Files

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Matija Kecman afbefc38a6 Ensure noise is injected when the simulation is paused and a single step is manually requested

PiperOrigin-RevId: 807688008
Change-Id: I8de9706c633565d6d6944b58d34de9da1037a837

2025-09-16 07:35:42 -07:00

cmake

Update the GLFW dependency used by MuJoCo to 3.4.

2025-08-28 07:24:26 -07:00

array_safety.h

Enable compiler errors for implicit switch case fallthroughs.

2023-02-10 03:49:00 -08:00

CMakeLists.txt

Update MuJoCo's version number following the 3.3.5 release.

2025-08-08 16:45:12 -07:00

glfw_adapter.cc

Fix GLFW crash when Python exits while the passive viewer is running.

2023-07-19 15:20:46 -07:00

glfw_adapter.h

Workaround for broken VSync in Simulate on macOS.

2023-03-13 14:19:17 -07:00

glfw_corevideo.h

Fix a rare crash when running simulate on macOS.

2023-03-16 11:06:25 -07:00

glfw_corevideo.mm

Fix a rare crash when running simulate on macOS.

2023-03-16 11:06:25 -07:00

glfw_dispatch.cc

Workaround for broken VSync in Simulate on macOS.

2023-03-13 14:19:17 -07:00

glfw_dispatch.h

Workaround for broken VSync in Simulate on macOS.

2023-03-13 14:19:17 -07:00

macos_gui.mm

Raise an informative error when running on macOS under Rosetta 2.

2022-11-29 12:19:06 -08:00

main.cc

Ensure noise is injected when the simulation is paused and a single step is manually requested

2025-09-16 07:35:42 -07:00

platform_ui_adapter.cc

Add keyboard event callback for Python passive viewer.

2023-07-19 15:54:44 -07:00

platform_ui_adapter.h

Add keyboard event callback for Python passive viewer.

2023-07-19 15:54:44 -07:00

README.md

Fix video embedding in simulate README.

2022-10-04 10:24:17 -07:00

simulate.cc

Make constraint island discovery on by default.

2025-08-26 04:27:24 -07:00

simulate.h

Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.

2025-08-20 11:30:13 -07:00

README.md

Simulate App

simulate is a fully-featured interactive application for MuJoCo. It opens an OpenGL window using the platform-independent GLFW library, and renders the simulation state in it. There is built-in help, simulation statistics, profiler, sensor data plots. The model file can be specified as a command-line argument, or loaded at runtime using drag-and-drop functionality. Below is a screen-capture of simulate in action: