Multi-Joint dynamics with Contact. A general purpose physics simulator.
This report presents the forensic synthetic code analysis of google-deepmind/mujoco, a C++ project with 14,203 GitHub stars. SynthScan v2.0 examined 333,036 lines of code across 1166 source files, recording 2609 pattern matches distributed across 20 syntactic categories. The overall adjusted score of 9.8 places this repository in the Low AI signal band.
The scanner applied 160+ deterministic lexical heuristics, multi-line block detectors, abstract syntax tree depth profilers, and a cross-file Jaccard similarity matrix to construct a statistically normalised synthetic code estimate. All matches are individually weighted by severity coefficient and contextual multiplier before summation, and the resulting headline score is temporally discounted to account for the repository's development history relative to the commercial emergence of large language model coding tooling (November 2022 onward).
This chart maps the temporal evolution of the adjusted synthetic code score across successive scan runs. An upward trajectory indicates ongoing incorporation of AI-generated code or expanding LLM-assisted scaffolding; a stable or declining trajectory may reflect active human refactoring, code removal, or the adoption of stricter authorship policies. The dashed secondary line (right axis) independently tracks total raw pattern hit count, which can diverge from the normalised score when codebase size changes significantly between scans.
Classifies detected patterns by their diagnostic confidence and structural impact. CRITICAL patterns (coefficient 10) represent definitive synthetic signatures — hallucinated imports, explicit LLM attribution metadata — virtually never produced by human authors. HIGH (5) indicates strong structural tells such as cross-file repetition or cross-linguistic idioms. MEDIUM (2) covers recognisable conversational padding and AI-specific vocabulary. LOW (1) captures subtle indicators like tautological comments and generic boilerplate that require density to carry independent signal.
This horizontal bar chart decomposes the repository's raw synthetic code score by top-level directory, allowing you to pinpoint precisely which modules or components carry the highest AI authorship density. Directories with disproportionately high scores relative to their size warrant targeted manual review: concentrated AI signatures often trace back to mass-generated configuration layers, auto-ported test suites, LLM-scaffolded boilerplate classes, or entire subsystems authored under heavy copilot assistance. Use this view to prioritise your human code-review effort.
The scanner identified 2609 distinct pattern matches across 20 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a statistically significant AI authorship indicator. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.
Reading the findings table: The Severity column indicates the diagnostic confidence level (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — comment-context matches receive a ×1.5 weight because LLMs systematically over-annotate. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier as dense clusters constitute far stronger evidence of synthetic authorship than isolated hits.
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | CMakeLists.txt | 1 | # Copyright 2021 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Tools/MjHierarchyTool.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Tools/MjVfs.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Tools/AbsoluteValueAttribute.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Tools/MjEngineTool.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Tools/ConvertMj2Rca.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Tools/XmlElementExtensions.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Tools/MjcfGenerationContext.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Tools/MjTransformation.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Importer/MjcfImporter.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Importer/MjXmlModifiers.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/MjGlobalSettings.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/MjScene.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/MjScene.cs | 121 | if (_generationContext != null) { | COMMENT |
| LOW | unity/Runtime/Components/MjActuator.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/MjComponent.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/MjGizmos.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/MjInertial.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/MjExclude.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | …y/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | …y/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | …y/Runtime/Components/Sensors/MjActuatorScalarSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Sensors/MjBaseSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Sensors/MjBaseSensor.cs | 21 | COMMENT | |
| LOW | …y/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Sensors/MjSiteScalarSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Sensors/MjSiteVectorSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Sensors/MjGeomVectorSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Sensors/MjJointScalarSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Sensors/MjBodyVectorSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Sensors/MjUserSensor.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Bodies/MjMocapBody.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Bodies/MjBody.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Bodies/MjBaseBody.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Tendons/MjSpatialTendon.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Tendons/MjFixedTendon.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Tendons/MjBaseTendon.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Joints/MjHingeJoint.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Joints/MjSlideJoint.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Joints/MjBaseJoint.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Joints/MjBallJoint.