chenlin/Mujoco_WASM
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  • f54380206c Adding pillow dependency Abhishek Joshi 2024-08-30 12:30:15 -04:00
  • 4a8b54c7ec Adding backslash char Abhishek Joshi 2024-08-30 12:16:16 -04:00
  • 83c8814149 Adding new usd-core hashes Abhishek Joshi 2024-08-30 12:14:26 -04:00
  • cf02171bf8 Add velocimeter and gyro sensors to MJX. Taylor Howell 2024-08-30 08:38:51 -07:00
  • a94694f608 Fix formatting in mjx.rst Taylor Howell 2024-08-30 03:15:50 -07:00
  • 8272211dd5 Update MJX documentation for ellipsoid and cylinder collision support. Taylor Howell 2024-08-30 01:58:26 -07:00
  • 494e166f28 Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices. Erik Frey 2024-08-29 15:39:09 -07:00
  • 9cab5a42a4 Remove unnecessary normal vector computation from mju_wrap cylinder case. Taylor Howell 2024-08-29 11:45:50 -07:00
  • a1036b86d3 Allow connect constraints to be specified using sites. Yuval Tassa 2024-08-29 07:09:52 -07:00
  • 5faff169b7 Update simulation params in MJX's tutorial Goncalo Gordo 2024-08-29 14:39:08 +01:00
  • ee731506d7 Update params in humanoid's training Goncalo Gordo 2024-08-29 14:37:38 +01:00
  • 646455406c Fix changelog by moving bug fix to proper section. Taylor Howell 2024-08-28 07:06:15 -07:00
  • f3cfe7a84a Minor clean up in mj_jac. Yuval Tassa 2024-08-28 04:44:48 -07:00
  • 3e701b2125 Fix tendon sphere wrapping when using external sidesite. Taylor Howell 2024-08-28 04:29:00 -07:00
  • 72a0ab145d Refactor frustum drawing to use a local makeTriangle function. Yuval Tassa 2024-08-27 15:41:36 -07:00
  • ddb29e9293 Fix bug in computing pos in EPA by replacing S2D with computing affine coordinates directly to recover the witness points. Kyle Bayes 2024-08-27 08:54:52 -07:00
  • e03f8f5f65 Merge branch 'main' into usd-fixes Abhishek Joshi 2024-08-25 19:15:17 -04:00
  • cad8ca6ffd Do pre-checking when creating initial polytope for EPA. Kyle Bayes 2024-08-23 08:36:46 -07:00
  • 9d4f8edad9 Avoid pointer access in loop conditionals in engine_core_smooth.c Yuval Tassa 2024-08-23 08:12:52 -07:00
  • d360ea1ce6 Minor GJK + EPA improvements: Kyle Bayes 2024-08-23 07:43:43 -07:00
  • 505d01a1c1 Add error handling to mj_recompile. Alessio Quaglino 2024-08-23 07:17:26 -07:00
  • 088079eff0 Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations. Yuval Tassa 2024-08-22 12:01:04 -07:00
  • abe57c234b Use bullets instead of numbering in latest changelog Yuval Tassa 2024-08-22 07:09:51 -07:00
  • 2efbd31762 Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts. Yuval Tassa 2024-08-22 06:07:30 -07:00
  • 8b03daa09b Add mjtSameFrame enum to specify frame alignment of bodies with their children. Yuval Tassa 2024-08-22 05:16:02 -07:00
  • a2649d6cec Add efc_margin to MJX. Taylor Howell 2024-08-22 03:26:04 -07:00
  • f75ead2203 Improve the build instructions for mac. Nimrod Gileadi 2024-08-22 03:21:19 -07:00
  • b2174a7ec3 Add framequat sensor to MJX. Taylor Howell 2024-08-22 02:20:20 -07:00
  • b42780a5f4 Add subtree_vel function to MJX. This function matches mj_subtreeVel. Taylor Howell 2024-08-21 16:20:39 -07:00
  • e76168141a Merge pull request #1914 from google-deepmind:dependabot/pip/mjx/zipp-3.19.1 Copybara-Service 2024-08-21 08:35:00 -07:00
  • 806b8c8e2e Add support for actuatorfrc and jointactfrc sensors in MJX. Taylor Howell 2024-08-21 03:45:40 -07:00
  • f986a52e1e Compute witness points from EPA, and use witness points to determine pos and dir for contact. Kyle Bayes 2024-08-21 03:05:17 -07:00
