Files

T

Tom Erez 60be42e83c Replace autowrap C# binding generator with introspect-based codegen.

This CL replaces the header-parsing autowrap system for generating
MuJoCo C# bindings (MjBindings.cs) with a new generator that uses
the mujoco.introspect module. The new generator reads pre-parsed
API data from introspect's enums, functions, and structs modules
instead of parsing C headers directly.

Changes:
- New: generate_cs_bindings.py in third_party/py/mujoco/codegen/
- Updated: genrule in unity/mujoco/BUILD to use codegen
- Updated: MjBindings.cs regenerated from codegen
- Removed: entire autowrap/ directory (9 files)
- Removed: transitional validate_codegen.py

The validate test continues to verify that the genrule output
matches the checked-in MjBindings.cs.

PiperOrigin-RevId: 885206129
Change-Id: Ib9fb883a2242dd2c039033eadee7a4a6ac91ed55

2026-03-17 14:19:49 -07:00

Editor

Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release

2026-03-11 07:09:24 -07:00

Runtime

Replace autowrap C# binding generator with introspect-based codegen.

2026-03-17 14:19:49 -07:00

Tests

Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.

2024-08-22 12:01:54 -07:00

CHANGELOG.md

Adding a note about the locale fix in the Unity CHANGELOG.

2022-03-17 14:30:28 +00:00

CHANGELOG.md.meta

Initial release of the Unity plugin.

2022-02-02 20:44:39 +00:00

Editor.meta

Initial release of the Unity plugin.

2022-02-02 20:44:39 +00:00

package.json

Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release

2026-03-11 07:09:24 -07:00

package.json.meta

Initial release of the Unity plugin.

2022-02-02 20:44:39 +00:00

README.md

Initial release of the Unity plugin.

2022-02-02 20:44:39 +00:00

README.md.meta

Initial release of the Unity plugin.

2022-02-02 20:44:39 +00:00

Runtime.meta

Initial release of the Unity plugin.

2022-02-02 20:44:39 +00:00

Tests.meta

Initial release of the Unity plugin.

2022-02-02 20:44:39 +00:00

README.md

Unity Plug-in

The MuJoCo Unity plug-in allows the Unity Editor and runtime to use the MuJoCo physics engine. Users can import MJCF files and edit the models in the Editor. The plug-in relies on Unity for most aspects -- assets, game logic, simulation time -- but uses MuJoCo to determine how objects move, giving the designer access to MuJoCo's full API. See documentation and installation instructions here.