chenlin/Mujoco_WASM
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  • 56403b4dce Fixups to comments and flags for reversed Z rendering Levi Burner 2023-09-29 11:34:14 -04:00
  • 2e52bf807b Add flag to mjrContext to support legacy depth mapping by default Levi Burner 2023-09-26 13:34:00 -04:00
  • d32eb6bd12 In place change to reverse Z rendering and 32 bit float offscreen depth buffer Levi Burner 2023-07-11 14:10:14 -04:00
  • 14f1386fc0 renderer.py improve accuracy and support depth precision and mapping flags Levi Burner 2023-06-21 17:49:18 -04:00
  • fc7b212369 Support reversed Z rendering and float32 offscreen depth buffer Levi Burner 2023-06-14 14:42:42 -04:00
  • e1549376f6 Use body AABB for torque perturbation visualisation, if available. Yuval Tassa 2023-09-29 13:49:20 -07:00
  • ebded4747f Replace fruitfly image with a more dynamic pose. Yuval Tassa 2023-09-29 07:00:08 -07:00
  • c2f73ee755 Fix broken Bash substitution on macOS and only nofify failures. Saran Tunyasuvunakool 2023-09-29 02:08:01 -07:00
  • d70266fd55 Fix chat notification in GitHub Actions workflow. Saran Tunyasuvunakool 2023-09-28 17:38:01 -07:00
  • d223f40eef Fix broken build.yml. Saran Tunyasuvunakool 2023-09-28 11:00:58 -07:00
  • 7e5711ad36 Notify team chat of GitHub Actions runs. Saran Tunyasuvunakool 2023-09-28 10:56:33 -07:00
  • 8e00f8029e Disable -Wmaybe-uninitialized in GCC versions 12 and later. Saran Tunyasuvunakool 2023-09-28 09:24:32 -07:00
  • 107b76490a Update GitHub Actions config. Saran Tunyasuvunakool 2023-09-28 05:58:14 -07:00
  • 36d2ffe4f2 Specify camera parameters using standard robotics conventions. Alessio Quaglino 2023-09-28 05:18:36 -07:00
  • ca60de79c8 Change sz to 64-bit integer in mj_setPtrData. Saran Tunyasuvunakool 2023-09-28 03:19:19 -07:00
  • 772326e9eb Fix potential out-of-range write in solver statistics saving. Yuval Tassa 2023-09-28 00:57:19 -07:00
  • b8a91a00ce Merge pull request #1070 from aftersomemath:simulate-load-message Copybara-Service 2023-09-27 16:36:40 -07:00
  • ac74c72657 Fix issue where unpausing the simulation (especially under slowdown) causes a jump in simulation time, in both native simulate and Python viewer. Yuval Tassa 2023-09-27 13:45:25 -07:00
  • e7d1f2f110 simulate: fix display of loading message Levi Burner 2023-09-25 18:13:29 -04:00
  • 8ed321d469 Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section. Saran Tunyasuvunakool 2023-09-27 11:31:26 -07:00
  • 0dfeedb320 fix open source build failure by switching C's _Alignof for C++'s alignof Matthew Bennice 2023-09-25 20:43:17 -07:00
  • 6e14b2bc61 Adding cameras and temporary fix for plane geom Abhishek Joshi 2023-09-25 22:10:51 -05:00
  • ff4158efff Modify memory allocation in MuJoCo to be thread safe: 1) protect mj_arenaAllocBytes with mutexes 2) create shards for each thread in the stack and update mj_stackAllocBytes to allocate memory within each shard for a given thread Matthew Bennice 2023-09-25 13:52:33 -07:00
  • dff0bc2683 Copybara import of the project: Chengrui Zhu 2023-09-25 07:06:04 -07:00
  • d3d46e16a4 Remove cloth and rope composites and deprecate loop. Alessio Quaglino 2023-09-25 03:37:42 -07:00
  • 01cd7d8ef4 Visualizing specific geom groups Abhishek Joshi 2023-09-24 17:20:00 -05:00
  • cbb07a4c32 Bump Python dependencies. Saran Tunyasuvunakool 2023-09-23 15:23:28 -07:00
  • 81c5e61b1e Correct OpenGL library path on macOS. Saran Tunyasuvunakool 2023-09-22 12:08:06 -07:00
  • 1e06a554e5 Removing redundant range calculations Abhishek Joshi 2023-09-21 16:20:08 -05:00
  • 7f8018a3f3 Update XML parsing to store asset path so that assets can be recovered and sent to external renderers Matthew Bennice 2023-09-21 10:27:04 -07:00
  • 4f34cacf35 Add maxuse_threadstack to mjData Matthew Bennice 2023-09-21 09:40:14 -07:00
