Extend mjpResourceProvider with an optional write callback (write)
so that mj_encode, mj_saveXML, and mj_saveModel can write to any
registered provider.
PiperOrigin-RevId: 945202741
Change-Id: I37903425260932e555f4a8c2392c4ff8c2e6cc06
The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.
PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs
```
Compile 1 (cold cache):
total: 317.2 ms
assets: 284.8 ms (wall clock)
load: 616.1 ms
hull: 26.4 ms
poly: 137.8 ms
inert: 177.8 ms
bvh: 568.2 ms
octr: 1.6 ms
tex: 25.3 ms
other: 32.4 ms
Compile 2 (warm cache):
total: 79.9 ms
assets: 54.5 ms (wall clock)
load: 888.5 ms
hull: 0.0 ms
poly: 0.0 ms
inert: 0.0 ms
bvh: 0.0 ms
octr: 0.0 ms
tex: 21.4 ms
other: 25.3 ms
```
PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern.
Encoders serialize an mjSpec + mjModel to an mjResource for a given format.
New API functions:
- mjp_registerEncoder: globally register an encoder
- mjp_defaultEncoder: zero-initialize an encoder struct
- mjp_findEncoder: look up an encoder by filename extension or content type
The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and
returns 0 on success. Writing to mjResource keeps symmetry with the decoder
reading from mjResource and leaves the door open for writable resource providers.
PiperOrigin-RevId: 889187898
Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364
This change introduces new functions to load an `mjModel` from an XML string. Two overloads are provided: one that creates a temporary VFS and one that uses a MjVFS arg.
Also updated other places where `from_xml_string` should be used: demos, readme, etc.
PiperOrigin-RevId: 882581762
Change-Id: I8428196f8f56ae9630fcd4f0bb6763cdc1c43da0
Introduces `from_xml_path` and `from_binary_path` as more idiomatic aliases for `mj_loadXML` and `mj_loadModel` respectively. Refactors the binding of `mj*STRING` constants. Instead of exposing `get_mj*STRING` functions, these constants are now available as properties on the `Module` object. Runtime getters are added via EM_ASM to lazily call the underlying C++ functions.
PiperOrigin-RevId: 882566011
Change-Id: Id3bd5c23704fd122af30a50aed089bd3143fbc96
This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
This change adds an Emscripten binding for loading binary MuJoCo models (`.mjb`) from the virtual filesystem. The new binding, `mj_loadBinary`, takes a filename and an `MjVFS` object, enabling the loading of models that reference assets within the VFS.
PiperOrigin-RevId: 859740455
Change-Id: I9f9d8bbba0b57422e2356867e4282a1b04566475
Most of it is done leveraging existing X Macros (indexers.h, indexer_xmacro.h) used for python bindings already.
PiperOrigin-RevId: 856205245
Change-Id: Ic72443999065040af3042bbf3f9f68c5b70d309d
Regarding mj_compile VFS argument:
I was encountering a memory error when using `std::optional<MjVFS>` with `mj_compile` (because vfs should be an optional argument of the function). This is likely because `MjVFS` doesn't have copy/move constructors, which are required for types used with `std::optional`, causing issues with memory management when std::optional copies the MjVFS object.
To solve this and to make vfs an optional argument to `mj_compile`, I replaced `mj_compile_wrapper` with two overloaded functions. This avoids using `std::optional<MjVFS>` and resolves the memory issue, while still allowing mj_compile to be called with or without the vfs argument from JavaScript.
But what if we instead add those copy/move constructors so it works with `std::optional`?:
While making `MjVFS` copyable or movable would theoretically allow it to work with std::optional, it's not a feasible approach in this case.
The MjVFS struct manages file data in memory, allocating buffers when files are added and freeing them when `mj_deleteVFS` is called in its destructor. A copy would require a deep copy of the entire virtual filesystem, but MuJoCo does not provide a public API function (like a "mj_copyVFS") to do this. Implementing a deep copy manually would be complex and fragile. A shallow copy would result in multiple MjVFS objects pointing to the same memory, leading to double-free errors when their destructors run.
Given these constraints, MjVFS cannot safely be made copyable. The approach of providing two overloaded C++ functions is better.
PiperOrigin-RevId: 855740541
Change-Id: Ia08b6db8868ad245f07145db3fb0322cb9f737cb
`tuple` is better than `list` for constants if we don't expect they get modified by other parts of the code
PiperOrigin-RevId: 838748519
Change-Id: Ic950a78be7ad7518361c046d7e4542607070d3a2
This change introduces a `wrapper_struct_name` function in `structs.py` to consistently generate the name of the C++ wrapper struct from a C struct name. All call sites in `functions.py` and `structs.py` that previously used `common.capitalize` for this purpose now call `wrapper_struct_name`.
PiperOrigin-RevId: 837544242
Change-Id: Ibe5fea8294283dae63bb8d064fd8beb8cfd3f2fe
* Move all bindings into a single EMSCRIPTEN_BINDINGS block
* Move all auto generated bindings line to the start of the block
* Alphabetically sort the constants binding lines
PiperOrigin-RevId: 837142009
Change-Id: I218a37dbc0ca6c6f16a455718889c08fe1b41d56
Sam Haves