chenlin/Mujoco_WASM
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  • eaa2572a8b Add private function mj_mulJacTVec_island for Jacobian transpose multiplication with sub indices corresponding to one island. Yuval Tassa 2023-08-31 09:11:47 -07:00
  • 85fd922b37 Add private function mj_mulJacVec_island for Jacobian multiplication with sub indices corresponding to one island. Yuval Tassa 2023-08-31 07:27:34 -07:00
  • 9fd186ac2b Add private function mj_mulM_island for mass matrix multiplication with sub indices corresponding to one island. Yuval Tassa 2023-08-31 06:41:55 -07:00
  • 129abc6bca Add private function mj_solveM_island for mass matrix solve with sub indices corresponding to one island. Yuval Tassa 2023-08-31 05:10:14 -07:00
  • ba5cf4d54d Address -Wint-conversion issues. Google DeepMind 2023-08-31 03:24:01 -07:00
  • 43a0bd3646 Formatting improvements to docs Overview chapter. Yuval Tassa 2023-08-31 01:42:55 -07:00
  • ac150f751d Clean up mj_mulM. Yuval Tassa 2023-08-30 11:46:10 -07:00
  • f371ca7a4e Add missing face attribute to the XML schema. Alessio Quaglino 2023-08-30 07:07:21 -07:00
  • 16ee0dfde5 Add modified callback to resource providers (for caching purposes). Kyle Bayes 2023-08-30 06:52:36 -07:00
  • 273c23038c MakeParticle and elasticity plugin refactoring. Alessio Quaglino 2023-08-30 05:39:42 -07:00
  • f86e8b449f Refactor VFS logic out of ResourceProvider plugin code. Kyle Bayes 2023-08-30 04:46:32 -07:00
  • 215433f5f7 Implement mj_stackAlloc and mj_arenaAlloc alignment using bitwise-and. Saran Tunyasuvunakool 2023-08-30 04:28:17 -07:00
  • ccb978a74f USD integration with support for initial primitives Abhishek Joshi 2023-08-29 21:36:49 -05:00
  • 4c899b92cc Rename mj_stackAllocByte to mj_stackAlloc and make it public. Saran Tunyasuvunakool 2023-08-29 14:07:02 -07:00
  • a48e0aa355 Use size_t for the mjMARKSTACK temporary variable. Saran Tunyasuvunakool 2023-08-29 11:38:23 -07:00
  • d3ed16e78f Add mjData.dof_islandind, indexing from dofs into islands. Yuval Tassa 2023-08-29 11:05:41 -07:00
  • daa2ac7f8b Rename nstack to narena, change it and pstack to count bytes. Saran Tunyasuvunakool 2023-08-29 10:12:46 -07:00
  • b979a26b10 Rename mj_stackAlloc to mj_stackAllocNum. Saran Tunyasuvunakool 2023-08-29 08:42:05 -07:00
  • ea5e00cad8 Move mju_combineSparseCount into engine_util_sparse. Kyle Bayes 2023-08-29 07:40:06 -07:00
  • df1b3515c7 Add mjData.nl: number of active limit constraints. Yuval Tassa 2023-08-29 06:31:25 -07:00
  • 389736f5a1 Add Base64, defined by RFC 4648, encoding and decoding to MuJoCo engine. Kyle Bayes 2023-08-29 06:13:26 -07:00
  • 50e968a6e2 Add particle.xml to benchmark tests. Kyle Bayes 2023-08-29 05:51:58 -07:00
  • 5f3e22a45f Refactor a loop in engine_solver.c Yuval Tassa 2023-08-29 05:15:58 -07:00
  • 55173e58f9 Save <compiler {boundmass/boundinertia}> if nonzero. Yuval Tassa 2023-08-29 02:40:44 -07:00
  • 8ba3291365 Fix typo. Yuval Tassa 2023-08-28 10:28:56 -07:00
  • 5fe4850643 Improve mj_jac documentation. Fixes #994 Yuval Tassa 2023-08-28 10:22:52 -07:00
  • d1d79f396e Mention Windows build issue regarding missing C header file. Yuval Tassa 2023-08-28 08:04:07 -07:00
  • f44c657544 Restore acceleration after mj_inverse with invdiscrete flag. Yuval Tassa 2023-08-28 02:16:37 -07:00
  • 819b5cb982 Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse. Tom Erez 2023-08-25 12:07:28 -07:00
  • 4db3377467 Don't use mj_stackAlloc for int allocations. Yuval Tassa 2023-08-24 13:09:08 -07:00
  • 5c9b222566 Fix typo. Google DeepMind 2023-08-24 10:40:12 -07:00
  • b0077e4052 Use geom margin in the midphase. Alessio Quaglino 2023-08-24 09:44:27 -07:00
  • 9255cc58a9 Update style guide. Yuval Tassa 2023-08-24 07:09:40 -07:00
  • 1dad5993f0 Refactor constraint island representation. Yuval Tassa 2023-08-24 03:48:10 -07:00