  • be75dda8d1 Fix arena memory leak in _realloc_con_efc. Saran Tunyasuvunakool 2023-09-20 15:12:28 -07:00
  • dd5a7115cf Add shell plugin. Alessio Quaglino 2023-09-20 08:59:26 -07:00
  • c54aba15f9 Fix typo in docs. Yuval Tassa 2023-09-20 07:28:03 -07:00
  • 35e7bb354d Add documentation of ellipsoid-based fluid drag model. Yuval Tassa 2023-09-20 05:40:57 -07:00
  • dfd48dd821 Replace mjMIN and mjMAX with mju_min and mju_max, where possible. Yuval Tassa 2023-09-19 05:39:55 -07:00
  • 9cf1f6eba4 Remove mjOption.collision and associated option/collision attribute. Yuval Tassa 2023-09-18 15:14:33 -07:00
  • 9902b73502 Rename mj_stackAlloc to mj_stackAllocByte. Yuval Tassa 2023-09-18 10:52:46 -07:00
  • 812e617fe9 Clear mjData.actuator_moment more selectively. Yuval Tassa 2023-09-18 09:26:15 -07:00
  • 6ca8a7bdf7 Make SdfLib dependency on args and stb_image optional. Alessio Quaglino 2023-09-18 08:26:56 -07:00
  • ee8da5babe Fix indentation bugs in docs, improve attribute order in schema. Yuval Tassa 2023-09-18 01:46:59 -07:00
  • deb8a8e2e2 Including base colors for meshes Abhishek Joshi 2023-09-17 14:08:10 -05:00
  • 3f366ffd4c Merge branch 'google-deepmind:main' into usd-integration Abhishek Joshi 2023-09-17 12:54:31 -05:00
  • 63fd23a934 Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE. Yuval Tassa 2023-09-16 08:02:38 -07:00
  • e76e1c72f9 Fix SdfLib relative path. Alessio Quaglino 2023-09-16 00:40:40 -07:00
  • 0b700ce1e2 Add libsdf to github actions. Alessio Quaglino 2023-09-15 08:58:15 -07:00
  • 2cc1205498 Add island support to CG solver. Yuval Tassa 2023-09-15 05:46:35 -07:00
  • 492b6a72ec Prevent patches to be applied to an already patched dependency. Alessio Quaglino 2023-09-15 02:57:57 -07:00
  • ea0aa86e6b Merge branch 'google-deepmind:main' into usd-integration Abhishek Joshi 2023-09-14 17:29:15 -05:00
  • 8b9ffdc441 Adding meshes and materials Abhishek Joshi 2023-09-14 17:17:54 -05:00
  • 2aea61942c Replace Humanoids with Bipeds in docs. Yuval Tassa 2023-09-14 14:13:05 -07:00
  • 4751f70026 Export SdfLib patch to GitHub. Alessio Quaglino 2023-09-14 06:55:17 -07:00
  • 1afd98ec4b Add [SdfLib](https://github.com/UPC-ViRVIG/SdfLib) plugin to first-party SDFs. Alessio Quaglino 2023-09-14 06:41:48 -07:00
  • de5c3b1a09 PUBLIC: Update model gallery with new Menagerie models. Kevin Zakka 2023-09-14 04:26:42 -07:00
  • 976a6df78d Fix typo in docs. Yuval Tassa 2023-09-13 10:47:14 -07:00
  • 86d8b912f4 Rejigged solver statistics in preparation for islanding. Yuval Tassa 2023-09-13 06:17:45 -07:00
  • 8faf47dd16 BEGIN_PUBLIC Add missing ctrl attribute to keyframe indexer. END_PUBLIC Kevin Zakka 2023-09-12 12:53:57 -07:00
  • b0abafe3bb Set camera origin at top-left of the first pixel. Alessio Quaglino 2023-09-12 10:43:59 -07:00
  • 8064ad59c8 Add camera projection sensor. Alessio Quaglino 2023-09-12 08:15:14 -07:00
  • ccda87aafa Use mesh_pos and mesh_quat in SDF transformation. Alessio Quaglino 2023-09-12 07:57:12 -07:00
  • 71faea0e62 BEGIN_PUBLIC Don't update actuator state when actuation is disabled. END_PUBLIC Nimrod Gileadi 2023-09-12 07:17:04 -07:00
  • fbcd96d03f BEGIN_PUBLIC Zero all of act_dot when there are custom actuator dynamics, but no callback. END_PUBLIC Nimrod Gileadi 2023-09-12 07:13:25 -07:00
  • 48eb75ae92 In simulate, by default, keep updating profiler and sensor figures in Pause mode. Add UI option to disable. Yuval Tassa 2023-09-12 07:05:26 -07:00
  • 2f14a7c102 Make asan instrumentation in mj_(mark|free)Stack cheaper. Saran Tunyasuvunakool 2023-09-12 06:05:15 -07:00
  • 2b192cebb6 PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1. Yuval Tassa 2023-09-11 11:08:08 -07:00
  • 860f7b376a Fix GCC and MSVC build. Saran Tunyasuvunakool 2023-09-11 08:16:20 -07:00
