chenlin/Mujoco_WASM
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61 Commits

Author SHA1 Message Date
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
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
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
Saran Tunyasuvunakool 7e5711ad36 Notify team chat of GitHub Actions runs. 
PiperOrigin-RevId: 569231063
Change-Id: I9e66b90ff944e9a6a0898e336c7f049a07c3609d
 2023-09-28 10:57:30 -07:00
Saran Tunyasuvunakool 107b76490a Update GitHub Actions config. 
PiperOrigin-RevId: 569154469
Change-Id: Ifc208d2e7a900359b5926002a31a15ba01787659
 2023-09-28 05:59:04 -07:00
Alessio Quaglino 0b700ce1e2 Add libsdf to github actions. 
PiperOrigin-RevId: 565691982
Change-Id: Ia1bfa4242c0af4d37f6cd660c3404605439d9ffd
 2023-09-15 08:59:36 -07:00
Saran Tunyasuvunakool c9e9cd8b35 Change org name to "Google DeepMind" in various docs. 
PiperOrigin-RevId: 540691205
Change-Id: I9eb99eb18893e6748892334470211dbd9d5808db
 2023-06-15 14:28:25 -07:00
Saran Tunyasuvunakool 133b8d0978 Make MuJoCo buildable with Visual Studio 2019 update 7 and earlier. 
Also enable MSVC 2019 builds on GitHub Actions.

Fixes #862.

PiperOrigin-RevId: 531167754
Change-Id: I17687fb287c38a7f2245c6f7ba59a22b772e3a8c
 2023-05-11 04:54:53 -07:00
Kevin Zakka 42fbc2ec7b Skip CI on README changes. 
PiperOrigin-RevId: 529067951
Change-Id: Icca59b5abd89d131066b99780e4bc2b575d7810e
 2023-05-03 06:03:38 -07:00
Yuval Tassa b397b3123e Added touch grid sensor plugin. 
PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
 2023-04-27 02:03:03 -07:00
Saran Tunyasuvunakool 5e989d18c3 Enable compiler errors for implicit switch case fallthroughs. 
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.

PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
 2023-02-10 03:49:00 -08:00
Kevin Zakka d7e082ae96 Testing doc change. 2022-12-06 18:15:10 +00:00
Saran Tunyasuvunakool 2ebc5f097b Change simulate plugin directory name to mujoco_plugin. 
This helps distro packagers avoid having to create a directory with the generic `plugin` name in system locations.

Context: https://github.com/deepmind/mujoco/issues/552
PiperOrigin-RevId: 489011386
Change-Id: Ie9f1748cbb4f2b9dc8c328064caaeb50c88fdec3
 2022-11-16 12:40:31 -08:00
Saran Tunyasuvunakool 8df9d3c0a3 Fix build.yml. 
PiperOrigin-RevId: 487641805
Change-Id: I071e855b7ccd6eafe8cf0d54d410f324822776a5
 2022-11-10 14:35:54 -08:00
Saran Tunyasuvunakool 6175b508c0 Also run pip install --require-hashes on GitHub Actions. 
PiperOrigin-RevId: 487625303
Change-Id: Ib65ff23faa33a95e077952e275cf466cec44fb93
 2022-11-10 13:31:18 -08:00
Alessio Quaglino 9833f912c1 Renamed Elasticity to Cable and libcable to libelasticity for consistency. 
PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
 2022-11-02 11:08:44 -07:00