Matija Kecman 0e4749501c Allow custom step function in StepControl::Advance. ...

The StepControl::Advance method now accepts an optional std::function to be used instead of mj_step. This allows for custom simulation logic to be executed within the stepping loop. The Python bindings for StepControl::advance have been updated to support passing a Python callable as the custom step function.

PiperOrigin-RevId: 925393132
Change-Id: Id2820c4b55cbdfee6b01adc2395e99a990d4e7a3

2026-06-02 09:20:06 -07:00

..

cgl

Add a close() method to mujoco.Renderer which explicitly frees the gl context.

2023-12-12 08:59:46 -08:00

codegen

Support float32 precision for mjtNum in Python bindings.

2026-05-28 13:56:58 -07:00

egl

Fix the initialization of the EGL context in multiprocessing

2024-09-23 12:01:25 -07:00

experimental

Allow custom step function in StepControl::Advance.

2026-06-02 09:20:06 -07:00

glfw

Add a close() method to mujoco.Renderer which explicitly frees the gl context.

2023-12-12 08:59:46 -08:00

introspect

Remove deprecated mju_{error,warning}_{i,s} functions.

2026-06-02 01:59:05 -07:00

mjpython

Update MuJoCo version to 3.10.0 following the 3.9.0 release

2026-05-27 03:50:22 -07:00

osmesa

Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

2022-03-15 14:04:44 +00:00

rendering/classic

Fix AttributeError in Renderer.__del__ on partial construction.

2026-04-15 12:15:24 -07:00

sysid

Add Colab link for System Identification toolbox.

2026-02-12 01:41:40 -08:00

testdata

Add urdf file extension case to mj_parse.

2026-01-12 08:59:00 -08:00

usd

Update build_requirements_usd.txt.

2024-11-19 14:07:21 -08:00

util

Build Python bindings in build.yml.

2022-05-25 07:01:59 -07:00

__init__.py

Support float32 precision for mjtNum in Python bindings.

2026-05-28 13:56:58 -07:00

bindings_test.py

Support float32 precision for mjtNum in Python bindings.

2026-05-28 13:56:58 -07:00

callbacks.cc

Fix pybind11 v3.0 compatibility in callbacks.cc

2026-03-15 12:46:11 -07:00

CMakeLists.txt

Update MuJoCo version to 3.10.0 following the 3.9.0 release

2026-05-27 03:50:22 -07:00

constants.cc

Support float32 precision for mjtNum in Python bindings.

2026-05-28 13:56:58 -07:00

enums.cc

Add missing includes necessary after changes in libc++ headers.

2024-10-01 11:08:01 -07:00

errors.cc

Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

2022-03-15 14:04:44 +00:00

errors.h

Add ASAN and MSAN instrumentation for arena and mjData stack.

2023-05-26 09:17:26 -07:00

functions.cc

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

functions.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

gl_context.py

Move renderer.py and gl_context.py into a submodule.

2026-02-16 02:41:35 -08:00

indexer_xmacro.h

Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

2026-03-16 13:25:25 -07:00

indexers.cc

Migrate mjModel size fields from int to mjtSize.

2026-01-23 09:41:49 -08:00

indexers.h

Python bindings: Store a reference to MjModel in MjDataWrapper.

2023-10-31 09:16:40 -07:00

memory_leak_test.py

Add pyink and isort config. Reformat.

2024-12-09 21:10:50 -08:00

minimize_test.py

Merge pull request #3294 from kevinzakka:mujoco-minimize-x-scale

2026-05-29 11:34:36 -07:00

minimize.py

Merge pull request #3294 from kevinzakka:mujoco-minimize-x-scale

2026-05-29 11:34:36 -07:00

msh2obj_test.py

Move OBJ handling to a mjpDecoder.

2026-03-03 11:22:02 -08:00

msh2obj.py

Add mesh conversion utilities.

2023-10-13 16:13:24 -07:00

private.h

Rename mj_stackAlloc to mj_stackAllocByte.

2023-09-18 10:53:35 -07:00

raw.h

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

render_test.py

Add pyink and isort config. Reformat.

2024-12-09 21:10:50 -08:00

render.cc

Move MjrRect pybind11 definition to structs.cc.

2026-03-12 09:00:39 -07:00

renderer_test.py

Fix AttributeError in Renderer.__del__ on partial construction.

2026-04-15 12:15:24 -07:00

renderer.py

Move renderer.py and gl_context.py into a submodule.

2026-02-16 02:41:35 -08:00

rollout_test.py

rollout fix cosmetics

2025-02-21 08:44:17 -05:00

rollout.cc

rollout fix cosmetics

2025-02-21 08:44:17 -05:00

rollout.py

Rename rollout variable nroll to nbatch.

2025-01-21 21:04:15 -08:00

serialization.h

Support float32 precision for mjtNum in Python bindings.

2026-05-28 13:56:58 -07:00

simulate.cc

Fix call_guard usage inside .def_property calls.

2026-03-20 04:50:50 -07:00

specs_test.py

Add mjs_makeFlex to the MuJoCo C and Python APIs.

2026-05-28 05:59:20 -07:00

specs_wrapper.cc

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

specs_wrapper.h

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

specs.cc

Support float32 precision for mjtNum in Python bindings.

2026-05-28 13:56:58 -07:00

structs_wrappers.cc

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

structs.cc

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

structs.h

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

threadpool.cc

Copybara import of the project:

2024-12-16 09:57:08 -08:00

threadpool.h

Copybara import of the project:

2024-12-16 09:57:08 -08:00

vfs_test.py

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

vfs.h

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

viewer_test.py

Add a naive test of mujoco.viewer.

2022-12-08 14:35:20 -08:00

viewer.py

Add option to only sync the state to improve sync performance in passive mode.

2025-06-27 02:49:58 -07:00