  • cf3e60f9a4 Fix load time reporting in simulate. Yuval Tassa 2024-08-21 02:53:03 -07:00
  • 85d19e189b Adding usd-core optional dependency Abhishek Joshi 2024-08-20 21:39:24 -05:00
  • ad9cd7301e Correctly apply frame transform to light direction. Yuval Tassa 2024-08-20 06:47:17 -07:00
  • 029fbd5172 Bump zipp from 3.17.0 to 3.19.1 in /mjx dependabot[bot] 2024-08-20 12:13:10 +00:00
  • 2425358c3b Merge pull request #1796 from google-deepmind:dependabot/pip/python/zipp-3.19.1 Copybara-Service 2024-08-20 05:11:29 -07:00
  • a68141eeff Implicitfast integration for MJX. Erik Frey 2024-08-19 11:11:34 -07:00
  • 5d91231d31 Rename mjBuffer to mjByteVec. Yuval Tassa 2024-08-19 10:37:50 -07:00
  • f358cf664b Removing unused logging import Abhishek Joshi 2024-08-19 11:23:43 -05:00
  • 69eac7a43f Merge branch 'usd-fixes' of github.com:abhihjoshi/mujoco into usd-fixes Abhishek Joshi 2024-08-19 11:20:39 -05:00
  • 492cb7d078 Remove try catch in exporter test Abhishek Joshi 2024-08-19 11:19:18 -05:00
  • 4aab00fa2d Minor cleanups to body and joint compilers. Yuval Tassa 2024-08-19 08:42:05 -07:00
  • 0fa39164f7 Speed up mesh support function with warmstarts. Yuval Tassa 2024-08-19 07:54:01 -07:00
  • 6241814ad7 Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity. Taylor Howell 2024-08-18 08:46:45 -07:00
  • 6a12787a32 Add camera projection sensor to MJX. Taylor Howell 2024-08-18 05:56:00 -07:00
  • 51733c2a8a Add rangefinder sensor to MJX. Taylor Howell 2024-08-18 05:15:10 -07:00
  • 6acf40613d Add support for disabling MJX sensors. Taylor Howell 2024-08-18 04:40:24 -07:00
  • 1a66c5cca7 Merge branch 'google-deepmind:main' into usd-fixes Abhishek Joshi 2024-08-17 11:13:36 -05:00
  • 0bffd744f9 Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd. Kyle Bayes 2024-08-16 14:07:53 -07:00
  • 9dd0042887 Merge branch 'google-deepmind:main' into usd-fixes Abhishek Joshi 2024-08-16 15:47:16 -05:00
  • 390bce2352 Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data. Erik Frey 2024-08-16 12:01:32 -07:00
  • ce9c0ea351 Modify MJX sensor_pos to handle unsupported sensors. Taylor Howell 2024-08-16 10:09:42 -07:00
  • 39cbe5d5b0 Updating USD golden file and exporter_test.py Abhishek Joshi 2024-08-16 12:06:25 -05:00
  • 4d9305fbb9 Fix typo. Yuval Tassa 2024-08-16 07:44:42 -07:00
  • f864108c23 using for std::{string, string_view}, where helpful for readibility. Yuval Tassa 2024-08-16 06:13:51 -07:00
  • e0e08aa597 Rename xml_native_writer variables to be consistent with xml_native_reader. Yuval Tassa 2024-08-16 05:33:45 -07:00
  • cfc7dc9848 Clarify that keyframes are not replicated in nested attachments. Alessio Quaglino 2024-08-16 04:21:18 -07:00
  • 0bcaa85650 Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed. Yuval Tassa 2024-08-16 04:06:30 -07:00
  • 6db96e07e4 Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock. Taylor Howell 2024-08-16 03:09:23 -07:00
  • 6c76678167 Merge pull request #1906 from michael-ahn:fix-face-circumradius Copybara-Service 2024-08-16 03:06:24 -07:00
  • 9924d9ca89 Fixed incorrect mesh face circumradius calculation Michael Ahn 2024-08-15 20:36:56 -07:00
  • a74c184f9d Add efc_pos to MJX. Taylor Howell 2024-08-15 10:32:52 -07:00
  • e0e134ca63 Add plugin tests for mjSpec. Alessio Quaglino 2024-08-15 10:18:56 -07:00
  • 64575f399b Add heightfield collision support for GJK + EPA implementation. Kyle Bayes 2024-08-15 08:48:50 -07:00
  • 4b88e9bebf Do not delete keyframes during mjs_detachBody. Alessio Quaglino 2024-08-15 06:09:45 -07:00
  • b2018ff506 Replace function with static array in engine_forward.c Yuval Tassa 2024-08-15 05:10:37 -07:00