  • 78183e60e1 Refactor thread pool implementation. Saran Tunyasuvunakool 2023-09-11 07:19:50 -07:00
  • 0ba10cc4f0 Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat} Matthew Bennice 2023-09-10 15:25:17 -07:00
  • a9efd13e44 Merge branch 'main' into usd-integration Abhishek Joshi 2023-09-09 16:40:27 -05:00
  • 0412f98df1 Adding logic to include meshes using MjModel Abhishek Joshi 2023-09-09 16:37:45 -05:00
  • a07e172770 Make MuJoCo work with -fsanitize=alignment. Saran Tunyasuvunakool 2023-09-08 03:28:41 -07:00
  • 7e5a7b76fc Change GitHub org name to google-deepmind. Saran Tunyasuvunakool 2023-09-07 12:32:28 -07:00
  • 1a3215e329 Fix typo in changelog. Kevin Zakka 2023-09-07 05:22:33 -07:00
  • 4e58b0619b Merge branch 'deepmind:main' into usd-integration Abhishek Joshi 2023-09-06 14:04:36 -05:00
  • 040d3efce2 Add options for controlling early termination criteria of CG/Newton linesearch. Google DeepMind 2023-09-06 12:02:11 -07:00
  • 48d0bfde44 Replace glfw.get_time with time.time in the Python viewer timing logic. Saran Tunyasuvunakool 2023-09-06 09:51:32 -07:00
  • ba66bd4f8b Fixes to documentation: Yuval Tassa 2023-09-05 12:35:41 -07:00
  • 4929077211 Remove mjMARKSTACK and mjFREESTACK macros. Saran Tunyasuvunakool 2023-09-05 11:41:01 -07:00
  • 329ed193ac Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC. Saran Tunyasuvunakool 2023-09-05 11:04:12 -07:00
  • 8ffdee355a Add new header to correct warning for placement new Matthew Bennice 2023-09-05 09:20:01 -07:00
  • d5292976de Add internal utility for zeroing int vectors. Yuval Tassa 2023-09-05 07:13:37 -07:00
  • f976d6d228 Use a raw function pointer instead of std::function objects in thread pool. Nimrod Gileadi 2023-09-05 06:28:58 -07:00
  • edbe9ce86f Correct use of number_of_threads_ in an array length definition. It should be max_number_of_threads to allow Windows to compile it, GCC tolerates the variable length array. Matthew Bennice 2023-09-05 05:05:05 -07:00
  • 6225186964 Add threading primitives. Matthew Bennice 2023-09-04 20:08:39 -07:00
  • 94a8705ad0 Add mj_markStack and mj_freeStack as public API functions. Saran Tunyasuvunakool 2023-09-04 17:03:23 -07:00
  • 9308e1d383 Add internal utility for zeroing int vectors. Yuval Tassa 2023-09-04 14:26:19 -07:00
  • 1aa375ef9a Allow RHS vector in mj_mulM_island to use uncompressed memory. Yuval Tassa 2023-09-04 13:55:56 -07:00
  • 600c12533d Add mj_constraintUpdate_island. Yuval Tassa 2023-09-04 10:32:45 -07:00
  • b7686440d1 Indent a couple of #ifdef bodies. Yuval Tassa 2023-09-04 09:31:48 -07:00
  • 5cef4708f2 Allow mj_mulJac(T)Vec_island to read and write from uncompressed vectors (length nv or nefc). Yuval Tassa 2023-09-04 06:50:45 -07:00
  • 0e36f00857 Fix more mjData stack leakages. Saran Tunyasuvunakool 2023-09-04 06:37:53 -07:00
  • 5a21e202ed Eliminate mjContact copying during collision detection. Saran Tunyasuvunakool 2023-09-04 04:45:37 -07:00
  • feb8aa2fbb Fix bugs in engine_island.c Yuval Tassa 2023-09-04 04:05:46 -07:00
  • 89f47c33e4 Fix mjData stack frame leakages. Saran Tunyasuvunakool 2023-09-01 17:56:43 -07:00
  • 33f51856c1 Check that alignment is power of 2 in mj_stackAlloc. Saran Tunyasuvunakool 2023-09-01 12:44:53 -07:00
  • 29aa5e4a41 Allow dot products with sparse vectors to specify that one vector uses uncompressed memory. Yuval Tassa 2023-09-01 07:39:27 -07:00
  • 70c5fa50f2 Improve island-constraint testing model. Yuval Tassa 2023-09-01 05:51:26 -07:00
  • 5279ce6f6f Fix comment typo in simulate.cc Nimrod Gileadi 2023-09-01 04:55:27 -07:00
  • 02e819e76a Tighten const qualifiers of mjData in Jacobian multiplication functions. Yuval Tassa 2023-08-31 11:26:30 -07:00
  • f9c57f6213 Refactor a loop in mj_constraintUpdate. Yuval Tassa 2023-08-31 09:58:41 -07:00