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
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
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
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
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
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
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
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
fe1b6b7c80
Refactor: Group autogenerated structs source in bindings.cc
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This change modifies the code generation for structs in `bindings.cc`. Instead of placing each struct's constructor and member functions under individual markers, all autogenerated struct source code is now grouped together under a single `// {{ AUTOGENNED_STRUCTS_SOURCE }}` marker. This improves the organization of the generated file and simplifies the template.
Future work would move the rest of the structs into this pattern
PiperOrigin-RevId: 828390272
Change-Id: Iee9d0e8766db86b2c1d4296a37ac7a8e6e05428b
2025-11-05 03:26:09 -08:00
29c1a3a0a5
Cleanup WASM bindings generators so they all have a similar interface
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PiperOrigin-RevId: 827965451
Change-Id: I657fc4d3a480fbc62124c84fe9ddc0900a91183f
2025-11-04 07:32:32 -08:00
776fc32eb4
Cleanup WASM bindings struct generation
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PiperOrigin-RevId: 827949686
Change-Id: I4115e397f64963244e3c30a7eaff5be7534aadf2
2025-11-04 06:44:02 -08:00
4b79a58fa0
Add convenience methods to CodeBuilder and cleanup some WASM bindings code generation
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PiperOrigin-RevId: 827916844
Change-Id: Ie382f2a5af3d7e3ec2c81cde5d6b768835da2365
2025-11-04 05:02:59 -08:00
34e5eecba5
Autogenerate more of mjVFS and mjvGeom WASM bindings
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PiperOrigin-RevId: 827898643
Change-Id: I95f9eaa129f663cbeb3606d286c2080c47cfbcc4
2025-11-04 04:00:13 -08:00
10130297c0
Consolidate WASM bindings into a single C++ file.
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PiperOrigin-RevId: 827850819
Change-Id: I23e099d4e72557d79354339953246ac4eeee7ca3
2025-11-04 01:37:32 -08:00
4086261714
Add JavaScript bindings and WASM support
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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: 826479070
Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733
2025-10-31 07:21:18 -07:00
f2badc05ac
Add JavaScript bindings and WASM support
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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: 826109484
Change-Id: I327fd54122762bd2e239cc31c602a3eb73051c26
2025-10-30 11:11:52 -07:00
76e64d96bb
Add JavaScript bindings and WASM support
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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
Yuval Tassa