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Joints/MjFreeJoint.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Joints/MjJointSettings.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjGeom.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjCapsuleShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MeshGenerators.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjBoxShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjCylinderShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjSphereShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjHeightFieldShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjMeshShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjGeomSettings.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/IMjShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/IMjShape.cs | 21 | // Functionality that needs to be implemented for each shape type. | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjShapeComponent.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjMeshFilter.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjSite.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjPlaneShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Shapes/MjEllipsoidShape.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| LOW | unity/Runtime/Components/Equality/MjWeld.cs | 1 | // Copyright 2019 DeepMind Technologies Limited | COMMENT |
| 1194 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM | python/setup.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/viewer.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/renderer.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/gil_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/renderer_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/specs_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/__init__.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/minimize.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/msh2obj_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/minimize_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/vfs_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/msh2obj.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/rollout.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/rollout_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/bindings_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/viewer_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/render_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/memory_leak_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/gl_context.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/viewer_protocol.py | 47 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/viewer_protocol.py | 49 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/viewer_protocol.py | 88 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/viewer_protocol.py | 90 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/viewer_protocol.py | 240 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/viewer_protocol.py | 242 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/messages.py | 25 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/messages.py | 30 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/messages.py | 99 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/messages.py | 101 | # ----------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/messages.py | 170 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/experimental/studio/messages.py | 172 | # --------------------------------------------------------------------------- | COMMENT |
| MEDIUM | python/mujoco/cgl/cgl.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/cgl/__init__.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/functions.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/enums.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/enums_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/__init__.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/type_parsing_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/ast_nodes_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/structs_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/structs.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/functions_test.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/mjxmacro.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/ast_nodes.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/type_parsing.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/codegen/formatter.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/codegen/generate.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/codegen/generate.py | 78 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/introspect/codegen/ast_processor.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/__init__.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/optimize.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/residual.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/plotting.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/io.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/signal_transform.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/__init__.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/trajectory.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/model_modifier.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/parameter.py | 14 | # ============================================================================== | COMMENT |
| MEDIUM | python/mujoco/sysid/_src/signal_modifier.py | 14 | # ============================================================================== | COMMENT |
| 199 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | test/benchmark/run_ablation.py | 138 | def compiler_cmake_flags_variants(): | CODE |
| LOW | python/setup.py | 63 | def get_external_lib_patterns(): | CODE |
| LOW | python/setup.py | 117 | def parse_cmake_args_from_environ(env_var_name=MUJOCO_CMAKE_ARGS): | CODE |
| LOW | python/mujoco/thread_safety_test.py | 50 | def test_concurrent_indexer_access(self): | CODE |
| LOW | python/mujoco/thread_safety_test.py | 75 | def test_concurrent_struct_list_access(self): | CODE |
