608115ab95
Add output attribute to camera elements.
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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
f2e9097ed6
Change mjsCamera.resolution type from float to int.
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Resolution is inherently an integer quantity (pixels).
PiperOrigin-RevId: 848276456
Change-Id: I92ee1aa88fd552fd42cb3871442f020f26d6fa6a
2025-12-23 13:14:32 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
7190bd4912
Add flag for depth rendering.
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PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
2025-12-18 04:36:26 -08:00
477a14dcb2
Add WASM binding for mj_compile.
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It does not support model assets management via VFS yet.
PiperOrigin-RevId: 844864882
Change-Id: I422d7896ed024fc6f5c3fa923a58cdc9059f3bee
2025-12-15 11:58:26 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
4c40d5938e
Add type hints to tuple constants in codegen/generators/constants.py.
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`tuple` is better than `list` for constants if we don't expect they get modified by other parts of the code
PiperOrigin-RevId: 838748519
Change-Id: Ic950a78be7ad7518361c046d7e4542607070d3a2
2025-12-01 06:37:03 -08:00
8a5c52d395
Use a dedicated function for wrapper struct names
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This change introduces a `wrapper_struct_name` function in `structs.py` to consistently generate the name of the C++ wrapper struct from a C struct name. All call sites in `functions.py` and `structs.py` that previously used `common.capitalize` for this purpose now call `wrapper_struct_name`.
PiperOrigin-RevId: 837544242
Change-Id: Ibe5fea8294283dae63bb8d064fd8beb8cfd3f2fe
2025-11-27 08:42:33 -08:00
9ca1598b23
Refactor MuJoCo WASM struct codegen.
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PiperOrigin-RevId: 837530063
Change-Id: I57518b2fbb536f356a5e15839d8e17f455bccde9
2025-11-27 07:42:41 -08:00
05f194c412
Reorganization of the WASM bindings.cc template
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* Move all bindings into a single EMSCRIPTEN_BINDINGS block
* Move all auto generated bindings line to the start of the block
* Alphabetically sort the constants binding lines
PiperOrigin-RevId: 837142009
Change-Id: I218a37dbc0ca6c6f16a455718889c08fe1b41d56
2025-11-26 08:43:51 -08:00
181dcab6be
Combine markers and content and reorganize parts of the WASM template file
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PiperOrigin-RevId: 836729951
Change-Id: Ib3bb25a23325cfbd84fd0439243db37ca8236bf3
2025-11-25 10:40:44 -08:00
6e59f61c70
Make WASM codegen output to be alphabetically ordered.
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PiperOrigin-RevId: 836680575
Change-Id: I7ddb7267c0db4911b2e84528f948dee6fccdf81d
2025-11-25 08:29:30 -08:00
888d3a7b07
Add mj_copyState
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PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:10:30 -08:00
711a388b3d
Sort and generate optional struct bindings in WASM.
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PiperOrigin-RevId: 836273537
Change-Id: I2af2401969a4780f593df86dc9336adcc285fd1b
2025-11-24 10:18:09 -08:00
217317ccba
Change WASM generators from classes to functions.
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PiperOrigin-RevId: 836257289
Change-Id: I7a3c1d7bb545353a3d278330582e33c0551792cb
2025-11-24 09:36:36 -08:00
ee8dbd4347
Simplify enum WASM bindings generator
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PiperOrigin-RevId: 834725472
Change-Id: I278447145cd8dcdd145f0d50bc3bae649ea2b440
2025-11-20 05:52:02 -08:00
a0d49ade1b
More simplification to functions.py in WASM bindings
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PiperOrigin-RevId: 834643175
Change-Id: Iff873f6f0916e0039ff6a44468afd9b4d8f98f37
2025-11-20 01:06:29 -08:00
102f382c9d
Rename uppercase_first_letter to capitalize
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Also rename `lowercase_first_letter` to `decapitalize`
PiperOrigin-RevId: 834622292
Change-Id: I1cfbda1be782ff40dd3fc0726601cc6b1f427345
2025-11-19 23:54:02 -08:00
48ecddbe3b
Simplify functions.py in WASM bindings generation
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PiperOrigin-RevId: 834470193
Change-Id: I3c26d65ea8812fd6a4c78264fbce8353bac6fb2f
2025-11-19 15:35:45 -08:00
49394d57d9
Rename WASM binding wrapper functions and reorder generated code.
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PiperOrigin-RevId: 834265965
Change-Id: I58e7d572dcae4f1ca262ae5d876fcd8353af183c
2025-11-19 06:26:03 -08:00
10fe5ff07f
Generate MjVisual, MjModel, MjData and MjSpec structs declaration
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PiperOrigin-RevId: 834264723
Change-Id: Id33d7568a1f9f0cfb1271cf9dd2d8713c00eee34
2025-11-19 06:22:28 -08:00
62872fecd1
Reduce size of mjsTexture.gridlayout (was 13, should be 12)
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PiperOrigin-RevId: 833764817
Change-Id: I2655a729d38a8871be2024492ce2a971fc8a0372
2025-11-18 04:49:05 -08:00
a66cf303f8
Clean up ray functions
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PiperOrigin-RevId: 833299985
Change-Id: I30aabe889ccc5900ff0e50a578e98e176d3effa4
2025-11-17 05:47:44 -08:00
53e254b715
Generate using declarations for anonymous structs in WASM bindings.
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PiperOrigin-RevId: 832359379
Change-Id: Ie5913c584c5605f512dbe423524a829043179b6f
2025-11-14 10:03:12 -08:00
a36f452250
Refactor MuJoCo WASM bindings functions code generation and auto-generate functions requiring argument boundchecks.
