This is a combination of minor tweaks to the existing Studio WASM application, CMake cleanup to make it buildable, and integration with GitHub Actions for deployment.
The new features added are drag-and-drop, model specification through `?model=` URL parameter, HTTP and HTTPS resource provider, and a user-visible loading message while the model is loading.
PiperOrigin-RevId: 904594610
Change-Id: I3a73b1ca0fcd6fc9ba192469942b2dab010a9308
* Ensure compiler.usethread=0 is set before compilation in single-threaded WASM builds
* Explicitly enable exceptions for the single-threaded WASM module
* Test the single-threaded module in addition to the multi-threaded module in internal and external CI
* Consolidate wasm/tests/CMakeLists.txt into wasm/CMakeLists.txt, fixing the single-threaded benchmark test build which was missing shared linker flags
PiperOrigin-RevId: 901149728
Change-Id: If4946e29e5116610782d218906cf3f5940c1cdd0
The top-level CMakeLists.txt unconditionally added -pthread for all Emscripten builds, but PTHREAD_POOL_SIZE was only set when MUJOCO_WASM_THREADS=ON. This gave the ST build a live pthread runtime with zero pre-spawned workers, causing CompileMeshesAndTextures to deadlock when it tried to spawn a ThreadPool on the main thread.
Fix by making -pthread conditional on MUJOCO_WASM_THREADS. Without -pthread, hardware_concurrency() returns 0 and the existing nthread < 2 guards naturally select the serial compilation path.
PiperOrigin-RevId: 900191420
Change-Id: I0481b81fc6f7cccb52c7d7592dcf9dd317b5bad1
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 897114719
Change-Id: Iee914cc5e05798186f384a67901f1cf86bc2f887
*** Reason for rollback ***
Rolling back obj/stl decoder inclusion as sources due to broken windows build.
*** Original change description ***
Include obj and stl decoder plugins as sources in CMake builds.
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
***
PiperOrigin-RevId: 885576586
Change-Id: I31e6fa4d10697862f7d800d0d771ca752747e36d
This removes the need to load these decoders via mj_loadAllPluginLibraries when using MuJoCo built with CMake. Other plugins are unchanged.
PiperOrigin-RevId: 885555524
Change-Id: I20aa5b6c55b678398345d49cb1c47667ae2bebcf
The next release will include breaking changes, so this bumps the major
version to reflect that.
PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
This will allow us to add additional renderers to the `render` folder.
PiperOrigin-RevId: 878913300
Change-Id: I205ae41250cbbcded406ad303d4e801d4cff892e
Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
This will fetch and call the build_usd.py build helper for OpenUSD and build within the MuJoCo _deps folder. Simplifying the build process for MuJoCo with USD. Users can still provide their own USD build, but must now do so via pxr_DIR.
PiperOrigin-RevId: 846735578
Change-Id: I0da7eb2da6465e2d518084340e762bf370adb6d5
This includes the filament, toolbox, and studio projects.
Adds a MUJOCO_BUILD_STUDIO option to enable building of the `studio` app (disabled by default).
Adds a MUJOCO_USE_FILAMENT to allow the studio app to use the filament rendering backend. A separate MUJOCO_USE_FILAMENT_VULKAN flag can be used to enable vulkan rendering.
PiperOrigin-RevId: 824602367
Change-Id: I26d46c16211ae2118f96c163c4194fea5b5a15a9
*** 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
This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco.
In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests.
PiperOrigin-RevId: 753969974
Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
Michael Moss