| LOW | python/mujoco/thread_safety_test.py | 102 | def test_concurrent_callback_set_get(self): | CODE |
| LOW | python/mujoco/thread_safety_test.py | 128 | def test_concurrent_model_data_lifecycle(self): | CODE |
| LOW | python/mujoco/thread_safety_test.py | 156 | def test_callback_setter_from_del(self): | CODE |
| LOW | python/mujoco/thread_safety_test.py | 182 | def test_callback_replacement_from_del(self): | CODE |
| LOW | python/mujoco/renderer_test.py | 31 | def test_renderer_unknown_camera_name(self): | CODE |
| LOW | python/mujoco/renderer_test.py | 46 | def test_renderer_camera_under_range(self): | STRING |
| LOW | python/mujoco/renderer_test.py | 61 | def test_renderer_camera_over_range(self): | STRING |
| LOW | python/mujoco/renderer_test.py | 76 | def test_renderer_renders_scene(self): | STRING |
| LOW | python/mujoco/renderer_test.py | 101 | def test_renderer_output_without_out(self): | STRING |
| LOW | python/mujoco/renderer_test.py | 133 | def test_renderer_output_with_out(self): | STRING |
| LOW | python/mujoco/renderer_test.py | 163 | def test_renderer_del_safe_when_init_fails_early(self): | STRING |
| LOW⚡ | python/mujoco/specs_test.py | 1019 | def test_duplicate_name_error(self): | CODE |
| LOW⚡ | python/mujoco/specs_test.py | 2134 | def test_make_flex_with_pos_quat(self): | CODE |
| LOW | python/mujoco/specs_test.py | 1255 | def test_compiler_from_element(self): | CODE |
| LOW | python/mujoco/specs_test.py | 1430 | def test_delete_from_attached_spec_error(self): | CODE |
| LOW | python/mujoco/specs_test.py | 1445 | def test_attach_valid_child_lists(self): | CODE |
| LOW | python/mujoco/specs_test.py | 2056 | def test_encode_xml_without_model(self): | CODE |
| LOW | python/mujoco/specs_test.py | 2069 | def test_encode_no_encoder_raises(self): | CODE |
| LOW | python/mujoco/specs_test.py | 2168 | def test_authored_flags_from_xml(self): | CODE |
| LOW | python/mujoco/specs_test.py | 480 | def test_size_kwarg_variable_length(self): | STRING |
| LOW | python/mujoco/specs_test.py | 585 | def test_compile_errors_with_line_info(self): | STRING |
| LOW | python/mujoco/specs_test.py | 650 | def test_uncompiled_spec_can_be_written(self): | STRING |
| LOW | python/mujoco/specs_test.py | 654 | def test_modelname_default_class(self): | STRING |
| LOW | python/mujoco/specs_test.py | 992 | def test_geom_and_mesh_plugin(self): | STRING |
| LOW | python/mujoco/specs_test.py | 1037 | def test_duplicate_name_error_when_adding_specs_with_kwargs(self): | STRING |
| LOW | python/mujoco/specs_test.py | 1057 | def test_delete_unused_plugin(self): | STRING |
| LOW | python/mujoco/specs_test.py | 1100 | def test_access_option_stat_visual(self): | STRING |
| LOW | python/mujoco/specs_test.py | 1521 | def test_incorrect_hfield_size(self): | STRING |
| LOW | python/mujoco/specs_test.py | 2208 | def test_authored_defaults_zero(self): | STRING |
| LOW | python/mujoco/specs_test.py | 2223 | def test_attach_conflict_merge_procedural(self): | STRING |
| LOW | python/mujoco/specs_test.py | 2250 | def test_attach_conflict_error_procedural(self): | STRING |
| LOW | python/mujoco/specs_test.py | 2273 | def test_attach_conflict_merge_xml(self): | STRING |
| LOW | python/mujoco/specs_test.py | 2311 | def test_attach_conflict_error_xml(self): | STRING |
| LOW | python/mujoco/__init__.py | 243 | def _load_all_bundled_plugins(): | CODE |
| LOW | python/mujoco/msh2obj_test.py | 57 | def test_obj_model_matches_msh_model(self) -> None: | STRING |
| LOW | python/mujoco/minimize_test.py | 159 | def test_jacobian_fd_respects_bounds(self) -> None: | CODE |
| LOW | python/mujoco/minimize_test.py | 347 | def test_x_scale_default_is_no_op(self) -> None: | CODE |
| LOW | python/mujoco/minimize_test.py | 360 | def test_x_scale_reaches_same_minimum(self) -> None: | CODE |
| LOW | python/mujoco/minimize_test.py | 420 | def test_x_scale_jac_convergence(self) -> None: | CODE |
| LOW | python/mujoco/vfs_test.py | 64 | def test_double_close_is_safe(self): | STRING |
| LOW | python/mujoco/vfs_test.py | 69 | def test_operations_after_close_raise(self): | STRING |
| LOW | python/mujoco/vfs_test.py | 83 | def test_add_duplicate_raises(self): | STRING |
| LOW | python/mujoco/vfs_test.py | 96 | def test_delete_missing_raises(self): | STRING |
| LOW⚡ | python/mujoco/vfs_test.py | 108 | def test_compile_simple_model(self): | STRING |
| LOW⚡ | python/mujoco/vfs_test.py | 114 | def test_compile_model_with_mesh(self): | STRING |
| LOW⚡ | python/mujoco/vfs_test.py | 121 | def test_spec_from_string_with_vfs(self): | STRING |
| LOW⚡ | python/mujoco/vfs_test.py | 128 | def test_from_xml_string_with_vfs(self): | STRING |
| LOW⚡ | python/mujoco/vfs_test.py | 136 | def test_spec_compile_with_vfs(self): | STRING |
| LOW⚡ | python/mujoco/vfs_test.py | 143 | def test_spec_recompile_with_vfs(self): | STRING |
| LOW | python/mujoco/vfs_test.py | 155 | def test_long_lived_vfs_without_context(self): | STRING |
| LOW | python/mujoco/vfs_test.py | 170 | def test_vfs_and_assets_raises(self): | STRING |
| LOW | python/mujoco/vfs_test.py | 178 | def test_backward_compat_assets_dict(self): | STRING |
| LOW | python/mujoco/vfs_test.py | 221 | def test_attach_no_asset_dict_needed(self): | STRING |
| LOW | python/mujoco/rollout.py | 357 | def _check_number_of_dimensions(ndim, **kwargs): | CODE |
| LOW | python/mujoco/rollout.py | 365 | def _check_trailing_dimension(dim, **kwargs): | CODE |
| 328 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | python/mujoco/viewer.py | 326 | CODE | |
| LOW | python/mujoco/viewer.py | 448 | CODE | |
| LOW | python/mujoco/__init__.py | 127 | CODE | |
| LOW | python/mujoco/__init__.py | 243 | CODE | |
| LOW | python/mujoco/minimize.py | 142 | CODE | |
| LOW | python/mujoco/minimize_test.py | 99 | CODE | |
| LOW | python/mujoco/rollout.py | 382 | CODE | |
| LOW | python/mujoco/rollout.py | 396 | CODE | |
| LOW | python/mujoco/rollout_test.py | 962 | CODE | |
| LOW | python/mujoco/experimental/studio/studio_app_events.py | 31 | CODE | |
| LOW | python/mujoco/experimental/studio/studio_app_events.py | 429 | CODE | |
| LOW | python/mujoco/introspect/structs_test.py | 47 | CODE | |
| LOW | python/mujoco/introspect/structs_test.py | 92 | CODE | |
| LOW | python/mujoco/introspect/codegen/formatter.py | 63 | CODE | |
| LOW | python/mujoco/introspect/codegen/formatter.py | 129 | CODE | |
| LOW | python/mujoco/introspect/codegen/ast_processor.py | 77 | CODE | |
| LOW | python/mujoco/introspect/codegen/ast_processor.py | 126 | CODE | |
| LOW | python/mujoco/introspect/codegen/ast_processor.py | 186 | CODE | |
| LOW | python/mujoco/sysid/_src/optimize.py | 284 | CODE | |
| LOW | python/mujoco/sysid/_src/residual.py | 54 | CODE | |
| LOW | python/mujoco/sysid/_src/plotting.py | 26 | CODE | |
| LOW | python/mujoco/sysid/_src/model_modifier.py | 28 | CODE | |
| LOW | python/mujoco/sysid/_src/parameter.py | 397 | CODE | |
| LOW | python/mujoco/sysid/_src/parameter.py | 618 | CODE | |
| LOW | python/mujoco/sysid/_src/parameter.py | 655 | CODE | |
| LOW | python/mujoco/sysid/report/builder.py | 45 | CODE | |
| LOW | …mujoco/sysid/report/sections/parameter_distribution.py | 110 | CODE | |
| LOW | python/mujoco/sysid/report/sections/parameters.py | 64 | CODE | |
| LOW | python/mujoco/sysid/report/sections/parameters.py | 105 | CODE | |
| LOW | …hon/mujoco/sysid/report/sections/optimization_trace.py | 372 | CODE | |
| LOW | python/mujoco/codegen/generate_cs_bindings.py | 364 | CODE | |
| LOW | python/mujoco/codegen/generate_cs_bindings.py | 496 | CODE | |
| LOW | python/mujoco/codegen/generate_cs_bindings.py | 574 | CODE | |
| LOW | python/mujoco/codegen/generate_cs_bindings.py | 600 | CODE | |
| LOW | python/mujoco/codegen/generate_cs_bindings.py | 638 | CODE | |
| LOW | python/mujoco/codegen/generate_cs_bindings.py | 676 | CODE | |
| LOW | python/mujoco/codegen/generate_spec_bindings.py | 152 | CODE | |
| LOW | python/mujoco/codegen/generate_spec_bindings.py | 201 | CODE | |
| LOW | python/mujoco/codegen/generate_spec_bindings.py | 330 | CODE | |
| LOW | python/mujoco/codegen/generate_spec_bindings.py | 342 | CODE | |
| LOW | python/mujoco/codegen/generate_spec_bindings.py | 355 | CODE | |
| LOW | python/mujoco/codegen/generate_spec_bindings.py | 359 | CODE | |
| LOW | python/mujoco/egl/__init__.py | 35 | CODE | |
| LOW | python/mujoco/usd/shapes.py | 23 | CODE | |
| LOW | python/mujoco/usd/shapes.py | 298 | CODE | |
| LOW | python/mujoco/usd/shapes.py | 373 | CODE | |
| LOW | wasm/codegen/generators/functions.py | 117 | CODE | |
| LOW | wasm/codegen/generators/functions.py | 174 | CODE | |
| LOW | wasm/codegen/generators/functions.py | 204 | CODE | |
| LOW | wasm/codegen/generators/enums.py | 21 | CODE | |
| LOW | wasm/codegen/generators/structs.py | 71 | CODE | |
| LOW | wasm/codegen/generators/structs.py | 313 | CODE | |
| LOW | wasm/codegen/generators/structs.py | 361 | CODE | |
| LOW | wasm/codegen/generators/structs.py | 493 | CODE | |
| LOW | wasm/codegen/generators/structs.py | 563 | CODE | |
| LOW | wasm/codegen/generators/structs.py | 761 | CODE | |
| LOW | wasm/codegen/generators/structs.py | 828 | CODE | |
| LOW | wasm/codegen/generators/common.py | 47 | CODE | |
| LOW | mjx/mujoco/mjx/_src/constraint.py | 619 | CODE | |
| LOW | mjx/mujoco/mjx/_src/constraint.py | 669 | CODE | |
| 206 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | python/mujoco/renderer.py | 19 | CODE | |
| LOW | python/mujoco/gil_test.py | 21 | CODE | |
| LOW | python/mujoco/specs_test.py | 23 | CODE | |
| LOW | python/mujoco/specs_test.py | 24 | CODE | |
| LOW | python/mujoco/__init__.py | 54 | CODE | |
| LOW | python/mujoco/__init__.py | 55 | CODE | |
| LOW | python/mujoco/__init__.py | 56 | CODE | |
| LOW | python/mujoco/__init__.py | 57 | CODE | |
| LOW | python/mujoco/__init__.py | 58 | CODE | |
| LOW | python/mujoco/__init__.py | 59 | CODE | |
| LOW | python/mujoco/__init__.py | 60 | CODE | |
| LOW | python/mujoco/__init__.py | 66 | CODE | |
| LOW | python/mujoco/__init__.py | 71 | CODE | |
| LOW | python/mujoco/__init__.py | 76 | CODE | |
| LOW | python/mujoco/gl_context.py | 19 | CODE | |
| LOW | python/mujoco/cgl/__init__.py | 17 | CODE | |
| LOW | python/mujoco/cgl/__init__.py | 19 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 17 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 18 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 19 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 20 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 21 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 22 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 23 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 24 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 25 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 26 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 27 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 28 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 29 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 30 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 31 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 32 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 33 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 34 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 35 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 36 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 37 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 38 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 39 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 40 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 41 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 42 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 43 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 44 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 45 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 46 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 47 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 48 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 49 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 50 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 51 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 52 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 53 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 54 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 55 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 56 | CODE | |