  • b92a9d599c Fix type errors in mujoco Python library. Nimrod Gileadi 2023-08-23 10:38:09 -07:00
  • a2de04f5be Sanitize function parameter names that are Python keywords. Saran Tunyasuvunakool 2023-08-23 08:34:02 -07:00
  • 1f5a9e8c70 Reinstate max_align_t alignment in mj_stackAllocByte. Saran Tunyasuvunakool 2023-08-23 08:21:34 -07:00
  • b7cf479abe Add flag for disabling implicit integration of joint damping in the Euler integrator. Yuval Tassa 2023-08-23 05:50:52 -07:00
  • 5f2a2a325c Fix typo. Yuval Tassa 2023-08-23 05:20:01 -07:00
  • e4c3e1468b Fix typo Yuval Tassa 2023-08-23 04:24:32 -07:00
  • 90f58ebe5d Rename mj_stackAllocBytes to mj_stackAllocByte Yuval Tassa 2023-08-22 04:43:09 -07:00
  • dae74030fe Handle initial_capacity = 0 in mju_arrayListCreate. Nimrod Gileadi 2023-08-22 04:03:09 -07:00
  • 1d36b57d83 Switch from max_align_t to mjtNum until we sort out the git builds Matthew Bennice 2023-08-21 21:30:11 -07:00
  • c2e586f303 add c stddef to engineio Matthew Bennice 2023-08-21 17:50:17 -07:00
  • 4b983e8439 Add an ArrayList container type. Matthew Bennice 2023-08-21 13:37:57 -07:00
  • 59138af10b Refactor stack allocations to have a clean byte allocation interface. Matthew Bennice 2023-08-21 13:17:48 -07:00
  • 22fd0586b1 Move core_constraint arena allocations to local function. Yuval Tassa 2023-08-21 10:06:25 -07:00
  • 8e54516071 Fix broken links in changelog. Alessio Quaglino 2023-08-21 06:12:36 -07:00
  • 8421544add Added elasticity and sensor subfolders in model/plugin. Alessio Quaglino 2023-08-21 04:48:06 -07:00
  • ef699d4b6d Allow mocap bodies to be loaded by the Unity plugin. Joss Moore 2023-08-21 03:27:56 -07:00
  • ed4bb2aab5 Change _Alignof to alignof in functions.cc Kyle Bayes 2023-08-19 05:10:49 -07:00
  • 488041d362 Add a private function for resizing contact and efc-sized arrays in Python. Saran Tunyasuvunakool 2023-08-18 13:52:15 -07:00
  • b5f9628dd7 Reduce mjMAXCONPAIR to 50. Alessio Quaglino 2023-08-18 10:01:57 -07:00
  • ba12a1354b Optimize and refactor combineSparse and combineSparseCount. Kyle Bayes 2023-08-18 06:13:20 -07:00
  • b1ecc943bb Fix multiple bugs related to mjvSceneState. Yuval Tassa 2023-08-17 10:24:44 -07:00
  • cf310079e2 Don't allow quat="0 0 0 0" in XML. Yuval Tassa 2023-08-16 10:46:29 -07:00
  • 15d74ba939 Add missing include to sdf.cc. Alessio Quaglino 2023-08-16 10:29:12 -07:00
  • fdb041580c Add Signed Distance Field to collision geometries. Alessio Quaglino 2023-08-16 09:14:29 -07:00
  • 6245edae28 Improve island discovery performance Yuval Tassa 2023-08-16 04:54:53 -07:00
  • ac3ac0d28f Fix timing plots issue in simulate. Yuval Tassa 2023-08-16 04:02:59 -07:00
  • 8ea690ed70 Remove unused parameters from mju_sqrMatTDSparseInit. Kyle Bayes 2023-08-15 06:29:36 -07:00
  • 3f6c694e75 Fix typo in changelog Yuval Tassa 2023-08-15 02:47:48 -07:00
  • 3e034e38b2 Add constraint island discovery Yuval Tassa 2023-08-15 02:29:26 -07:00
  • e4dddea42a Make switch statements over enums in engine source use a typed expression to support compiler checking of full coverage. Yuval Tassa 2023-08-14 11:16:53 -07:00
  • 13490962a8 Merge pull request #1015 from aikkala:update-readme-myoconverter Copybara-Service 2023-08-14 09:59:50 -07:00
  • f34cb22bd3 Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM. Kyle Bayes 2023-08-14 09:48:35 -07:00
  • 7e1c65b10e Improve CRB code: Kyle Bayes 2023-08-14 08:31:35 -07:00
  • 8ddef7007f Disable convex hull visualization for visual geoms. Alessio Quaglino 2023-08-14 07:44:56 -07:00
  • a276c49c30 Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively. Yuval Tassa 2023-08-14 07:18:03 -07:00
  • abfa08f6cd Improve schema order in XML reference Yuval Tassa 2023-08-14 03:16:12 -07:00
