid plugins. Alessio Quaglino 2024-09-19 09:00:13 -07:00
  • 6c7e1095c5 Add mjsPlugin and mjsOrientation related keyword argument support for mjSpec Python bindings. Taylor Howell 2024-09-19 07:54:24 -07:00
  • f4381e12a2 Delete plugins when their corresponding objects are deleted, if their instance belonged the object. Alessio Quaglino 2024-09-19 07:20:44 -07:00
  • 43bf8d5e10 Moving USD documentation under Python page Abhishek Joshi 2024-09-19 07:42:30 -04:00
  • f161b63a22 Set default body position to (0, 0, 0). Yuval Tassa 2024-09-19 04:35:34 -07:00
  • 3839ad186e Merge pull request #2050 from kevinzakka:doc-fix Copybara-Service 2024-09-19 03:05:07 -07:00
  • 28c07f56c5 Adding documentation for USD exporter Abhishek Joshi 2024-09-18 23:05:51 -04:00
  • aca4b3324d Resolve default asset names while attaching a spec. Alessio Quaglino 2024-09-18 10:57:16 -07:00
  • 1a5536ce5b Make edges array const. Alessio Quaglino 2024-09-18 10:39:31 -07:00
  • 66a9cacc90 Move elasticity force computation to the engine. Alessio Quaglino 2024-09-18 09:53:11 -07:00
  • e439b748a4 Replace calls to floor/ceil with mju_floor/mju_ceil. Kyle Bayes 2024-09-18 07:46:59 -07:00
  • ddbc083810 Move elasticity computation to mjCFlex. Alessio Quaglino 2024-09-18 05:22:05 -07:00
  • 0657e3e871 Fix bug in DeleteFace in NativeCCD. Kyle Bayes 2024-09-18 05:19:00 -07:00
  • bfda9f4ace Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors. Taylor Howell 2024-09-18 04:00:52 -07:00
  • 4975c35657 Fix typo in README.md Kyle Bayes 2024-09-17 10:27:03 -07:00
  • 317f480224 Properly initialize hfield mjCCDObj for collisions. Kyle Bayes 2024-09-17 08:36:55 -07:00
  • bd811a44e7 Remove redundant copying in NativeCCD and refactor code for readability. Kyle Bayes 2024-09-17 08:13:06 -07:00
  • fb56d70dee Add model with mixed geoms for CCD performance testing. Yuval Tassa 2024-09-17 07:55:26 -07:00
  • 476599f8b6 Update pybind11 to v2.13.6 Google DeepMind 2024-09-16 12:07:46 -07:00
  • 7f7c5ec943 Fix mismatch in mju_wrap function signature definition. Yuval Tassa 2024-09-16 10:33:23 -07:00
  • e94bd8348c Store polytope faces in heap in NativeCCD. Kyle Bayes 2024-09-16 10:16:18 -07:00
  • 48fee9487e Clean up tendon wrapping code. Yuval Tassa 2024-09-16 09:45:40 -07:00
  • ebcffaf121 Improve wording of changelog item. Yuval Tassa 2024-09-16 09:21:19 -07:00
  • ce3681a26d Replace hard-coded mjNCATENARY with mjVisual.quality.numslices. Yuval Tassa 2024-09-16 08:24:10 -07:00
  • 4628a5e438 Remove vertex struct from NativeCCD and allocate fixed memory for vertices on MuJoCo stack. Kyle Bayes 2024-09-16 07:44:29 -07:00
  • f9401776d4 Add framelinacc and frameangacc sensors to MJX. Taylor Howell 2024-09-16 07:32:59 -07:00
  • b0c7101f1c Add optional kwarg inputs to mjSpec Python bindings for mjsBody add constructors. Taylor Howell 2024-09-16 07:31:46 -07:00
  • 2ffa0fe942 Avoid freeing model and/or data twice in case of errors during the compilation process. Yuval Tassa 2024-09-16 07:17:30 -07:00
  • 31abd7900a Add edge ids to flex elements in mjModel. Alessio Quaglino 2024-09-16 06:56:09 -07:00
  • 9d73211757 Add force and torque sensors to MJX. Taylor Howell 2024-09-16 06:56:08 -07:00
  • b15de2c951 Add elasticity parameters to the schema. Alessio Quaglino 2024-09-16 05:55:40 -07:00
  • 015bdeb756 Disallow repeated nameless assets that use the same file, except for URDFs. Alessio Quaglino 2024-09-16 05:49:45 -07:00
