chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
49211a05c58ddaa7af0459d8c30cc5b5c3128a17
Mujoco_WASM/python/mujoco
T
History
Matija Kecman 49211a05c5 Add support for custom physics step functions in StudioApp. 
This change allows users to provide an optional `step_fn` callable to `StudioApp.update` and `StudioApp.update_from_viewer`. When provided, this function is called to advance the physics simulation instead of the default `step_control.advance`.

PiperOrigin-RevId: 925439890
Change-Id: Ia833503f6dd0c22fb8d75af6c5f06757496853e5
2026-06-02 10:27:52 -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
Add support for custom physics step functions in StudioApp.
2026-06-02 10:27:52 -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