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Mujoco_WASM/python/mujoco
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Kevin Zakka c12dc23852 Add x_scale to mujoco.minimize.least_squares. 
Per-parameter scaling via change of variables z = x / D. Supports
'jac' (adaptive D_i = 1/||J(:,i)|| per iteration, matches scipy's TRF),
explicit array, or a positive scalar. Default 1.0 is a no-op.
2026-05-26 17:06:09 -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
Migrate mjtByte to mjtBool for boolean-valued fields.
2026-05-26 05:35:49 -07:00
egl
Fix the initialization of the EGL context in multiprocessing
2024-09-23 12:01:25 -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
Migrate mjtByte to mjtBool for boolean-valued fields.
2026-05-26 05:35:49 -07:00
mjpython
Update MuJoCo version to 3.9.0 following the 3.8.1 release
2026-05-11 02:58:56 -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
Internal changes.
2026-03-10 01:56:10 -07:00
bindings_test.py
Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472
2026-05-17 16:47:54 -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 3.9.0 following the 3.8.1 release
2026-05-11 02:58:56 -07:00
constants.cc
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -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
Migrate mjtByte to mjtBool for boolean-valued fields.
2026-05-26 05:35:49 -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
Add x_scale to mujoco.minimize.least_squares.
2026-05-26 17:06:09 -07:00
minimize.py
Add x_scale to mujoco.minimize.least_squares.
2026-05-26 17:06:09 -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
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
2026-05-21 06:43:29 -07:00
simulate.cc
Fix call_guard usage inside .def_property calls.
2026-03-20 04:50:50 -07:00
specs_test.py
Add compiler timing diagnostics to mjsCompiler, printed by compile.cc
2026-05-19 08:28:47 -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
Add compiler timing diagnostics to mjsCompiler, printed by compile.cc
2026-05-19 08:28:47 -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