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94 Commits

Author SHA1 Message Date
Matias Manevi 76e64d96bb Add JavaScript bindings and WASM support 
Co-authored-by: Matija Kecman <matijak@google.com>
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar>
Co-authored-by: Kyle Bayes <kylebayes@google.com>
PiperOrigin-RevId: 826094938
Change-Id: Id2658a187bc078056f4410c71202696753319e64
 2025-10-30 10:38:16 -07:00
Saran Tunyasuvunakool 0eea5d6dbd Add libwayland-dev and libxkbcommon-dev to GitHub Actions YAML. 
PiperOrigin-RevId: 800462182
Change-Id: I771df8af3f827f0fe7f2d9975eb6fd04940f17dc
 2025-08-28 07:40:38 -07:00
Baruch Tabanpour 7ea92c65ec Fix to github CI. 
PiperOrigin-RevId: 789380763
Change-Id: I8e2679a70e8bf443e373f57a0a78ed68b70e60a6
 2025-07-31 10:10:26 -07:00
Baruch Tabanpour 47bc16a37c Add mujoco_warp as an implementation in mjx. 
PiperOrigin-RevId: 789366860
Change-Id: I84b49e744552092434df49d855f1052b04291b87
 2025-07-31 09:33:35 -07:00
Saran Tunyasuvunakool 6a977d073b Fix GitHub Actions builds. 
PiperOrigin-RevId: 757765160
Change-Id: Idaf86f80a24bc480ce35711cb706a4702a249d31
 2025-05-12 08:00:43 -07:00
Sam Haves ab63a7e824 Add CMakeLists for usdMjcf file format plugin. 
This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco.

In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests.

PiperOrigin-RevId: 753969974
Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
 2025-05-02 05:48:33 -07:00
Silvio Traversaro 376dc59ea0 GitHub Actions: Use macos-13 image instead of deprecated macos-12 2024-12-07 17:25:19 +01:00
Silvio 1201db8050 Do not test python bindings in python/dist directory 
This will permit to early catch tests that rely on files not
installed in the wheel, i.e. catch if pytest --pyargs mujoco fails in a vanilla environment.
 2024-10-25 13:24:21 +02:00
Copybara-Service 56bb3ca5de Merge pull request #1901 from abhihjoshi:usd-fixes 
PiperOrigin-RevId: 671815757
Change-Id: I8a08385b63401c743253545d89389ab8aaac91bc
 2024-09-06 10:31:09 -07:00
Alessio Quaglino 9febd760a1 Set working directory for python tests on GitHub. 
PiperOrigin-RevId: 657961231
Change-Id: I859f823ae7fa7bf73b4adde77746eb3340ba8587
 2024-07-31 04:54:19 -07:00
Yuval Tassa 44be878e7e Enable inter-procedural optimization by default in cmake 
PiperOrigin-RevId: 647336693
Change-Id: I44acf48ed9825dd3e71b06f2aca581cdb17dce34
 2024-06-27 09:05:49 -07:00
Saran Tunyasuvunakool 5b6800116a Workaround for https://github.com/actions/runner-images/issues/10004. 
PiperOrigin-RevId: 641250258
Change-Id: I00509dc21c568a05d6cba346437194a7e80badd4
 2024-06-07 07:58:38 -07:00
Baruch Tabanpour 683929ab34 Remove integration MJX test from github actions. 
PiperOrigin-RevId: 625116629
Change-Id: I8f9c4c881732cda3f4559643a1493a9e1c2d9510
 2024-04-15 16:19:15 -07:00
Nimrod Gileadi 002b427a32 PID Controller as an actuator plugin. 
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
 2023-11-25 08:41:01 -08:00
Saran Tunyasuvunakool 7207b60b5a Place untrusted data from the git commit metadata in environment variables. 
This prevents bash from executing strings in the commit metadata as code when reporting build errors.