| LOW | python/mujoco/sysid/__init__.py | 57 | CODE | |
| LOW | python/mujoco/sysid/_src/residual.py | 18 | CODE | |
| LOW | python/mujoco/sysid/_src/plotting.py | 18 | CODE | |
| 176 more matches not shown… | ||||
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | python/mujoco/introspect/functions.py | 0 | provides information about mujoco api structs. do not edit. this file is automatically generated. | STRING |
| HIGH | python/mujoco/introspect/enums.py | 0 | provides information about mujoco api structs. do not edit. this file is automatically generated. | STRING |
| HIGH | python/mujoco/introspect/structs.py | 0 | provides information about mujoco api structs. do not edit. this file is automatically generated. | STRING |
| HIGH | python/mujoco/introspect/codegen/generate.py | 0 | # copyright 2026 deepmind technologies limited # # licensed under the apache license, version 2.0 (the "license"); # you | STRING |
| HIGH | python/mujoco/codegen/generate_cs_bindings.py | 0 | # copyright 2026 deepmind technologies limited # # licensed under the apache license, version 2.0 (the "license"); # you | STRING |
| HIGH | mjx/mujoco/mjx/codegen/file.py | 0 | # copyright 2026 deepmind technologies limited # # licensed under the apache license, version 2.0 (the "license"); # you | STRING |
| HIGH | mjx/mujoco/mjx/_src/collision_convex.py | 0 | wraps collision functions for use by collision_driver. | STRING |
| HIGH | mjx/mujoco/mjx/_src/collision_primitive.py | 0 | wraps collision functions for use by collision_driver. | STRING |
| HIGH | mjx/mujoco/mjx/_src/collision_sdf.py | 0 | wraps collision functions for use by collision_driver. | STRING |
| HIGH | mjx/mujoco/mjx/_src/collision_driver_test.py | 0 | <mujoco> <worldbody> <body> <joint type="free"/> <geom pos="0 0 0" size="0.2" type="sphere"/> </body> <body > <joint typ | STRING |
| HIGH | mjx/mujoco/mjx/codegen/generate_warp_types.py | 0 | <mujoco> <worldbody> <body> <joint type="free"/> <geom pos="0 0 0" size="0.2" type="sphere"/> </body> <body > <joint typ | STRING |
| HIGH | mjx/mujoco/mjx/warp/collision_driver_test.py | 0 | <mujoco> <worldbody> <body> <joint type="free"/> <geom pos="0 0 0" size="0.2" type="sphere"/> </body> <body > <joint typ | STRING |
| HIGH | mjx/mujoco/mjx/_src/math.py | 0 | returns the closest point on the a-b line segment to a point pt. | STRING |
| HIGH | …ird_party/mujoco_warp/_src/collision_primitive_core.py | 0 | returns the closest point on the a-b line segment to a point pt. | STRING |
| HIGH | mjx/mujoco/mjx/third_party/mujoco_warp/_src/math.py | 0 | returns the closest point on the a-b line segment to a point pt. | STRING |
| HIGH | mjx/mujoco/mjx/_src/math.py | 0 | returns closest point on the line segment and the distance squared. | STRING |
| HIGH | …ird_party/mujoco_warp/_src/collision_primitive_core.py | 0 | returns closest point on the line segment and the distance squared. | STRING |
| HIGH | mjx/mujoco/mjx/third_party/mujoco_warp/_src/math.py | 0 | returns closest point on the line segment and the distance squared. | STRING |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | python/mujoco/rollout.py | 65 | Rolls out open-loop trajectories from initial states, get subsequent state and sensor values. Python wrapper for ro | STRING |
| HIGH | python/mujoco/rollout.py | 276 | Rolls out open-loop trajectories from initial states, get subsequent states and sensor values. Python wrapper for rol | STRING |
| HIGH | python/mujoco/rollout.py | 397 | Infers dimension `dim` given guess `value` from set of arrays. Args: dim: Dimension to be inferred. value: In | STRING |
| HIGH | python/mujoco/sysid/_src/timeseries.py | 692 | Resample the time series to new timestamps or a specific time interval. This method creates a new TimeSeries object | STRING |
| HIGH | python/mujoco/rendering/classic/renderer.py | 133 | Renders the scene as a numpy array of pixel values. Args: out: Alternative output array in which to place the | STRING |
| HIGH | wasm/codegen/generators/structs.py | 764 | Sorts structs based on their field dependencies using topological sort. Structs with no dependencies on other struc | STRING |
| HIGH | mjx/mujoco/mjx/_src/solver.py | 375 | Updates grad and M / grad given latest solver iteration. Corresponds to CGupdateGradient in mujoco/src/engine/engine_ | STRING |
| HIGH | mjx/mujoco/mjx/_src/io.py | 545 | Puts mujoco.MjModel onto a device, resulting in mjx.Model. Args: m: the model to put onto device device: whic | STRING |
| HIGH | mjx/mujoco/mjx/_src/io.py | 867 | Allocate and initialize Data. Args: m: the model to use device: which device to use - if unspecified picks th | STRING |
| HIGH | mjx/mujoco/mjx/_src/test_util.py | 295 | Creates a random MJCF for testing. Args: seed: seed for rng min_trees: minimum number of kinematic trees to g | STRING |
| HIGH | mjx/mujoco/mjx/_src/scan.py | 98 | A vmap that accepts numpy arrays. Numpy arrays are statically vmapped, and the elements are passed to f as static a | STRING |
| HIGH | mjx/mujoco/mjx/_src/scan.py | 176 | Scan a function across bodies or actuators. Scan group data according to type and batch shape then calls vmap(f) on i | STRING |
| HIGH | mjx/mujoco/mjx/_src/scan.py | 345 | Scan ``f`` across bodies in tree order, carrying results up/down the tree. This function groups bodies according to l | STRING |
| HIGH | mjx/mujoco/mjx/_src/render_util.py | 39 | Unpack uint32 ABGR pixel data into float32 RGB. Args: rc: RenderContextPytree. cam_id: Camera index to extrac | STRING |
| HIGH | mjx/mujoco/mjx/_src/render_util.py | 79 | Extract and normalize depth data for a camera. Args: rc: RenderContextPytree. cam_id: Camera index to extract | STRING |
| HIGH | mjx/mujoco/mjx/_src/render_util.py | 116 | Extract segmentation object IDs for a camera. Args: rc: RenderContextPytree. cam_id: Camera index to extract. | STRING |
| HIGH | mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_pkg.py | 48 | Check if an installed package satisfies a version requirement. Supports operators: >=, <=, >, <, ==, != Version co | STRING |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| CRITICAL | mjx/mujoco/mjx/third_party/warp/_src/jax/custom_call.py | 133 | wp._src.context.runtime.core.wp_cuda_launch_kernel( | CODE |