  • 81d0e56185 Reduce font size in schema reference, make 4 columns Yuval Tassa 2023-08-14 02:45:21 -07:00
  • 6862cd7d1b Fix broken link in README Yuval Tassa 2023-08-11 18:00:37 -07:00
  • 70952f5f1c Updates to README Yuval Tassa 2023-08-11 11:06:37 -07:00
  • 5b65f91bb9 Replace O2MConverter with improved MyoConverter Aleksi Ikkala 2023-08-11 10:02:14 +03:00
  • 93012bf164 Remove legacy MacOS support in mju_alignedMalloc. As of MuJoCo 2.3.7, MacOS 11 is the oldest supported version of MacOS. Kyle Bayes 2023-08-09 01:57:16 -07:00
  • 631b16e7ad Add better user error messages to Python renderer update_scene along with missing unit tests. Kyle Bayes 2023-08-07 08:21:47 -07:00
  • 2d7d5319f7 Rework sparse addM function to support compressed sparse matrices. Kyle Bayes 2023-08-07 06:06:33 -07:00
  • 6d7b49ccf5 Remove collision pruning statistics from simulate info panel. Yuval Tassa 2023-08-07 06:04:22 -07:00
  • 574ae6ab91 Add an actuator with actearly and dyntype="filterexact" to the test model. Nimrod Gileadi 2023-08-07 05:07:50 -07:00
  • 2c3297b3e7 Add filterexact and actearly options to MuJoCo. Nimrod Gileadi 2023-08-07 04:49:42 -07:00
  • f0f535ed04 Improve order and clarify declarations of arena variables in mjdata.h Yuval Tassa 2023-08-07 03:06:26 -07:00
  • 4a519b9dd8 Raise an error if invalid camera name is provided to renderer update_scene. Fixes #870. Kevin Zakka 2023-08-02 11:45:58 -07:00
  • a063e2f0ef Add private functions and associated tests related to constraint island discovery. Yuval Tassa 2023-08-02 08:42:25 -07:00
  • efca1a76aa Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names), and fix a couple of typos. Kyle Bayes 2023-08-02 14:42:49 +01:00
  • dac34c91bb Set tendon_invweight0=0 for models with no dofs. Nimrod Gileadi 2023-07-28 07:53:17 -07:00
  • 455a081ee7 Cache triangles, vertices and normals from the mesh outside of the triangle loop so we don't have to request them inside the loop. Google DeepMind 2023-07-28 07:50:15 -07:00
  • 5f246ef210 Add ReadAttrVec, ReadAttrArr, ReadAttrStr, and ReadAttrNum to XML utils. Kyle Bayes 2023-07-25 07:30:19 -07:00
  • 5b4b3415fa Fix a typo: availabe -> available Nimrod Gileadi 2023-07-24 05:47:55 -07:00
  • 65c827d422 Fix typo in key_callback example. Kevin Zakka 2023-07-21 12:09:49 -07:00
  • bbbf30ee47 Fix typo in docs. Yuval Tassa 2023-07-20 04:45:29 -07:00
  • eaf78b798b Bump dev version number to 2.3.8. Saran Tunyasuvunakool 2023-07-20 03:27:01 -07:00
  • c9246e1f50 Release version 2.3.7. Saran Tunyasuvunakool 2023-07-20 02:13:05 -07:00
  • 06b70832ce Add keyboard event callback for Python passive viewer. Saran Tunyasuvunakool 2023-07-19 15:53:51 -07:00
  • f7847ba73e Fix GLFW crash when Python exits while the passive viewer is running. Saran Tunyasuvunakool 2023-07-19 15:19:44 -07:00
  • 8386b28877 Change "MIME type" to "Media Type". Saran Tunyasuvunakool 2023-07-19 12:34:21 -07:00
  • 51aa375af0 Improvements related to models where joint-actuator relationship is not one-to-one: - Add joint-actuatorforcerange for clamping total actuator force at joints. Add sensor-jointactuatorfrc for sensing total actuator forces on a single joint. See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases. - Add simple car model to model/. - Move actuation-related test models into engine/testdata/actuation/. Yuval Tassa 2023-07-19 10:28:24 -07:00
  • 7603b07a20 Fix broken Linux build in 5fcdae771b. Saran Tunyasuvunakool 2023-07-19 09:26:30 -07:00
  • 5fcdae771b Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures. Kyle Bayes 2023-07-19 06:50:35 -07:00
  • 5f327b0c31 Add missing pybind definition for update_mesh. Saran Tunyasuvunakool 2023-07-15 14:57:03 -07:00
  • ac4ed87a9f Merge pull request #985 from thowell:main Copybara-Service 2023-07-15 03:11:56 -07:00