PiperOrigin-RevId: 580155315
Change-Id: I4046eabd76eba14297fffe4e2fced59259d80f21
 2023-11-07 06:14:17 -08:00
Saran Tunyasuvunakool 1178bad339 Run MJX tests on GitHub Actions. 
PiperOrigin-RevId: 574939328
Change-Id: Ic6e5650ef6a7df8c94a189206fddf06bd9c4eb97
 2023-10-19 11:12:54 -07:00
Saran Tunyasuvunakool f32219c37c Install locally built wheels with --no-deps --no-index. 
PiperOrigin-RevId: 572665469
Change-Id: I65c93e42155024d8dbfb42e45fd5b4be09f3528e
 2023-10-11 13:13:59 -07:00
Saran Tunyasuvunakool c2f73ee755 Fix broken Bash substitution on macOS and only nofify failures. 
PiperOrigin-RevId: 569428932
Change-Id: Id23501c3e8dd8b615dc6f2677fb7e21a1b0b0b34
 2023-09-29 02:08:47 -07:00
Saran Tunyasuvunakool d70266fd55 Fix chat notification in GitHub Actions workflow. 
PiperOrigin-RevId: 569337051
Change-Id: I510ddebc5b08858eb3a40903659c9868f67f4da5
 2023-09-28 17:38:58 -07:00
Saran Tunyasuvunakool d223f40eef Fix broken build.yml. 
PiperOrigin-RevId: 569232412
Change-Id: Ic8d9dc96284825595461bbf9396d6525673efb1f
 2023-09-28 11:01:38 -07:00
Saran Tunyasuvunakool 7e5711ad36 Notify team chat of GitHub Actions runs. 
PiperOrigin-RevId: 569231063
Change-Id: I9e66b90ff944e9a6a0898e336c7f049a07c3609d
 2023-09-28 10:57:30 -07:00
Saran Tunyasuvunakool 107b76490a Update GitHub Actions config. 
PiperOrigin-RevId: 569154469
Change-Id: Ifc208d2e7a900359b5926002a31a15ba01787659
 2023-09-28 05:59:04 -07:00
Alessio Quaglino 0b700ce1e2 Add libsdf to github actions. 
PiperOrigin-RevId: 565691982
Change-Id: Ia1bfa4242c0af4d37f6cd660c3404605439d9ffd
 2023-09-15 08:59:36 -07:00
Saran Tunyasuvunakool c9e9cd8b35 Change org name to "Google DeepMind" in various docs. 
PiperOrigin-RevId: 540691205
Change-Id: I9eb99eb18893e6748892334470211dbd9d5808db
 2023-06-15 14:28:25 -07:00
Saran Tunyasuvunakool 133b8d0978 Make MuJoCo buildable with Visual Studio 2019 update 7 and earlier. 
Also enable MSVC 2019 builds on GitHub Actions.

Fixes #862.

PiperOrigin-RevId: 531167754
Change-Id: I17687fb287c38a7f2245c6f7ba59a22b772e3a8c
 2023-05-11 04:54:53 -07:00
Kevin Zakka 42fbc2ec7b Skip CI on README changes. 
PiperOrigin-RevId: 529067951
Change-Id: Icca59b5abd89d131066b99780e4bc2b575d7810e
 2023-05-03 06:03:38 -07:00
Yuval Tassa b397b3123e Added touch grid sensor plugin. 
PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
 2023-04-27 02:03:03 -07:00
Saran Tunyasuvunakool 5e989d18c3 Enable compiler errors for implicit switch case fallthroughs. 
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
 2023-02-10 03:49:00 -08:00
Kevin Zakka d7e082ae96 Testing doc change. 2022-12-06 18:15:10 +00:00
Saran Tunyasuvunakool 2ebc5f097b Change simulate plugin directory name to mujoco_plugin. 
This helps distro packagers avoid having to create a directory with the generic `plugin` name in system locations.