  • 60a1921b34 Add site semantics to weld constraint. Fixes #1896 Taylor Howell 2024-09-16 05:44:53 -07:00
  • 2da15cf137 Add flex elasticity stiffness matrix to mjModel. Alessio Quaglino 2024-09-16 04:59:55 -07:00
  • c77babe046 Fix a bug in MuJoCo's user_mesh.cc that caused meshdir_ to be overwritten when a model was loaded with a nested model. Alessio Quaglino 2024-09-16 04:21:11 -07:00
  • fd17b2144a Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files. Yuval Tassa 2024-09-16 03:39:11 -07:00
  • dde25d039b Update Mujoco dependencies to latest versions. Google DeepMind 2024-09-12 14:09:11 -07:00
  • 577afd1e28 Improve wording of some items in the changelog. Yuval Tassa 2024-09-12 09:53:17 -07:00
  • 9f8f6947fc Remove global linear search in favor of (almost constant time) local search when finding the convex hull of the polytope and new point in EPA for NativeCCD. Kyle Bayes 2024-09-12 08:09:58 -07:00
  • 5144be2baa Add unit tests for NativeCCD. Kyle Bayes 2024-09-12 08:02:31 -07:00
  • 8d165d5cc7 Fix early termination in GJK. It's possible for x_k to be the origin, so we should run the previous test to conclude that the objects are colliding. Kyle Bayes 2024-09-12 07:16:38 -07:00
  • e3d3a24b36 Add spatial tendons with site wrapping to MJX. Taylor Howell 2024-09-12 04:15:54 -07:00
  • 14f420069e Make projectOriginPlane in NativeCCD numerically robust. Kyle Bayes 2024-09-12 03:00:07 -07:00
  • 567793c26f Store model paths in assets. Alessio Quaglino 2024-09-11 05:19:08 -07:00
  • cf721def3a Missing renames of mpr_ -> ccd_ Yuval Tassa 2024-09-11 04:09:04 -07:00
  • 8710126d08 Raise NotImplementedError for unsupported sensors in MJX. Update MJX feature parity docs to include fully supported sensors. Taylor Howell 2024-09-11 03:49:43 -07:00
  • 4e3dc14f8e Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>) Yuval Tassa 2024-09-10 15:13:02 -07:00
  • 33e56ccb88 Remove edge length computations from elasticity plugins. Alessio Quaglino 2024-09-10 14:53:31 -07:00
  • e4d4153352 Move sanitizer instrumentation to a separate header file. Fixes #2049. Yuval Tassa 2024-09-10 09:04:19 -07:00
  • 8fa7fe7f5b Add a tutorial section on multiple frames in the same scene. Fixes #1757, #1356. Yuval Tassa 2024-09-10 04:20:21 -07:00
  • 7137f4b3c0 Fix typo in attach/model name attribute in the XML reference. Kevin Zakka 2024-09-09 16:39:36 -07:00
  • dd45e67ec4 MJX documentation update. Fixes #1703. Baruch Tabanpour 2024-09-09 14:06:01 -07:00
  • be00fafc43 Various documentation improvements. Yuval Tassa 2024-09-09 11:34:35 -07:00
  • 4862b9e765 Remove plugin support from Composite particles. Alessio Quaglino 2024-09-09 04:57:34 -07:00
  • 44145742a7 Exit GJK early if geom distance doesn't need to be recovered. Kyle Bayes 2024-09-08 14:57:08 -07:00
  • 61721f8d3c Set tolerance in GJK to zero for colliding discrete geoms. Kyle Bayes 2024-09-08 13:48:55 -07:00
  • 56bb3ca5de Merge pull request #1901 from abhihjoshi:usd-fixes Copybara-Service 2024-09-06 10:31:09 -07:00
  • e3cda3e0e3 Fix alignment in mjxmacro.h Yuval Tassa 2024-09-06 08:03:14 -07:00
  • 4fc6fb179b Remove libccd compatibility layer from native ccd. Kyle Bayes 2024-09-06 06:55:01 -07:00
  • fa156ed22f Add accelerometer to MJX. Taylor Howell 2024-09-05 06:55:51 -07:00
  • 20296466b1 Add subtreelinvel and subtreeangmom sensors to MJX. Taylor Howell 2024-09-05 06:20:39 -07:00