| CRITICAL | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 468 | wp._src.context.runtime.core.wp_cuda_launch_kernel( | CODE |
| CRITICAL | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 480 | wp._src.context.runtime.core.wp_cpu_launch_kernel( | CODE |
| CRITICAL | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 834 | if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream): | CODE |
| CRITICAL | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 867 | if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream): | CODE |
| CRITICAL | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 906 | if not wp._src.context.runtime.core.wp_cuda_graph_update_memcpy_batch( | CODE |
| CRITICAL | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 920 | if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream): | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | python/mujoco/thread_safety_test.py | 64 | except Exception as e: # pylint: disable=broad-except | CODE |
| LOW | python/mujoco/thread_safety_test.py | 90 | except Exception as e: # pylint: disable=broad-except | CODE |
| LOW | python/mujoco/thread_safety_test.py | 114 | except Exception as e: # pylint: disable=broad-except | CODE |
| LOW | python/mujoco/thread_safety_test.py | 140 | except Exception as e: # pylint: disable=broad-except | CODE |
| LOW | python/mujoco/thread_safety_test.py | 171 | except Exception: # pylint: disable=broad-except | CODE |
| LOW | python/mujoco/thread_safety_test.py | 194 | except Exception: # pylint: disable=broad-except | CODE |
| MEDIUM | python/mujoco/thread_safety_test.py | 57 | def access_indexers(): | CODE |
| MEDIUM | python/mujoco/thread_safety_test.py | 83 | def access_contacts(): | CODE |
| MEDIUM | python/mujoco/thread_safety_test.py | 106 | def toggle_callback(): | CODE |
| MEDIUM | python/mujoco/thread_safety_test.py | 132 | def create_destroy(): | CODE |
| MEDIUM | python/mujoco/thread_safety_test.py | 191 | def __del__(self): | CODE |
| LOW | python/mujoco/viewer.py | 302 | except Exception as e: # pylint: disable=broad-except | CODE |
| LOW | python/mujoco/experimental/studio/viewer_protocol.py | 176 | except Exception: # pylint: disable=broad-exception-caught | CODE |
| LOW | python/mujoco/experimental/studio/messages.py | 233 | except Exception: # pylint: disable=broad-except | CODE |
| LOW | python/mujoco/experimental/studio/viewer_app.py | 206 | except Exception as ex: # pylint: disable=broad-except | CODE |
| MEDIUM | python/mujoco/experimental/studio/viewer_app.py | 207 | print(f'Error loading model from {drop_file!r}: {ex}') | CODE |
| LOW | python/mujoco/experimental/studio/studio_app.py | 60 | except Exception as ex: # pylint: disable=broad-except | CODE |
| MEDIUM | python/mujoco/experimental/studio/studio_app.py | 61 | print(f'Error loading model from {model_path!r}: {ex}') | CODE |
| LOW | python/mujoco/experimental/studio/viewer_handle.py | 64 | except Exception: # pylint: disable=broad-exception-caught | CODE |
| MEDIUM | python/mujoco/experimental/studio/sample/implot.py | 219 | print(f'Error loading model from {argv[1]!r}') | CODE |
| LOW | python/mujoco/experimental/studio/sample/render.py | 48 | except Exception as ex: # pylint: disable=broad-except | CODE |
| MEDIUM | python/mujoco/experimental/studio/sample/render.py | 49 | print(f'Error loading model from `{_MODEL.value}`: {ex}') | CODE |
| LOW⚡ | python/mujoco/experimental/studio/sample/render.py | 61 | except Exception as ex: # pylint: disable=broad-except | CODE |
| MEDIUM⚡ | python/mujoco/experimental/studio/sample/render.py | 62 | print(f'Error rendering model: {ex}') | CODE |
| LOW⚡ | python/mujoco/experimental/studio/sample/render.py | 68 | except Exception as ex: # pylint: disable=broad-except | CODE |
| MEDIUM⚡ | python/mujoco/experimental/studio/sample/render.py | 69 | print(f'Error saving image to `{_OUTPUT.value}`: {ex}') | CODE |
| LOW | python/mujoco/experimental/studio/sample/ghost.py | 165 | except Exception as ex: # pylint: disable=broad-except | CODE |
| LOW | python/mujoco/cgl/__init__.py | 70 | except Exception: # pylint: disable=broad-exception-caught | CODE |
| LOW | python/mujoco/codegen/generate_cs_bindings.py | 426 | except Exception: # pylint: disable=broad-except | CODE |
| MEDIUM | wasm/codegen/tests/coverage_test.py | 50 | print(f'Error reading resource {file_path}: {e}') | CODE |
| MEDIUM | wasm/codegen/generators/common.py | 34 | print(f"Error writing to output file: {filepath} - {e}") | CODE |
| MEDIUM | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 359 | def ffi_callback(self, call_frame, platform="CUDA"): | CODE |
| MEDIUM | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 752 | def ffi_callback(self, call_frame, platform="CUDA"): | CODE |
| MEDIUM | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 1740 | def ffi_callback(call_frame, platform="CUDA"): | CODE |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 346 | except Exception: | CODE |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 487 | except Exception as e: | CODE |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 742 | except Exception: | CODE |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 1099 | except Exception as e: | CODE |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 1398 | except Exception as e: | CODE |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 1776 | except Exception as e: | CODE |
| LOW | mjx/mujoco/mjx/warp/visualize_render.py | 131 | except Exception: | CODE |
| LOW | mjx/mujoco/mjx/warp/testspeed.py | 279 | except Exception as _: | CODE |
| LOW | doc/make_mujoco_stubs.py | 99 | except Exception: | CODE |
| MEDIUM | doc/mjwarp/update_types.py | 68 | print(f'Error: Could not find {filepath}', file=sys.stderr) | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| HIGH | python/mujoco/codegen/generate_spec_bindings.py | 256 | self.{fullvarname}->reserve(rhs_view.length()); | CODE |
| HIGH⚡ | wasm/codegen/tests/generators_test.py | 373 | return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : ""; | STRING |
| HIGH⚡ | wasm/codegen/tests/generators_test.py | 376 | if (ptr_ && ptr_->string_field) { | STRING |
| HIGH | wasm/codegen/tests/generators_test.py | 265 | if (owned_ && ptr_) { | STRING |