Context: https://github.com/deepmind/mujoco/issues/552
PiperOrigin-RevId: 489011386
Change-Id: Ie9f1748cbb4f2b9dc8c328064caaeb50c88fdec3
 2022-11-16 12:40:31 -08:00
Saran Tunyasuvunakool 8df9d3c0a3 Fix build.yml. 
PiperOrigin-RevId: 487641805
Change-Id: I071e855b7ccd6eafe8cf0d54d410f324822776a5
 2022-11-10 14:35:54 -08:00
Saran Tunyasuvunakool 6175b508c0 Also run pip install --require-hashes on GitHub Actions. 
PiperOrigin-RevId: 487625303
Change-Id: Ib65ff23faa33a95e077952e275cf466cec44fb93
 2022-11-10 13:31:18 -08:00
Alessio Quaglino 9833f912c1 Renamed Elasticity to Cable and libcable to libelasticity for consistency. 
PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
 2022-11-02 11:08:44 -07:00
Saran Tunyasuvunakool 106a3fc0bb Fix GCC build. 
PiperOrigin-RevId: 480677627
Change-Id: If1184e0b3bf0e17cee91c0191bdf6aa84ed7f604
 2022-10-12 11:40:07 -07:00
Alessio Quaglino 95fe2fbc40 Add plugin support to Python bindings. 
PiperOrigin-RevId: 480675078
Change-Id: I2967654b6662efced8ae62cae9b03c6c8e65c67c
 2022-10-12 11:30:15 -07:00
Saran Tunyasuvunakool 26bdb7c8b8 Replace __attribute__((constructor)) with C++ constructor. 
The use of __attribute__((constructor)) made the previous commit fail to build in MSVC.

PiperOrigin-RevId: 474891117
Change-Id: I86a71bb8f3226ee49a8b5e8c07adc613623042b3
 2022-09-16 13:39:39 -07:00
Kevin Zakka d466e390fc Add new simulate to CI. 
PiperOrigin-RevId: 468670988
Change-Id: I2c6c7ac4763402f2a3e8df734746477e54a8ed8e
 2022-08-19 04:17:10 -07:00
Nimrod Gileadi 5ee184ddaa Add --output-on-failure to ctest invocation on GH Actions. 
See https://cmake.org/cmake/help/latest/manual/ctest.1.html

PiperOrigin-RevId: 465414085
Change-Id: Ia8f8da532193cced535bb813cdd66ae48005f91d
 2022-08-04 15:05:19 -07:00
Saran Tunyasuvunakool 74539e307e Run apt-get update on Linux in GH Actions. 
PiperOrigin-RevId: 465054121
Change-Id: I01702bcc51e03ea27c0da80565296b9f80df46fb
 2022-08-03 07:52:12 -07:00
Saran Tunyasuvunakool 69e3fe1730 Add CI builds on Ubuntu 20 with GCC 9, GCC 10, Clang 10, and Clang 11. 
PiperOrigin-RevId: 461500095
Change-Id: I812d1ac2a864e404c3052b3aa65443c5eb975ccf
 2022-07-17 16:00:40 -07:00
Saran Tunyasuvunakool aefab0e9dc Build Python bindings in build.yml. 
We currently skip building the Python bindings on Windows since MSVC takes an hour+ on them. Internally, we use Clang for our Windows build, so are not affected by this issue.

PiperOrigin-RevId: 450914163
Change-Id: I329aab28f3a2aeb1896242a8712f89d8ecff2f92
 2022-05-25 07:01:59 -07:00
Saran Tunyasuvunakool 3034e8537c Add a Linux Clang build and MUJOCO_HARDEN to build.yml. 
PiperOrigin-RevId: 450709606
Change-Id: I63525e4670d0d05ca478c0a3f8c39f15d0b2aaf3
 2022-05-24 10:08:11 -07:00
Saran Tunyasuvunakool dbf6c74f8f Add a comment to build.yml to clarify that it's not "official". 
PiperOrigin-RevId: 450679854
Change-Id: I0a71c02c61b6ee8969b47590ad87f1dc5fdf145b
 2022-05-24 07:47:09 -07:00
Saran Tunyasuvunakool 01e232446d Add build.yml for GitHub Actions. 
PiperOrigin-RevId: 450475783
Change-Id: I2384b64459c327b94ac98aa0bdd8a5258c5cda0f
 2022-05-23 10:47:11 -07:00