chenlin/Mujoco_WASM
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1f590c12750fa8ec8b61e1b052b6e809319535c9
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25 Commits

Author SHA1 Message Date
Alessio Quaglino 157b074116 Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData. 
PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
 2025-03-25 09:37:49 -07:00
Copybara-Service d830691f53 Merge pull request #2291 from AaronYoung5:main 
PiperOrigin-RevId: 725933976
Change-Id: I207cf272d30e28f00fb4d07bd237385ad4c26a84
 2025-02-12 00:16:10 -08:00
Alessio Quaglino cef5b31a3f Drop find_ prefix in Python MjSpec methods accessing elements by name. 
PiperOrigin-RevId: 725594833
Change-Id: Ibf8a9918e98b298751d0ef2e657714e28e5fa460
 2025-02-11 05:50:49 -08:00
Alessio Quaglino e54f3c222d Autogenerate mjSpec find_* methods. 
PiperOrigin-RevId: 725255440
Change-Id: Ia9112f6c582ea9bb0af38aa97a917e72a98a84f5
 2025-02-10 10:03:44 -08:00
AaronYoung5 287256e63f added struct function for spec bindings 2024-12-16 14:22:59 -05:00
AaronYoung5 0cf5500b6a Fixed MjSpec introspection with visual.rgba and visual.headlight. Added access to MjSpec.visual.global_. 2024-12-16 14:20:18 -05:00
Alessio Quaglino 644dfc7fb5 Fix assigning bytes to texture data. 
PiperOrigin-RevId: 706747323
Change-Id: I6b0ee67d4f35db3a149ba8d9979546d3c712bb8b
 2024-12-16 10:05:23 -08:00
Alessio Quaglino 159f23e6b4 Remember compiler options during attach. 
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
 2024-10-24 08:31:15 -07:00
Alessio Quaglino 1f9dca8bc4 Do not expose plugin_slot. 
PiperOrigin-RevId: 683215401
Change-Id: Ic64f7221ed83ca3b0c8cca16eb680ea67c67b564
 2024-10-07 09:38:01 -07:00
Alessio Quaglino 66faba9aa5 Avoid changing semantics of mjsPlugin.name across XML sections. 
The `extension` section used to discard the plugin name and write the instance name in `plugin.name`, while all of the other sections wrote the instance name in `plugin.instance_name` and optionally the plugin name in `plugin.name` (via the function `OnePlugin`). Now all plugin names are in `plugin.plugin_name` and the instance is written in `plugin.name`, so that it is possible to lookup a plugin via its unique instance name.

PiperOrigin-RevId: 683183804
Change-Id: I179ef5d221143b720db24d745b09e327bf1449ef
 2024-10-07 07:57:03 -07:00
Alessio Quaglino e973dc74dd Yield ownership of char[], vector<string>, and vector<byte> to mjSpec in Python bindings. 
PiperOrigin-RevId: 681522091
Change-Id: Icb3788d9ef6e914a307531e39ad8171c24f590af
 2024-10-02 11:14:48 -07:00
Alessio Quaglino 8a825e6050 Add auto-generated tree element lists to Python bindings. 
PiperOrigin-RevId: 680973047
Change-Id: I948151260cba330c6b7218cecf13aae2c7ae92c7
 2024-10-01 05:23:03 -07:00
Alessio Quaglino b5bcc91a03 Add bindings generation for mjOption, mjVisual, and mjStatistic. 
Fixes #2076.

PiperOrigin-RevId: 677789263
Change-Id: Ie1bda40af62c5ac9bbba541668a50adfc59d3f7c
 2024-09-23 07:43:09 -07:00
Taylor Howell 6c7e1095c5 Add mjsPlugin and mjsOrientation related keyword argument support for mjSpec Python bindings. 
PiperOrigin-RevId: 676412967
Change-Id: I8cc1bfcc443327fde33246981400b375f8d4ff3d
 2024-09-19 07:55:31 -07:00
Taylor Howell bfda9f4ace Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors. 
PiperOrigin-RevId: 675929024
Change-Id: Idd8c584276d8f585b79585230f5167f79760eaef
 2024-09-18 04:02:10 -07:00
Taylor Howell b0c7101f1c Add optional kwarg inputs to mjSpec Python bindings for mjsBody add constructors. 
PiperOrigin-RevId: 675141078
Change-Id: I8d735ae7d0a018ce7cd1aca56c899d1455586015
 2024-09-16 07:32:55 -07:00
Yuval Tassa 5d91231d31 Rename mjBuffer to mjByteVec. 
PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
 2024-08-19 10:40:26 -07:00
Alessio Quaglino e0e134ca63 Add plugin tests for mjSpec. 
Fixes #1903.

PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
 2024-08-15 10:19:53 -07:00
Alessio Quaglino 851bb6eef4 Add option to mjspec for creating a texture directly from a buffer. 
PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
 2024-08-12 12:29:08 -07:00
Saran Tunyasuvunakool d029e4ff99 Get rid of unnecessary return value policy specification. 
PiperOrigin-RevId: 649437250
Change-Id: I61f8db0af526ebf667244124fcd4984881c6ef13
 2024-07-04 09:45:22 -07:00
Alessio Quaglino 9106f40e2b Add mjSpec bindings. 
Co-authored-by: Saran Tunyasuvunakool <stunya@google.com>
PiperOrigin-RevId: 648444641
Change-Id: I08ee1d3f4fae1efbc7934ba94702b1c06d8cb92a
 2024-07-01 12:05:50 -07:00
Saran Tunyasuvunakool a2de04f5be Sanitize function parameter names that are Python keywords. 
PiperOrigin-RevId: 559436458
Change-Id: I56b8a595885f3f3d3ecb7a00db5f1bd70e5f95d9
 2023-08-23 08:34:41 -07:00
Kyle Bayes d3d789cf7d Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated. 
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
 2023-03-09 13:51:27 -08:00
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