| HIGH | wasm/codegen/generators/structs.py | 203 | f'return (ptr_ && ptr_->{f.name}) ? *(ptr_->{f.name}) : "";' | CODE |
| HIGH | wasm/codegen/generators/structs.py | 206 | with builder.block(f"if (ptr_ && ptr_->{f.name})"): | CODE |
| HIGH | wasm/codegen/generators/structs.py | 437 | if (id < 0 || id >= ptr_->nfield) { \\ | CODE |
| HIGH | wasm/codegen/generators/structs.py | 462 | if (id < 0 || id >= model->nfield) { \\ | CODE |
| HIGH | wasm/codegen/generators/structs.py | 520 | with builder.block("if (owned_ && ptr_)"): | CODE |
| HIGH | mjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py | 996 | "nvmax overflow: world %d needs %d active DOFs but nvmax = %d (behavior undefined)\n", | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | python/mujoco/specs_test.py | 1948 | # Step 2: Set dataspec to just mjRAYDATA_DIST | COMMENT |
| LOW⚡ | python/mujoco/specs_test.py | 1958 | # Step 3: Add all raydata fields and check no-hit values | COMMENT |
| LOW | python/mujoco/specs_test.py | 1928 | # Step 1: Create a rangefinder sensor attached to a site, no dataspec set. | COMMENT |
| LOW | python/mujoco/specs_test.py | 1981 | # Step 4: Add a floor plane, now the ray should hit | COMMENT |
| LOW | python/mujoco/specs_test.py | 2001 | # Step 5: Add a camera-based rangefinder sensor | COMMENT |
| LOW⚡ | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3538 | # Step 2: Sort | COMMENT |
| LOW⚡ | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3546 | # Step 3: Range | COMMENT |
| LOW⚡ | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3561 | # Step 4: Prefix sum for load balancing | COMMENT |
| LOW⚡ | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3568 | # Step 5: SAP sweep - output pairs only (no narrowphase) | COMMENT |
| LOW | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3509 | # Step 1: Project element AABBs onto direction | COMMENT |
| LOW | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3629 | # Step 6: Narrowphase on actual pairs only | COMMENT |
| LOW⚡ | mjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py | 287 | # Step 1: Find tree edges | COMMENT |
| LOW⚡ | mjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py | 291 | # Step 2: DFS flood fill | COMMENT |
| LOW | doc/_static/onthispage_mjwarp.js | 12 | // Step 1: Find all attribute definitions and collect their IDs. | COMMENT |
| LOW⚡ | doc/_static/onthispage_mjwarp.js | 29 | // Step 2: Find the sidebar container. | COMMENT |
| LOW⚡ | doc/_static/onthispage_mjwarp.js | 36 | // Step 3: Get all links within that sidebar. | COMMENT |
| LOW⚡ | doc/_static/onthispage_mjwarp.js | 42 | // Step 4: Iterate through the links and hide the ones that match. | COMMENT |
| LOW⚡ | src/experimental/studio/live.js | 88 | // Step 1: fetch the root XML so mju_getXMLDependencies (which reads it | COMMENT |
| LOW⚡ | src/experimental/studio/live.js | 96 | // Step 2: ask MuJoCo for the transitive dependency list. The call is | COMMENT |
| LOW⚡ | src/experimental/studio/live.js | 105 | // Step 3: fetch every dependency in parallel, deduped against URLs | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW⚡ | python/mujoco/specs_test.py | 1948 | # Step 2: Set dataspec to just mjRAYDATA_DIST | COMMENT |
| LOW⚡ | python/mujoco/specs_test.py | 1958 | # Step 3: Add all raydata fields and check no-hit values | COMMENT |
| LOW | python/mujoco/specs_test.py | 1928 | # Step 1: Create a rangefinder sensor attached to a site, no dataspec set. | COMMENT |
| LOW | python/mujoco/specs_test.py | 1981 | # Step 4: Add a floor plane, now the ray should hit | COMMENT |
| LOW | python/mujoco/specs_test.py | 2001 | # Step 5: Add a camera-based rangefinder sensor | COMMENT |
| LOW⚡ | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3538 | # Step 2: Sort | COMMENT |
| LOW⚡ | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3546 | # Step 3: Range | COMMENT |
| LOW⚡ | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3561 | # Step 4: Prefix sum for load balancing | COMMENT |
| LOW⚡ | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3568 | # Step 5: SAP sweep - output pairs only (no narrowphase) | COMMENT |
| LOW | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3509 | # Step 1: Project element AABBs onto direction | COMMENT |
| LOW | …oco/mjx/third_party/mujoco_warp/_src/collision_flex.py | 3629 | # Step 6: Narrowphase on actual pairs only | COMMENT |
| LOW⚡ | mjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py | 287 | # Step 1: Find tree edges | COMMENT |
| LOW⚡ | mjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py | 291 | # Step 2: DFS flood fill | COMMENT |
| LOW | doc/_static/onthispage_mjwarp.js | 12 | // Step 1: Find all attribute definitions and collect their IDs. | COMMENT |
| LOW⚡ | doc/_static/onthispage_mjwarp.js | 29 | // Step 2: Find the sidebar container. | COMMENT |
| LOW⚡ | doc/_static/onthispage_mjwarp.js | 36 | // Step 3: Get all links within that sidebar. | COMMENT |
| LOW⚡ | doc/_static/onthispage_mjwarp.js | 42 | // Step 4: Iterate through the links and hide the ones that match. | COMMENT |
| LOW⚡ | src/experimental/studio/live.js | 88 | // Step 1: fetch the root XML so mju_getXMLDependencies (which reads it | COMMENT |
| LOW⚡ | src/experimental/studio/live.js | 96 | // Step 2: ask MuJoCo for the transitive dependency list. The call is | COMMENT |
| LOW⚡ | src/experimental/studio/live.js | 105 | // Step 3: fetch every dependency in parallel, deduped against URLs | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| MEDIUM⚡ | python/mujoco/specs_test.py | 2126 | # Create a spec with minimal flexcomp args (defaults). | COMMENT |
| MEDIUM⚡ | python/mujoco/specs_test.py | 2135 | # Create a spec with flexcomp that has a pose. | COMMENT |
| MEDIUM | python/mujoco/specs_test.py | 2039 | # Create a simple spec and compile. | COMMENT |
| MEDIUM | python/mujoco/specs_test.py | 2057 | # Create a simple spec and compile so XML can be written. | COMMENT |
| MEDIUM | python/mujoco/specs_test.py | 2070 | # Create a simple spec and compile. | COMMENT |
| MEDIUM | python/mujoco/specs_test.py | 2083 | # Create a spec with a flexcomp grid. | COMMENT |
| MEDIUM | python/mujoco/specs_test.py | 70 | # Create a spec. | STRING |