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PiperOrigin-RevId: 832333773
Change-Id: Id2e1a59e8d366baa2ee044d693f76aadcd1dfd32
2025-11-14 08:51:18 -08:00
6c15c711ee
Make mjv_cameraFrame and mjv_cameraFrustum public.
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PiperOrigin-RevId: 832187804
Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079
2025-11-14 00:03:18 -08:00
042c5223a6
Change mj_sizeModel return type to mjtSize.
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PiperOrigin-RevId: 831768095
Change-Id: I079fbadc403b32a3ce8a73fe21b2cd66391401c3
2025-11-13 02:32:18 -08:00
fa79276290
Remove destructors from Mjs wrapper structs.
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PiperOrigin-RevId: 831001833
Change-Id: I54550737a4c1cb504bf62b9bfed12d7a70434233
2025-11-11 11:31:21 -08:00
6d261528e0
Enhance error reporting in WASM codegen generators.
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In `structs.py`, a `RuntimeError` is now raised when an anonymous struct is encountered but is not present in `STRUCTS_TO_BIND`.
PiperOrigin-RevId: 830978376
Change-Id: Id64720a12c3cce313bd513a40a74ddf57718a7d1
2025-11-11 10:38:39 -08:00
8e4a5901c3
Rename internal lists of skipped functions in constants.py.
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PiperOrigin-RevId: 830976939
Change-Id: I833ef4c98107e19822f5e96c7541d294e129ac6c
2025-11-11 10:35:22 -08:00
54661ab140
Fully generate Emscripten bindings for MuJoCo functions.
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PiperOrigin-RevId: 830975595
Change-Id: Ie4d0d16c80f490abaa5ae8218628ac1b3d32c0ef
2025-11-11 10:32:04 -08:00
ff037f2e78
Make Emscripten binding module names consistent
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PiperOrigin-RevId: 830902834
Change-Id: I64e004559cbfdb14fb84bc548f05b1ab49e94d4d
2025-11-11 07:20:45 -08:00
5b859327cc
Remove unused manually added structs from WASM bindings.
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PiperOrigin-RevId: 830901766
Change-Id: If0104a59f7e06a96733feb31f1ce9a93ba3fde42
2025-11-11 07:17:37 -08:00
3e167e0f0b
Correctly format constructor initializer lists in struct wrappers.
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PiperOrigin-RevId: 830887996
Change-Id: Ibe663fcc17571ad1fd62d70249687c917653618e
2025-11-11 06:38:19 -08:00
75774b2a35
Simplify struct header generation by merging the internal _build_struct_header_internal function into build_struct_header
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PiperOrigin-RevId: 830878041
Change-Id: I6867984ac6ec091daaf2172fbde0e6ac6f38d1f3
2025-11-11 06:03:13 -08:00
4e46db8903
Refactor WASM binding directory structure
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* All tests moved into wasm/codegen/tests folder
* Merged wasm/codegen/helpers/ into wasm/codegen/generators/
PiperOrigin-RevId: 829471173
Change-Id: I2dbc5d9351771817ec260c7ddf87c31e66a9eabe
2025-11-07 09:37:26 -08:00
44220fcc51
Refactor WASM bindings in preparation for codegen directory structure update
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PiperOrigin-RevId: 829459535
Change-Id: I4045e163a6e7fcee9d9585131d1e5e30f0b50b89
2025-11-07 09:02:43 -08:00
45b079cfe8
Various minor cleanups in WASM bindings generation code
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PiperOrigin-RevId: 829430835
Change-Id: Iadb0e4f8a197da69e093eccfd75d07cf6db5faaf
2025-11-07 07:34:41 -08:00
6fb4394701
Refactor array initialization for mjData and mjvScene in MuJoCo WASM bindings.
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PiperOrigin-RevId: 829406147
Change-Id: Ib93c49e938086fb277e4959ade1f25e6ced5c70d
2025-11-07 06:12:14 -08:00
252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
7dfd92098f
Simplified struct field handling in the WASM bindings
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PiperOrigin-RevId: 829003969
Change-Id: I139f9c0dad96e1664b1bd054f09fcdf58aff260e
2025-11-06 10:10:18 -08:00
06ecdd6ba1
Refactor: Generate all struct bindings within the codegen.
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PiperOrigin-RevId: 828973537
Change-Id: I3f371d2f88e1cd9b1bb5c0a9c6a5ace7a21673fb
2025-11-06 08:49:48 -08:00
b807d5f852
Remove MjVFS from generated Emscripten bindings.
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PiperOrigin-RevId: 828943991
Change-Id: I681079854c71059392518c328a4488bb47127433
2025-11-06 07:20:11 -08:00
3577c98f82
Refactor Emscripten bindings generation for MuJoCo structs.
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PiperOrigin-RevId: 828550215
Change-Id: Iab0bf3a9fbaca4d7774f89a4d8977e762aa57629
2025-11-05 11:14:29 -08:00
8104235f8e
Generate wrappers for anonymous structs within mjVisual.
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PiperOrigin-RevId: 828548681
Change-Id: I07f8b407157b91ac24b38604b20826541e20e23e
2025-11-05 11:10:52 -08:00
c3858f267a
Change default values of WrappedFieldData string fields to empty strings.
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PiperOrigin-RevId: 828547058
Change-Id: I0dc0f993cd93a8feab3f1a53b7ee6c47266093e0
2025-11-05 11:07:29 -08:00
ff0ae09bc4
Remove debug printing functionality from WASM codegen.
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PiperOrigin-RevId: 828545426
Change-Id: I136e6290c7ffdd4c2029aaf72cb90e0fc3cc7a9f
2025-11-05 11:03:28 -08:00
Yuval Tassa