chenlin/Mujoco_WASM
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2c2773e36dabeef7f075076eef18d367f28c7431
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126 Commits

Author SHA1 Message Date
Haroon Qureshi f217a8f987 Implement FetchPackage; a simple wrapper around FindOrFetch. 
FetchPackage calls FindOrFetch, but sets USE_SYSTEM_PACKAGE to OFF
(i.e. do not find, just fetch). It also sets EXCLUDE_FROM_ALL.

PiperOrigin-RevId: 822565180
Change-Id: I70476f57b8d3371cefd02e840add279423913f3f
 2025-10-22 06:43:51 -07:00
Gabe Oppenheimer 48f10bfcb6 Update MuJoCo to v3.3.8 following the 3.3.7 release. 
PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
 2025-10-15 14:39:05 -07:00
Alessio Quaglino b6f25ca623 Check mjs_getName return value in XML parser. Fixes #2898. 
PiperOrigin-RevId: 819351410
Change-Id: I0807d71328068f6388991ae15274c7d61b4d3e53
 2025-10-14 12:40:28 -07:00
Gabe Oppenheimer ae1febd83f Automated g4 rollback of changelist 818694877. 
*** Reason for rollback ***

BEGIN_PUBLIC
Holding off on a minor version bump until the next release.

*** Original change description ***

#mujoco update the version to 3.4.0 ahead of the 3.4.0 release.

Bump the version to 3.4.0 ahead of the next release.

***

PiperOrigin-RevId: 818748143
Change-Id: I722e9beb80c61a48bd997da6a1840777a81d5036
 2025-10-13 11:14:42 -07:00
Gabe Oppenheimer 02d2d4d49a Bump the version to 3.4.0 ahead of the next release. 
PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
 2025-10-13 09:22:49 -07:00
Matija Kecman bd68f0c6cc Update CMake to use C++20 
PiperOrigin-RevId: 817573868
Change-Id: I22c98515763623d7411fd12910cf88cdaa336e6e
 2025-10-10 03:54:47 -07:00
Sam Haves e4704cd28b Create list_dependencies sample to list all dependencies for an MCJF file. 
PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485
 2025-10-03 13:47:28 -07:00
Taylor Howell 7e16ecaa25 Updates for testspeed.cc ctrl noise. 
PiperOrigin-RevId: 814192687
Change-Id: I0498c8efc8e71cd578e6b9d40ffa1411447d3e43
 2025-10-02 05:37:48 -07:00
Yuval Tassa 681f5767b2 Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs 
PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
 2025-09-18 12:28:09 -07:00
Yuval Tassa 4b8454b79c Add semicolons after mjSORT macro calls. 
PiperOrigin-RevId: 808587320
Change-Id: I9fd290b9a2b615647135f1250e87af8ea9bb81f6
 2025-09-18 08:13:46 -07:00
Rishi Krishnan 8e9eb2fa38 Update MuJoCo's version number following the 3.3.6 release. 
PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
 2025-09-17 09:13:04 -07:00
Copybara-Service 9af1f55862 Merge pull request #2713 from vidurvij-apptronik:vidur/remove-installing-glfw3-headers 
PiperOrigin-RevId: 808125077
Change-Id: If87b65d2d8607f153dfd66fbfa9a6ca39c98845f
 2025-09-17 06:17:42 -07:00
Michiel Blokzijl 508d22f794 Update the GLFW dependency used by MuJoCo to 3.4. 
This makes it possible to build open-source MuJoCo with Wayland support out of
the box.

Currently, it is necessary to run cmake with -DGLFW_USE_WAYLAND=ON and ensure
cmake can find the "ECM" package somehow (a dependency of the 3.3.6 version of
GLFW), for which there is no automated fetching setup. As this is no longer a
dependency of GLFW it seems to make more sense to update GLFW to make out of the
box builds on Wayland.