  • 7f09a7d8c6 Fix bug in S2D and improve readability of GJK + EPA code. Kyle Bayes 2024-08-15 04:34:30 -07:00
  • 1f5f9a8a67 Improve variable naming in xml_native_reader.cc Yuval Tassa 2024-08-15 02:40:23 -07:00
  • d932faa1d4 Flip order of cases in user_objects.cc (readability) Yuval Tassa 2024-08-14 13:48:20 -07:00
  • 4c64e6f036 Add mocap state to SaveState/RestoreState and attached keyframes. Alessio Quaglino 2024-08-14 10:41:40 -07:00
  • 5927b3d4d9 Add time to attached keyframes. Alessio Quaglino 2024-08-14 05:46:36 -07:00
  • 7be4df7e03 Add ctrl to attached keyframes. Alessio Quaglino 2024-08-14 05:13:51 -07:00
  • afd7c73f44 Attach multiple keyframes. Alessio Quaglino 2024-08-14 04:41:51 -07:00
  • 2cb601c98d Improve documentation w.r.t smoothness, differentiability and finite-differencing. Yuval Tassa 2024-08-14 03:10:28 -07:00
  • 7efd690471 Document where mesh transforms are saved, fixes #1894 Yuval Tassa 2024-08-14 02:23:23 -07:00
  • 1141b4abbc Force dtype of mjx.Contact.{geom1,geom2,geom} to int32. Saran Tunyasuvunakool 2024-08-13 14:33:44 -07:00
  • 58dc62c4ec Fixing USD pipeline after copybara changes Abhishek Joshi 2024-08-13 11:09:02 -07:00
  • 19aa68c2b2 Add keyframe support to attach. Alessio Quaglino 2024-08-13 07:59:00 -07:00
  • 98cd49d529 Merge pull request #1827 from abhihjoshi:open3d-removal Copybara-Service 2024-08-13 07:33:23 -07:00
  • 39896f8064 Restructure mjCMesh for caching. Kyle Bayes 2024-08-13 06:39:49 -07:00
  • 4ebf381b4d Merge pull request #1899 from saran-t:saran-t-patch-5 Copybara-Service 2024-08-13 03:51:18 -07:00
  • 1132632627 Fix for benign UBsan signed-integer-overflow complaints. Saran Tunyasuvunakool 2024-08-13 03:07:48 -07:00
  • e3814be8e6 Remove duplicated title from the changelog. Alessio Quaglino 2024-08-13 03:05:46 -07:00
  • acab66d799 Remove superfluous break statements. Saran Tunyasuvunakool 2024-08-13 10:20:02 +01:00
  • 851bb6eef4 Add option to mjspec for creating a texture directly from a buffer. Alessio Quaglino 2024-08-12 12:26:39 -07:00
  • 20cae556ee Encapsulate BVH class members. Kyle Bayes 2024-08-12 10:25:52 -07:00
  • 648fd56ed1 Preserve time when recompiling a model. Alessio Quaglino 2024-08-12 07:59:53 -07:00
  • d3a976e10d Fix indent. Yuval Tassa 2024-08-12 04:22:41 -07:00
  • d45d13e5ad Remove uses of mjtNum-typed functions from user_objects.cc Yuval Tassa 2024-08-12 03:44:49 -07:00
  • 02ffaa8248 Yet another GCC-related fix. Yuval Tassa 2024-08-10 05:31:29 -07:00
  • d72f01bad4 Add break statements in user_objects.cc to appease persnickety GCC Yuval Tassa 2024-08-10 04:55:31 -07:00
  • e397fcb5a5 Add return values to private mjJCJoint methods. Yuval Tassa 2024-08-09 16:08:11 -07:00
  • 466368efc6 Add shellinertia support for primitives: sphere, capsule, cylinder, ellipsoid, and box. Taylor Howell 2024-08-09 14:39:26 -07:00
  • ec43ec7c30 Remove hard-coded nPOS and nVEL from mjCModel. Alessio Quaglino 2024-08-09 12:52:48 -07:00
  • da15aa6a0e Improve error message for fullinertia and orientation specifiers. Alessio Quaglino 2024-08-09 12:19:26 -07:00
  • ebd8615554 Internal change. Kyle Bayes 2024-08-09 08:15:54 -07:00
  • 1c9d609b5b Make mj_gjkPenetration have the same signature as LibCCD penetration functions. Kyle Bayes 2024-08-09 07:39:07 -07:00
  • 35a834f0ba Fix engine_sort_test compile error. Erik Frey 2024-08-08 14:10:34 -07:00
  • ebf887e14d Add sensors to MJX. Implements jointpos and actuatorpos as examples. Taylor Howell 2024-08-08 10:31:48 -07:00