chenlin/Mujoco_WASM
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51b2f522969741e7cf5f86b2cae6d143fec963c5
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77 Commits

Author SHA1 Message Date
Michael Moss 51b2f52296 Workaround for TypeScript 'outFile' is deprecated errors. 
PiperOrigin-RevId: 892241799
Change-Id: Ibe028d453f35f5e03bdf66418bc4b45c20e807d3
 2026-03-31 03:55:06 -07:00
Copybara-Service cab4b73f41 Merge pull request #3184 from MatiasManevi:single-thread-npm 
PiperOrigin-RevId: 886334046
Change-Id: If054286ac11f2b0e13e770922c049e334d136ab1
 2026-03-19 13:05:52 -07:00
Michael Moss 779f6e8403 Save some CMake logs for debugging. 
PiperOrigin-RevId: 886222847
Change-Id: Iaa641c334b3e90f594c6a19a29beefcf6eb7a3f4
 2026-03-19 09:32:41 -07:00
MatiasManevi b35a5bab5e Shorten mv instruction 2026-03-18 12:10:08 -03:00
MatiasManevi 8b7951c20c Add single threaded version 2026-03-18 11:18:41 -03:00
MatiasManevi a07763f13b Restore npm pack 2026-03-12 11:42:29 -03:00
MatiasManevi 8c3e70998d Fix npm publish command to work with OIDC 2026-03-12 11:39:59 -03:00
Copybara-Service a62501f305 Merge pull request #3168 from MatiasManevi:npm-workflow-dispatch 
PiperOrigin-RevId: 882559989
Change-Id: Ia02f38e632dcd3064433b44f6e14427aa3b36735
 2026-03-12 06:43:37 -07:00
MatiasManevi bf51c3389a Configure publish npm manual dispatch 2026-03-11 15:17:02 -03:00
MatiasManevi eda9bbbbd4 Remove workflow dispatch 2026-03-11 14:29:12 -03:00
MatiasManevi f6434110bb Add the required OIDC permissions for trusted published 2026-03-11 13:36:09 -03:00
Sam Haves ed0d7ba29f Move STL handling to a mjpDecoder. 
PiperOrigin-RevId: 880820344
Change-Id: Ib3a714dd9698335433e518ed6af17d7b8407a8fb
 2026-03-09 06:15:04 -07:00
Haroon Qureshi 8ddb5ff97b Re-add ${CMAKE_ARGS} to script which was removed by mistake. 
PiperOrigin-RevId: 878491532
Change-Id: Idc2a3b17617ca2b44f279c97d8d56917f6c1bf54
 2026-03-04 07:56:49 -08:00
Haroon Qureshi 13d164063c Remove separate targets for classic and filament renderer. 
The platform::Renderer now supports both implementations at
runtime.

PiperOrigin-RevId: 878427862
Change-Id: I2997c197c6eddbe177c77b435cc5848fd80f1839
 2026-03-04 04:56:15 -08:00
Sam Haves 91d3565cd5 Move OBJ handling to a mjpDecoder. 
PiperOrigin-RevId: 878041994
Change-Id: I6e7f6876e65fd2184ff5637d4268644cefcabecf
 2026-03-03 11:22:02 -08:00
MatiasManevi 07fdf1f465 Cleanup wasm package script 2026-03-02 15:20:44 -03:00
MatiasManevi 7dd76bcbd7 Merge branch 'main' into wasm-npm-package 2026-02-25 12:05:20 -03:00
MatiasManevi bad7e29d3b Cleanup readme and publish step 2026-02-24 17:16:21 -03:00
MatiasManevi c17eb431cb Move publish step to sh file 2026-02-24 17:04:12 -03:00
MatiasManevi f989d40d89 Merge wasm readme for package 2026-02-23 18:11:20 -03:00
MatiasManevi a9edc5dd89 Add publish workflow and minimal npm package for WASM 2026-02-19 10:00:17 -03:00
Taylor Howell bb0b5ca521 lint 2026-02-18 12:43:31 +00:00
Yuval Tassa e48da1e38c Fix __muloti4 linker error on Clang 13 
Add `-rtlib=compiler-rt` linker flags for the Clang 13 CI build.

Clang 13 generates calls to __muloti4 (a 128-bit overflow-checked multiplication intrinsic) for signed 64-bit multiplication with overflow detection. This symbol is provided by LLVM's compiler-rt but is missing from GNU's libgcc, which is the default runtime library on Ubuntu.

Related issues:

- https://github.com/llvm/llvm-project/issues/14841
- https://github.com/abseil/abseil-cpp/issues/841
- https://bugs.freebsd.org/bugzilla/show_bug.cgi?id=244169

PiperOrigin-RevId: 860529686
Change-Id: If58dc0328aa1dd87aef8ea02da555f57ad96b02c
 2026-01-24 08:15:56 -08:00
Matija Kecman 12e24d66f6 Add steps to build MuJoCo Studio to Github actions 
PiperOrigin-RevId: 833325371
Change-Id: I8c7253f3dfabe3e7b6538b602af220310d5aea89
 2025-11-17 07:11:07 -08:00
Matija Kecman b0e75b7103 Refactor Github actions so that all build steps are implemented as functions in a separate build_steps.sh file. 
This reduces the amount to yaml we need to know/write and makes the steps reusable in a clearer way than yaml anchors. Also Made sure that bash commands are executed with -xe set to log the command before executing and to fail the script on the first failing command.