PiperOrigin-RevId: 800456607
Change-Id: Iffdf1d65319bfb134e580faceb63ac3bed7b9c84
 2025-08-28 07:24:26 -07:00
Rishi Krishnan ed3ff15870 Update MuJoCo's version number following the 3.3.5 release. 
PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
 2025-08-08 16:45:12 -07:00
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
Rishi Krishnan 3c99705f85 Update MuJoCo's version number following the 3.3.4 release. 
PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
 2025-07-10 10:47:26 -07:00
Kevin Sayed a4ab35c194 update scrubs and set next version 
PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
 2025-06-12 11:39:45 -07:00
Google DeepMind 4137a4c774 Bump version to 3.3.3 following the 3.3.2 release 
PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
 2025-04-28 16:09:25 -07:00
Yuval Tassa 8f768be2da Remove solver_nisland field from mjData. 
PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
 2025-04-23 03:27:41 -07:00
Gabe Oppenheimer 440ce5eb7a Update the version number to 3.3.2 following the 3.3.1 release. 
PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
 2025-04-10 13:17:20 -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
Kevin Sayed 06e217df7e [MJ3.3.1] Bumping internal version number. 
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
 2025-02-27 14:53:28 -08:00
Kevin Sayed 9996500de9 update the version number to 3.3.0 instead of 3.2.8 
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
 2025-02-26 11:42:55 -08:00
Gabe Oppenheimer 6436055c6c Update the version number to 3.2.8 following the 3.2.7 release. 
PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
 2025-01-15 11:13:27 -08:00
Yuval Tassa f7f1c84a1e Print solver and solver iterations in testspeed 
PiperOrigin-RevId: 703995960
Change-Id: I9cebcf9e8d29803033ae56991acad4678d8138af
 2024-12-08 06:01:33 -08:00
Gabe Oppenheimer c90a63a926 Update the version number to 3.2.7 following the 3.2.6 release. 
PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
 2024-12-02 15:30:52 -08:00
Yuval Tassa a2a0b95de0 Print arena memory usage in testspeed 
PiperOrigin-RevId: 693681047
Change-Id: Ica5b516d0141199f701567d64e2ea1446491e232
 2024-11-06 04:50:42 -08:00
Kevin Sayed 276f5b04cd Bump MuJoCo version to 3.2.6. 
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
 2024-11-05 14:13:08 -08:00
Google DeepMind ffdb800e45 Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release. 
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
 2024-10-16 14:24:06 -07:00
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Taylor Howell 2c56946547 Increase mjVERSIONSTRING to 3.2.3 after release. 
PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
 2024-08-08 10:31:57 -07:00
Gabe Oppenheimer ebc48d2783 Update the MuJoCo version to v3.2.2 following the 3.2.1 release. 
PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
 2024-08-06 11:39:30 -07:00
Gabe Oppenheimer d538bf994d Update version to 3.2.1 following the 3.2.0 release. 
PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
 2024-08-01 08:35:42 -07:00
Gabe Oppenheimer 22ce22ac8a Update the MuJoCo version number ahead of the 3.2.0 release. 
PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
 2024-07-15 13:16:06 -07:00
Yuval Tassa 1601ab6078 Remove Makefiles. Fixes #402 
These are no longer needed, as the open-source build uses CMake.

PiperOrigin-RevId: 648340374
Change-Id: Ibc704ca3aaab1c48d245e24b071bed6cd846c110
 2024-07-01 05:51:47 -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
Yuval Tassa 3f3b39bbb1 Fix type-related issues in dependent code. Remove hardcoded mjUSEDOUBLE. Add mjUSESINGLE compiler flag. 
This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.

PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
 2024-06-19 10:52:18 -07:00
Meghha Dhoke 1bf90af0e0 Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7 
PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
 2024-06-04 15:27:47 +01:00
Meghha Dhoke 4eca3b048d Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6 
PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
 2024-05-07 14:11:38 -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
Gabe Oppenheimer 225619c964 Update MuJoCo internal version to be the external version +1 
PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
 2024-04-10 14:32:54 -07:00
Copybara-Service 2ba80206ab Merge pull request #1479 from jmargeta:fix-record-command-docs 
PiperOrigin-RevId: 613927858
Change-Id: I8fe30db8677811c98ed4f881b51a0f430d93dd3b
 2024-03-08 07:29:57 -08:00
Jan Margeta 32dc89b425 Rename depthoverlay to adddepth 2024-03-06 21:17:43 +01:00
Jan Margeta 548177d46c Rename depthoverlay argument 2024-03-06 19:14:32 +01:00
Jan Margeta be68f90190 Make depth overlay in video recording optional 
Add docs for the record arguments
 2024-03-06 18:47:14 +01:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -08:00
Meghha Dhoke f763254a00 Updating Mujoco Release version number to v3.1.3 
PiperOrigin-RevId: 604459311
Change-Id: I766f704c28740cf751cb935bb48fb6954fccf024
 2024-02-05 15:59:20 -08:00
Yuval Tassa 2feefbc5d2 Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID. 
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
 2024-01-17 10:54:23 -08:00