chenlin/Mujoco_WASM
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90 Commits

Author SHA1 Message Date
Michael Moss 955d6c0b02 Update MuJoCo version from 3.5.1 to 3.6.0 prior to next release. 
The next release will include breaking changes, so this bumps the major
version to reflect that.

PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
 2026-03-10 04:30:07 -07:00
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 aef44210cb Rename render to render/classic. 
This will allow us to add additional renderers to the `render` folder.

PiperOrigin-RevId: 878913300
Change-Id: I205ae41250cbbcded406ad303d4e801d4cff892e
 2026-03-05 01:43:21 -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
Sam Haves 0ec836b281 Rollback of Move OBJ handling to a mjpDecoder. 
PiperOrigin-RevId: 875705083
Change-Id: I21403d84abd56ef72de915bddc724fe3efa506e6
 2026-02-26 07:04:39 -08:00
Sam Haves b907ffedaa Move OBJ handling to a mjpDecoder. 
PiperOrigin-RevId: 875194599
Change-Id: I2cccc683d69a217f1817e70d16bc1815e366d00c
 2026-02-25 09:13:09 -08:00
Haroon Qureshi 4ce9fb53ee Re-enable MJZ support. 
Disabled on Windows until we can make plugins work correctly.

PiperOrigin-RevId: 871214280
Change-Id: I831238704c2807e70f4347989d642a189764e53c
 2026-02-17 02:51:14 -08:00
Michael Moss 42958aab81 Update MuJoCo version from 3.5.0 to 3.5.1 following the 3.5.0 release 
PiperOrigin-RevId: 869654894
Change-Id: I9cacaf4cbb70ad17faa24c3c30ec38ffe91b5deb
 2026-02-13 03:54:25 -08:00
Yuval Tassa 4fa062c7e5 Update unreleased MuJoCo version from 3.4.1 to 3.5.0. 
PiperOrigin-RevId: 868169291
Change-Id: I8041842811f5f664c80116993315f50d549b5575
 2026-02-10 08:52:04 -08:00
Google DeepMind 7418d86eda Enable Emscripten threading for MuJoCo WASM builds. 
PiperOrigin-RevId: 863309872
Change-Id: I2edabb386f3abc74e507d0419b136b1586d01241
 2026-01-30 10:58:18 -08:00
Google DeepMind f022faadf7 Revert 42b81966b7 due to GitHub failures 
PiperOrigin-RevId: 862869742
Change-Id: I9c56c8e15b609c9a67e6c90542722e7326d8fe2c
 2026-01-29 13:17:49 -08:00
Google DeepMind 42b81966b7 Add a test for compiling XML with multiple assets from VFS. 
PiperOrigin-RevId: 862767395
Change-Id: I6d51b5630a0d5033231a555c3b9297ae18dc429f
 2026-01-29 09:21:11 -08:00
Haroon Qureshi 86f82d18a2 Temporarily disable mjz support. 
PiperOrigin-RevId: 862383413
Change-Id: I32927f59852e149b7aaf8b5225f35020532eb7f9
 2026-01-28 13:58:41 -08:00
Haroon Qureshi 40f2fe0977 CMakeLists for mjz. 
PiperOrigin-RevId: 862214752
Change-Id: I498a1f0092adc9e94016bf23589403296bffb4f7
 2026-01-28 06:53:06 -08:00
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
Sam Haves 9e150fe82c Add separate build step for OpenUSD to third_party_deps. 
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
 2025-12-19 08:00:15 -08:00
Gabe Oppenheimer 96e376451c Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release 
PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
 2025-12-05 16:15:56 -08:00
Haroon Qureshi 139a5b6494 Rename toolbox to platform. 
PiperOrigin-RevId: 838701951
Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
 2025-12-01 03:58:34 -08:00
Gabe Oppenheimer b6e162d6fa Update MuJoCo version from 3.3.8 to 3.4.0 
PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
 2025-11-25 10:16:02 -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
Haroon Qureshi a16805f8ee Add CMakeLists.txt files for new (experimental) code. 
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
 2025-10-27 11:26:14 -07:00
Gabe Oppenheimer 48f10bfcb6 Update MuJoCo to v3.3.8 following the 3.3.7 release. 
PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
 2025-10-15 14:39:05 -07:00
Gabe Oppenheimer ae1febd83f Automated g4 rollback of changelist 818694877. 
*** 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
 2025-10-13 11:14:42 -07:00
Gabe Oppenheimer 02d2d4d49a Bump the version to 3.4.0 ahead of the next release. 
PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
 2025-10-13 09:22:49 -07:00
Rishi Krishnan 8e9eb2fa38 Update MuJoCo's version number following the 3.3.6 release. 
PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
 2025-09-17 09:13:04 -07:00
Taylor Howell 83a619c5b7 patch for cmake_minimum_required version 2025-09-15 11:40:08 +01:00
Rishi Krishnan ed3ff15870 Update MuJoCo's version number following the 3.3.5 release. 
PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
 2025-08-08 16:45:12 -07:00
Rishi Krishnan 3c99705f85 Update MuJoCo's version number following the 3.3.4 release. 
PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
 2025-07-10 10:47:26 -07:00
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
Sam Haves afc35451a0 Expose ability to go from USD stage to MjSpec. 
PiperOrigin-RevId: 776184388
Change-Id: I0325b347c9896183d148a196897e1e5d0c4bbde2
 2025-06-26 10:09:55 -07:00
Kevin Sayed a4ab35c194 update scrubs and set next version 
PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
 2025-06-12 11:39:45 -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
Google DeepMind 4137a4c774 Bump version to 3.3.3 following the 3.3.2 release 
PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
 2025-04-28 16:09:25 -07:00
Gabe Oppenheimer 440ce5eb7a Update the version number to 3.3.2 following the 3.3.1 release. 
PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
 2025-04-10 13:17:20 -07:00
Kevin Sayed 06e217df7e [MJ3.3.1] Bumping internal version number. 
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
 2025-02-27 14:53:28 -08:00
Kevin Sayed 9996500de9 update the version number to 3.3.0 instead of 3.2.8 
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
 2025-02-26 11:42:55 -08:00
Gabe Oppenheimer 6436055c6c Update the version number to 3.2.8 following the 3.2.7 release. 
PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
 2025-01-15 11:13:27 -08:00
Gabe Oppenheimer c90a63a926 Update the version number to 3.2.7 following the 3.2.6 release. 
PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
 2024-12-02 15:30:52 -08:00
Kevin Sayed 276f5b04cd Bump MuJoCo version to 3.2.6. 
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
 2024-11-05 14:13:08 -08:00
Google DeepMind ffdb800e45 Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release. 
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
 2024-10-16 14:24:06 -07:00
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Yuval Tassa e4d4153352 Move sanitizer instrumentation to a separate header file. Fixes #2049. 
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
 2024-09-10 09:05:35 -07:00
Taylor Howell 2c56946547 Increase mjVERSIONSTRING to 3.2.3 after release. 
PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
 2024-08-08 10:31:57 -07:00
Gabe Oppenheimer ebc48d2783 Update the MuJoCo version to v3.2.2 following the 3.2.1 release. 
PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
 2024-08-06 11:39:30 -07:00
Gabe Oppenheimer d538bf994d Update version to 3.2.1 following the 3.2.0 release. 
PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
 2024-08-01 08:35:42 -07:00
Gabe Oppenheimer 22ce22ac8a Update the MuJoCo version number ahead of the 3.2.0 release. 
PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
 2024-07-15 13:16:06 -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