PiperOrigin-RevId: 831823786
Change-Id: I7410c13decb914ef079ac4dd19a49481c452f3ec
 2025-11-13 05:56:53 -08:00
Matija Kecman 4722925ff4 Add a github actions job which quickly determines if the WASM build is broken by only testing on one platform 
PiperOrigin-RevId: 831395855
Change-Id: I1128ae39b50e0d9d4338b8ea768b2850699aef22
 2025-11-12 08:17:22 -08:00
Matias Manevi 4086261714 Add JavaScript bindings and WASM support 
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
Matija Kecman f2badc05ac Add JavaScript bindings and WASM support 
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
Matias Manevi 76e64d96bb Add JavaScript bindings and WASM support 
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
Saran Tunyasuvunakool 0eea5d6dbd Add libwayland-dev and libxkbcommon-dev to GitHub Actions YAML. 
PiperOrigin-RevId: 800462182
Change-Id: I771df8af3f827f0fe7f2d9975eb6fd04940f17dc
 2025-08-28 07:40:38 -07:00
Baruch Tabanpour 7ea92c65ec Fix to github CI. 
PiperOrigin-RevId: 789380763
Change-Id: I8e2679a70e8bf443e373f57a0a78ed68b70e60a6
 2025-07-31 10:10:26 -07:00
Baruch Tabanpour 47bc16a37c Add mujoco_warp as an implementation in mjx. 
PiperOrigin-RevId: 789366860
Change-Id: I84b49e744552092434df49d855f1052b04291b87
 2025-07-31 09:33:35 -07:00
Saran Tunyasuvunakool 6a977d073b Fix GitHub Actions builds. 
PiperOrigin-RevId: 757765160
Change-Id: Idaf86f80a24bc480ce35711cb706a4702a249d31
 2025-05-12 08:00:43 -07:00
Sam Haves ab63a7e824 Add CMakeLists for usdMjcf file format plugin. 
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
 2025-05-02 05:48:33 -07:00
Silvio Traversaro 376dc59ea0 GitHub Actions: Use macos-13 image instead of deprecated macos-12 2024-12-07 17:25:19 +01:00
Silvio 1201db8050 Do not test python bindings in python/dist directory 
This will permit to early catch tests that rely on files not
installed in the wheel, i.e. catch if pytest --pyargs mujoco fails in a vanilla environment.
 2024-10-25 13:24:21 +02:00
Yuval Tassa 8bbf9c7b4f Rename config.yaml -> config.yml. 
PiperOrigin-RevId: 679225889
Change-Id: I2e3d26dbd763485c34880d287511f2810886422b
 2024-09-26 11:26:12 -07:00
Copybara-Service 56bb3ca5de Merge pull request #1901 from abhihjoshi:usd-fixes 
PiperOrigin-RevId: 671815757
Change-Id: I8a08385b63401c743253545d89389ab8aaac91bc
 2024-09-06 10:31:09 -07:00
Yuval Tassa 651868ab05 Add GitHub Issue and Discussion templates. 
PiperOrigin-RevId: 669365189
Change-Id: I6e14bdf68de0ddc0029937291d7258d26eb65b75
 2024-08-30 10:13:38 -07:00
Alessio Quaglino 9febd760a1 Set working directory for python tests on GitHub. 
PiperOrigin-RevId: 657961231
Change-Id: I859f823ae7fa7bf73b4adde77746eb3340ba8587
 2024-07-31 04:54:19 -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
Saran Tunyasuvunakool 5b6800116a Workaround for https://github.com/actions/runner-images/issues/10004. 
PiperOrigin-RevId: 641250258
Change-Id: I00509dc21c568a05d6cba346437194a7e80badd4
 2024-06-07 07:58:38 -07:00
Baruch Tabanpour 683929ab34 Remove integration MJX test from github actions. 
PiperOrigin-RevId: 625116629
Change-Id: I8f9c4c881732cda3f4559643a1493a9e1c2d9510
 2024-04-15 16:19:15 -07:00
Nimrod Gileadi 002b427a32 PID Controller as an actuator plugin. 
Implement a configurable PID controller.

PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
 2023-11-25 08:41:01 -08:00
Saran Tunyasuvunakool 7207b60b5a Place untrusted data from the git commit metadata in environment variables. 
This prevents bash from executing strings in the commit metadata as code when reporting build errors.

PiperOrigin-RevId: 580155315
Change-Id: I4046eabd76eba14297fffe4e2fced59259d80f21
 2023-11-07 06:14:17 -08:00
Saran Tunyasuvunakool 1178bad339 Run MJX tests on GitHub Actions. 
PiperOrigin-RevId: 574939328
Change-Id: Ic6e5650ef6a7df8c94a189206fddf06bd9c4eb97
 2023-10-19 11:12:54 -07:00
Saran Tunyasuvunakool f32219c37c Install locally built wheels with --no-deps --no-index. 
PiperOrigin-RevId: 572665469
Change-Id: I65c93e42155024d8dbfb42e45fd5b4be09f3528e
 2023-10-11 13:13:59 -07:00
Saran Tunyasuvunakool c2f73ee755 Fix broken Bash substitution on macOS and only nofify failures. 
PiperOrigin-RevId: 569428932
Change-Id: Id23501c3e8dd8b615dc6f2677fb7e21a1b0b0b34
 2023-09-29 02:08:47 -07:00
Saran Tunyasuvunakool d70266fd55 Fix chat notification in GitHub Actions workflow. 
PiperOrigin-RevId: 569337051
Change-Id: I510ddebc5b08858eb3a40903659c9868f67f4da5
 2023-09-28 17:38:58 -07:00
Saran Tunyasuvunakool d223f40eef Fix broken build.yml. 
PiperOrigin-RevId: 569232412
Change-Id: Ic8d9dc96284825595461bbf9396d6525673efb1f
 2023-09-28 11:01:38 -07:00