chenlin/Mujoco_WASM
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cedaa47d6192e42ff1441dd2e82e74ef28e15076
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35 Commits

Author SHA1 Message Date
Yuval Tassa 6f8bb5ef55 Refactor compiler warning handling. 
Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.

PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
 2026-06-16 16:28:33 -07:00
Sam Haves a5dc57c0c3 Move OpenUSD parsing to usd_decoder 
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
 2026-01-09 14:48:29 -08:00
Haroon Qureshi 765bd54c7c Move GlobalModel class and functionality into its own file. 
We'll need some of this functionality for tests.

PiperOrigin-RevId: 853652149
Change-Id: Ib924d886b73784a0f370285e0b82b2ed833e3e77
 2026-01-08 03:08:12 -08:00
Haroon Qureshi 94fb10bf3d Internal changes 
PiperOrigin-RevId: 838741176
Change-Id: I9def07b3f7e963d2787d71019d303ba1eb75622c
 2025-12-01 06:11:15 -08:00
Yuval Tassa ae8272787f Rollback of 7cb2e31f4b 
PiperOrigin-RevId: 834865905
Change-Id: Iade490754ca30a97f696bcb09525f9b4c37dbeff
 2025-11-20 12:30:48 -08:00
Yuval Tassa 7cb2e31f4b Annotate GlobalModel for LSAN 
PiperOrigin-RevId: 834784936
Change-Id: I9381a062956df6cd7724402b72c2d2a2d8c49998
 2025-11-20 09:03:48 -08:00
Sam Haves 14972d2490 Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation. 
PiperOrigin-RevId: 780608874
Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
 2025-07-08 10:04:08 -07:00
Alessio Quaglino 84ad22a590 Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec. 
Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.

PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
 2025-05-30 17:17:14 -07:00
Yuval Tassa efe213a7b3 Cosmetic improvements to src/xml/ source files. 
PiperOrigin-RevId: 738010419
Change-Id: Idb90a42a374682450737684e67388329c184c777
 2025-03-18 08:12:29 -07:00
Alessio Quaglino da04688071 Automatically compile mjSpec in to_xml(). 
Also, move mj_compile from MjModelWrapper to MjSpec.

PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
 2025-03-17 09:21:10 -07:00
Alessio Quaglino e310c23267 Fix return value of mj_saveXML and mj_saveXMLString, fixes #2247 
PiperOrigin-RevId: 700269761
Change-Id: Ifb7e9c66c70eac7d681cfcf106712d47291cf9e2
 2024-11-26 02:32:50 -08:00
Alessio Quaglino d17d9e835c Do not delete attached specs after compilation. 
Also, copy them when copying the spec.

