chenlin/Mujoco_WASM
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03e484116d8f25c8f431842845959fde7ffb2dca
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15 Commits

Author SHA1 Message Date
Sam Haves ae58855c15 Change compile sample to use mj_parse and mj_encode as input/output. 
There is a single remaining exception for mjb as it's a special case by bypassing mjSpec.

PiperOrigin-RevId: 943556676
Change-Id: Iaf480ea6d2d42a6007b35c23435b25c9eb24ead0
 2026-07-06 16:35:14 -07:00
Yuval Tassa 58f6d52491 Introduce new logging API, fixes #858 
PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
 2026-06-11 14:36:57 -07:00
Yuval Tassa bdf00966f9 Add compiler timing diagnostics to mjsCompiler, printed by compile.cc 
For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs

```
Compile 1 (cold cache):
  total:      317.2 ms
  assets:     284.8 ms (wall clock)
    load:     616.1 ms
    hull:      26.4 ms
    poly:     137.8 ms
    inert:    177.8 ms
    bvh:      568.2 ms
    octr:       1.6 ms
    tex:       25.3 ms
  other:       32.4 ms

Compile 2 (warm cache):
  total:       79.9 ms
  assets:      54.5 ms (wall clock)
    load:     888.5 ms
    hull:       0.0 ms
    poly:       0.0 ms
    inert:      0.0 ms
    bvh:        0.0 ms
    octr:       0.0 ms
    tex:       21.4 ms
  other:       25.3 ms
```

PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
 2026-05-19 08:28:47 -07:00
Yuval Tassa 4830f5a79e Add missing documentation for the asset cache. 
Also improve `compile` sample timing logic and documentation.

PiperOrigin-RevId: 852855741
Change-Id: I9b2798208198ca68cf4cee9c968772954ada91c5
 2026-01-06 11:07:42 -08:00
David Leins 2d1b5f1ed0 Adds missing failure exit codes for sample compile 2025-09-23 10:14:47 +02:00
Yuval Tassa 5187a712be Standardize exit codes for samples. 
Fixes #909 #910

PiperOrigin-RevId: 782951003
Change-Id: I093c0032f665bf34fecf71a75012b2b0c4c22aba
 2025-07-14 10:15:46 -07:00
Yuval Tassa 26c14c500e Fix bug in testspeed.cc for models that do not invoke the constraint solver. 
PiperOrigin-RevId: 744650422
Change-Id: I0d49b7a3f3069f0c066e8758627e95f973b3a728
 2025-04-07 03:01:24 -07:00
Yuval Tassa 40891eeadc Time both first and second compilation in sample/compile.cpp. 
PiperOrigin-RevId: 736482658
Change-Id: I3caeff5abafb69998e56ccd792f5d02e7e04e430
 2025-03-13 06:27:05 -07:00
Yuval Tassa c5473d9923 Print compilation time in sample/compile, allow compilation with no output. 
PiperOrigin-RevId: 735692355
Change-Id: I4371f800ec150f8d665cf164b50a0e5a0b5ac082
 2025-03-11 03:25:51 -07:00
Yuval Tassa 1c8ff66cc9 Remove const from argv argument in sample.cc 
PiperOrigin-RevId: 627746353
Change-Id: Ib27f9e911a74565d99a7bf0a173085c513047878
 2024-04-24 09:01:45 -07:00
Kevin Zakka ee6fed1230 Add minor enhancements to compile binary. 
* If output file exists, ask user whether to overwrite
* Fix erroneous check for whether XML file was successfully saved

PiperOrigin-RevId: 468743682
Change-Id: I06058c498328d333792e4b40d65c3a99ca1842e4
 2022-08-19 11:15:19 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00
Saran Tunyasuvunakool 3577e2cf8b Version 2.1.2: Python bindings, OBJ assets support, bugfixes. 
PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
 2022-03-15 14:04:44 +00:00
Saran Tunyasuvunakool a499b38120 Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes. 
Closes #2
Closes #42
Closes #59

PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
 2021-12-16 14:40:33 +00:00
Saran Tunyasuvunakool 1f7eaae62e Version 2.1: documentation, public API headers, and sample programs. 
PiperOrigin-RevId: 403900419
 2021-10-18 12:35:33 +01:00