  • 7b073b60c4 Add rne_postconstraint function to MJX. This function matches mj_rnePostConstraint and computes cacc, cfrc_ext, and cfrc_int. Taylor Howell 2024-09-05 05:34:27 -07:00
  • cd8ff4401d Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX. Taylor Howell 2024-09-04 21:59:35 -07:00
  • fe1d6dad02 Using temp directory for usd exporter test Abhishek Joshi 2024-09-04 18:18:37 -04:00
  • 81618f95f9 Update doc for mj_addFileVFS and mj_addBufferVFS as VFS is no longer memory limited. Kyle Bayes 2024-09-04 13:50:48 -07:00
  • 621ea29382 Improve error message for keyframe size mismatch. Fixes #2041 Yuval Tassa 2024-09-04 12:57:20 -07:00
  • 4a4db13eba Update documentation to reflect that multi-threading is now used when loading meshes. Yuval Tassa 2024-09-04 12:37:41 -07:00
  • b9822e4347 Check hexahedron in polytope3 to make sure it contains the origin. Otherwise, EPA can return invalid results. Kyle Bayes 2024-09-04 12:16:53 -07:00
  • b502ceef00 Add note that XML saving requires that the spec first be compiled. Fixes #1832 Yuval Tassa 2024-09-04 11:46:34 -07:00
  • 79a5bd0915 Add better boundary tests in polytope3 for EPA. Kyle Bayes 2024-09-04 11:24:53 -07:00
  • 8954a088ce Add automatic free-joint alignment. Yuval Tassa 2024-09-04 10:06:29 -07:00
  • ae4987026c Add tree element support to mjs_firstElement() and mjs_nextElement(). Alessio Quaglino 2024-09-04 09:45:35 -07:00
  • d3dfa6f970 Add mjs_findElement() to find any element in a spec by name. Alessio Quaglino 2024-09-04 08:23:18 -07:00
  • 0e8c0b80eb add content_type to model in the XML schema. Alessio Quaglino 2024-09-04 07:24:48 -07:00
  • 9a27fc14c2 Raise appropriate errors for mj_addBufferVFS in Python bindings. Nimrod Gileadi 2024-09-04 07:19:27 -07:00
  • e9a85764ea Native CCD: Replace mju_malloc with C standard malloc, fix bug in computing v5 in polytope3, and add another warning in EPA. Kyle Bayes 2024-09-04 05:52:40 -07:00
  • 3437361bfb Add reduced sparse dof-dof matrix structures to mjData. Yuval Tassa 2024-09-04 04:22:43 -07:00
  • 42eb669e4e Precompute mappings between M <-> D sparse representations. Yuval Tassa 2024-09-04 02:56:05 -07:00
  • 303e5e7718 Fix test threshold for external tests. Baruch Tabanpour 2024-09-03 15:05:52 -07:00
  • 49711fa14f Add support for joint and tendon frictionloss to MJX. Baruch Tabanpour 2024-09-03 13:16:27 -07:00
  • 2d3d5415b7 Add mj_jacDot: Time derivative of kinematic Jacobian. Yuval Tassa 2024-09-03 04:48:44 -07:00
  • fb38727303 Update zipp to 3.19.1 in make_sdist_requirements.txt Nimrod Gileadi 2024-09-03 03:36:58 -07:00
  • a02934a408 Merge pull request #2036 from kevinzakka:doc-fix Copybara-Service 2024-09-02 07:08:56 -07:00
  • f60ab4492d Remove vestigial mentions of mjOption.collision in the docs. Kevin Zakka 2024-08-31 16:49:25 -07:00
  • 7abd5d427a Restore mistakenly deleted/modified changelog items. Yuval Tassa 2024-08-31 15:03:08 -07:00
  • 9805df616b Add framelinvel and frameangvel sensors to MJX. Taylor Howell 2024-08-31 06:11:57 -07:00
  • c0dc787cee Removing mujoco renderer dependency Abhishek Joshi 2024-08-30 18:23:13 -04:00
  • 651868ab05 Add GitHub Issue and Discussion templates. Yuval Tassa 2024-08-30 10:12:53 -07:00
  • 5391e6011a Add sensor cutoff to MJX. Taylor Howell 2024-08-30 10:08:19 -07:00
  • 5dc9c07fa6 Removing scipy dependency Abhishek Joshi 2024-08-30 12:56:25 -04:00
  • 1d2ee40c9b Updating pillow hashes Abhishek Joshi 2024-08-30 12:32:45 -04:00