| MEDIUM | python/mujoco/specs_test.py | 175 | # Create a spec. | STRING |
| MEDIUM | python/mujoco/specs_test.py | 614 | # Create a spec. | STRING |
| MEDIUM | python/mujoco/experimental/studio/native_viewer.py | 76 | # Create the renderer. | COMMENT |
| MEDIUM | mjx/mujoco/mjx/_src/io.py | 830 | # Create the raw MuJoCo data | COMMENT |
| MEDIUM | mjx/mujoco/mjx/_src/types.py | 39 | # This method is called only when lookup by value fails | COMMENT |
| MEDIUM | mjx/mujoco/mjx/third_party/warp/_src/jax/custom_call.py | 176 | # Create the batched primitive. | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | python/mujoco/minimize.py | 142 | CODE | |
| LOW | python/mujoco/rollout.py | 261 | CODE | |
| LOW | python/mujoco/rollout.py | 50 | CODE | |
| LOW | python/mujoco/experimental/studio/native_viewer.py | 35 | CODE | |
| LOW | python/mujoco/experimental/studio/viewer_protocol.py | 111 | CODE | |
| LOW | python/mujoco/sysid/_src/residual.py | 389 | CODE | |
| LOW | python/mujoco/sysid/_src/model_modifier.py | 474 | CODE | |
| LOW | python/mujoco/sysid/report/sections/video.py | 43 | CODE | |
| LOW | python/mujoco/sysid/report/sections/video.py | 162 | CODE | |
| LOW | python/mujoco/usd/exporter.py | 39 | CODE | |
| LOW | mjx/mujoco/mjx/_src/support.py | 125 | CODE | |
| LOW | mjx/mujoco/mjx/_src/support.py | 1027 | CODE | |
| LOW | mjx/mujoco/mjx/_src/support.py | 1100 | CODE | |
| LOW | mjx/mujoco/mjx/_src/io.py | 804 | CODE | |
| LOW | mjx/mujoco/mjx/_src/io.py | 856 | CODE | |
| LOW | mjx/mujoco/mjx/_src/io.py | 1203 | CODE | |
| LOW | mjx/mujoco/mjx/_src/test_util.py | 279 | CODE | |
| LOW | mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py | 1488 | CODE | |
| LOW | mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py | 1693 | CODE | |
| LOW | mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py | 3696 | CODE | |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/custom_call.py | 380 | CODE | |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 1215 | CODE | |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 1589 | CODE | |
| LOW | mjx/mujoco/mjx/warp/render_test.py | 130 | CODE | |
| LOW | mjx/mujoco/mjx/warp/render_test.py | 231 | CODE | |
| LOW | mjx/mujoco/mjx/warp/ffi.py | 99 | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | python/mujoco/viewer.py | 195 | # Check if image is already the correct shape | COMMENT |
| LOW⚡ | python/mujoco/specs_test.py | 1009 | # Assign plugin to geom | COMMENT |
| LOW⚡ | python/mujoco/specs_test.py | 1014 | # Assign plugin to mesh | COMMENT |
| LOW | python/mujoco/sysid/_src/optimize.py | 224 | # Check if there are any parameters to optimize. | COMMENT |
| LOW | python/mujoco/sysid/_src/plotting.py | 74 | # Check if we should capture this frame based on framerate | COMMENT |
| LOW | python/mujoco/sysid/report/builder.py | 58 | # Check if this is a GroupSection (has 'sections' attribute) | COMMENT |
| LOW | python/mujoco/sysid/report/sections/parameters.py | 111 | # Check if on boundary | COMMENT |
| LOW | …ird_party/mujoco_warp/_src/collision_primitive_core.py | 948 | # Check if contact normal is valid | COMMENT |
| LOW | mjx/mujoco/mjx/third_party/mujoco_warp/_src/bvh.py | 489 | # Check if current cell is planar | COMMENT |
| LOW | mjx/mujoco/mjx/third_party/mujoco_warp/_src/bvh.py | 529 | # Check if it lies on the SAME plane as start cell | COMMENT |
| LOW | …jx/third_party/mujoco_warp/_src/collision_primitive.py | 265 | # Check if the index is unique (appears exactly once) | COMMENT |
| LOW | …mujoco/mjx/third_party/mujoco_warp/_src/render_util.py | 90 | # Check if we have intrinsics (sensorsize[1] != 0) | COMMENT |
| LOW | mjx/mujoco/mjx/third_party/warp/_src/jax/ffi.py | 1509 | # Check if annotation is a warp array type (annotation is an instance of wp.array) | COMMENT |
| LOW | .github/workflows/build_steps.sh | 423 | # Set options to print the commands being run, and cause the script to exit with | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | python/mujoco/rollout.py | 109 | # just call rollout and return | COMMENT |
| LOW | wasm/codegen/tests/generators_test.py | 615 | # for integer just return the number | COMMENT |
| MEDIUM | …/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py | 1191 | # TODO(team): directly utilize M for these settings | COMMENT |
| MEDIUM | src/experimental/studio/live.js | 125 | // application robust, you may want to override this behavior before shipping! | COMMENT |
| MEDIUM | src/render/classic/render_context.c | 1651 | // enable seamless cube maps if supported | COMMENT |
| MEDIUM | src/engine/engine_util_spatial.c | 284 | // robust method to extract the rotational part of deformations." In | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | python/mujoco/experimental/studio/sample/implot.py | 74 | def _setup_time_axis(plot_size: imgui.Vec2) -> None: | CODE |
| LOW | python/mujoco/experimental/studio/sample/implot.py | 82 | def _setup_xpos_axis(centroid: list[np.ndarray], plot_size: imgui.Vec2) -> None: | CODE |
| LOW | python/mujoco/experimental/studio/sample/implot.py | 98 | def _setup_angle_axis(plot_size: imgui.Vec2) -> None: | CODE |
| LOW | python/mujoco/sysid/_src/signal_transform.py | 108 | def set_sensor_weights(self, weights: Mapping[str, float]) -> None: | CODE |
| LOW | python/mujoco/sysid/_src/parameter.py | 107 | def update_from_vector(self, vector: np.ndarray) -> None: | CODE |
| LOW | python/mujoco/sysid/_src/parameter.py | 298 | def update_from_vector(self, vector: np.ndarray) -> None: | CODE |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | mjx/mujoco/mjx/_src/support.py | 308 | # TODO: consider using MjModel.names_map instead | COMMENT |
| LOW | mjx/mujoco/mjx/_src/collision_sdf.py | 216 | # TODO: implement analytical version. | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | src/engine/engine_support.c | 802 | // don't forget to call mj_set0 after changing masses | COMMENT |
| Severity | File | Line | Snippet | Context |
|---|---|---|---|---|
| LOW | python/mujoco/introspect/type_parsing.py | 100 | 'lorem ipsum(dolor sit (consectetur adipiscing) amet)sed do eiusmod', | STRING |
| LOW | python/mujoco/introspect/type_parsing.py | 102 | ['consectetur adipiscing', 'dolor sit amet', 'lorem ipsumsed do eiusmod']. | STRING |