PiperOrigin-RevId: 688998464
Change-Id: I7229fd8032eafede582194ccf73ab4160fe06768
 2024-10-23 09:42:05 -07:00
Alessio Quaglino dcf2816543 Remove copy_back from Python bindings and mj_copyBack from the C API. 
PiperOrigin-RevId: 687377331
Change-Id: I355493d92857418b08b5aa90ea38cebe5c475314
 2024-10-18 11:55:04 -07:00
Kyle Bayes 5ac5cfb618 Support directories in VFS via mj_addBufferVFS. 
PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
 2024-07-23 13:39:18 -07:00
Kyle Bayes 2746cb8559 Support FilePaths instead of raw strings in XML code. 
PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
 2024-07-23 08:36:53 -07:00
Kyle Bayes 2cf352c2e6 Add VFS handling logic to mj_openResource. 
PiperOrigin-RevId: 653124909
Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
 2024-07-17 00:41:18 -07:00
Kyle Bayes c6fd002f87 Move engine/engine_resource.{c,h} to user/user_resource.{c,h}. 
PiperOrigin-RevId: 649628768
Change-Id: Id90c983cf70c0f92c3b033ac1b1654c53696955d
 2024-07-05 05:41:55 -07:00
Alessio Quaglino 7a06bcfdaf Make model editing API public, fixes #364 
Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
 2024-06-07 22:28:01 -07:00
Alessio Quaglino b35ae973e1 Add mj_parseXML and mj_saveXML to xml_api. 
PiperOrigin-RevId: 640099466
Change-Id: I75f763523c5bc8f6f7c2f2de6806d82ba37ebd4e
 2024-06-04 15:28:14 +01:00
Kyle Bayes 50aab2dd48 Move engine/engine_vfs.{c,h} to user/user_vfs.{c,h}. 
PiperOrigin-RevId: 636219666
Change-Id: I820de511948e82256784edb0893f209a73b221e6
 2024-05-22 10:44:53 -07:00
Kyle Bayes 2f19941fcf Move mj_loadModel to xml_api.cc. 
PiperOrigin-RevId: 635748029
Change-Id: Ie4c7d34c9738e5497ec700089d4dba780ba7d5ed
 2024-05-21 03:37:24 -07:00
Yuval Tassa 62bc837b4c Rename remaining model to spec in xml/ 
PiperOrigin-RevId: 630855094
Change-Id: Ib921fe43b9b5a5a64867ef4c8c1cca217c27a5aa
 2024-05-05 12:03:49 -07:00
Yuval Tassa 4660a297d1 rename mjspec api structs and functions mjm -> mjs 
PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
 2024-03-21 18:04:50 -07:00
Alessio Quaglino 655e3d0914 Renamed Model to Spec in C API function names. 
PiperOrigin-RevId: 613922860
Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92
 2024-03-08 07:05:44 -08:00
Alessio Quaglino ef3cb7ec2e Renamed mjmModel to mjSpec. 
PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
 2024-03-07 02:48:32 -08:00
Alessio Quaglino 1bd44e73bb Replace mjCModel with mjmModel in mjXBase. 
PiperOrigin-RevId: 611762880
Change-Id: I22254689b6cbf10fe7b61f9742b6ffd6c2074477
 2024-03-01 03:38:28 -08:00
Kyle Bayes 3b0a680fa7 Refactor GlobalModel class in the XML API. 
PiperOrigin-RevId: 601761425
Change-Id: I9c24f670c1e9766867ec75aab56cec1c0b4f5703
 2024-01-26 07:33:47 -08:00
Kyle Bayes f86e8b449f Refactor VFS logic out of ResourceProvider plugin code. 
PiperOrigin-RevId: 561302536
Change-Id: I952f9e76e85a7e3a111e0338f307378a6ff58197
 2023-08-30 04:47:24 -07:00
Kyle Bayes 24c1ec9aec Add support for printing to stdout in mj_saveLastXML. 
PiperOrigin-RevId: 546849864
Change-Id: I799ea3fcd723cf036f82ef5c1ef8152c314072dc
 2023-07-10 06:08:10 -07:00
Yuval Tassa 466c9aca82 Remove mj_activate and mj_deactivate. 
PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
 2023-06-08 08:55:39 -07:00
Kyle Bayes 67f0f5154f Add various improvements for resource providers. 
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
 2023-05-05 07:03:49 -07:00
Kyle Bayes fe3dccfd1d Add a new plugin / extension mechanism called a resource provider along with retrofitting VFS on top of it. 
A resource provider provides a mechanism for MuJoCo to read from filesystems other than the OS filesystem or the Virtual File System (VFS).

PiperOrigin-RevId: 525394983
Change-Id: I077ff5a7e2e76806b48b6defb531280aadc8b169
 2023-04-19 03:02:22 -07:00
Kevin Zakka ee6fed1230 Add minor enhancements to compile binary. 
* If output file exists, ask user whether to overwrite
* Fix erroneous check for whether XML file was successfully saved

PiperOrigin-RevId: 468743682
Change-Id: I06058c498328d333792e4b40d65c3a99ca1842e4
 2022-08-19 11:15:19 -07:00
DeepMind 8dda269c8a Avoid msan reports on globals destructors 
Somehow tests load these libs twice, and construct/destruct globals twice.
Can be preproduced even without sanitizers with logging from GlobalModel::~GlobalModel.

themodel does not need to be visible. If it's static each instance will have own a copy.
_mjMap does not need to use string and avoid lifecycle issues at all.

PiperOrigin-RevId: 454678814
Change-Id: I8fca5e1f06cbc2b413beabcece1219445482c0ed
 2022-06-13 12:59:09 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00