Home / google-deepmind / mujoco
Repository Analysis

google-deepmind/mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.

9.6 Low AI signal View on GitHub
9.6
Adjusted Score
9.6
Raw Score
100%
Time Factor
2026-05-30
Last Push
13,680
Stars
C++
Language
315,436
Lines of Code
1119
Files
2378
Pattern Hits
2026-05-31
Scan Date

Score History

Severity Breakdown

CRITICAL 7HIGH 64MEDIUM 266LOW 2041

Pattern Findings

2378 matches across 16 categories. Click a row to expand file-level details.

Over-Commented Block1200 hits · 1108 pts
SeverityFileLineSnippet
LOWCMakeLists.txt1# Copyright 2021 DeepMind Technologies Limited
LOWunity/Runtime/Tools/MjHierarchyTool.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Tools/MjVfs.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Tools/AbsoluteValueAttribute.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Tools/MjEngineTool.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Tools/ConvertMj2Rca.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Tools/XmlElementExtensions.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Tools/MjcfGenerationContext.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Tools/MjTransformation.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Importer/MjcfImporter.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Importer/MjXmlModifiers.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/MjGlobalSettings.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/MjScene.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/MjScene.cs121 if (_generationContext != null) {
LOWunity/Runtime/Components/MjActuator.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/MjComponent.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/MjGizmos.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/MjInertial.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/MjExclude.cs1// Copyright 2019 DeepMind Technologies Limited
LOW…y/Runtime/Components/Sensors/MjBodyQuaternionSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOW…y/Runtime/Components/Sensors/MjSiteQuaternionSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOW…y/Runtime/Components/Sensors/MjActuatorScalarSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Sensors/MjBaseSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Sensors/MjBaseSensor.cs21
LOW…y/Runtime/Components/Sensors/MjGeomQuaternionSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Sensors/MjSiteScalarSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Sensors/MjSiteVectorSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Sensors/MjGeomVectorSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Sensors/MjJointScalarSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Sensors/MjBodyVectorSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Sensors/MjUserSensor.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Bodies/MjMocapBody.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Bodies/MjBody.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Bodies/MjBaseBody.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Tendons/MjSpatialTendon.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Tendons/MjFixedTendon.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Tendons/MjBaseTendon.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Joints/MjHingeJoint.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Joints/MjSlideJoint.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Joints/MjBaseJoint.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Joints/MjBallJoint.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Joints/MjFreeJoint.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Joints/MjJointSettings.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjGeom.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjCapsuleShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MeshGenerators.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjBoxShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjCylinderShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjSphereShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjHeightFieldShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjMeshShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjGeomSettings.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/IMjShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/IMjShape.cs21// Functionality that needs to be implemented for each shape type.
LOWunity/Runtime/Components/Shapes/MjShapeComponent.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjMeshFilter.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjSite.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjPlaneShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Shapes/MjEllipsoidShape.cs1// Copyright 2019 DeepMind Technologies Limited
LOWunity/Runtime/Components/Equality/MjWeld.cs1// Copyright 2019 DeepMind Technologies Limited
1140 more matches not shown…
Decorative Section Separators244 hits · 751 pts
SeverityFileLineSnippet
MEDIUMpython/setup.py14# ==============================================================================
MEDIUMpython/mujoco/viewer.py14# ==============================================================================
MEDIUMpython/mujoco/renderer.py14# ==============================================================================
MEDIUMpython/mujoco/renderer_test.py14# ==============================================================================
MEDIUMpython/mujoco/specs_test.py14# ==============================================================================
MEDIUMpython/mujoco/__init__.py14# ==============================================================================
MEDIUMpython/mujoco/minimize.py14# ==============================================================================
MEDIUMpython/mujoco/msh2obj_test.py14# ==============================================================================
MEDIUMpython/mujoco/minimize_test.py14# ==============================================================================
MEDIUMpython/mujoco/vfs_test.py14# ==============================================================================
MEDIUMpython/mujoco/msh2obj.py14# ==============================================================================
MEDIUMpython/mujoco/rollout.py14# ==============================================================================
MEDIUMpython/mujoco/rollout_test.py14# ==============================================================================
MEDIUMpython/mujoco/bindings_test.py14# ==============================================================================
MEDIUMpython/mujoco/viewer_test.py14# ==============================================================================
MEDIUMpython/mujoco/render_test.py14# ==============================================================================
MEDIUMpython/mujoco/memory_leak_test.py14# ==============================================================================
MEDIUMpython/mujoco/gl_context.py14# ==============================================================================
MEDIUMpython/mujoco/cgl/cgl.py14# ==============================================================================
MEDIUMpython/mujoco/cgl/__init__.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/functions.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/enums.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/enums_test.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/__init__.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/type_parsing_test.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/ast_nodes_test.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/structs_test.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/structs.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/functions_test.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/mjxmacro.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/ast_nodes.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/type_parsing.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/codegen/formatter.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/codegen/generate_structs.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/codegen/generate_structs.py262# ==============================================================================
MEDIUMpython/mujoco/introspect/codegen/generate_enums.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/codegen/generate_enums.py113# ==============================================================================
MEDIUMpython/mujoco/introspect/codegen/generate_functions.py14# ==============================================================================
MEDIUMpython/mujoco/introspect/codegen/generate_functions.py174# ==============================================================================
MEDIUMpython/mujoco/sysid/__init__.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/optimize.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/residual.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/plotting.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/io.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/signal_transform.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/__init__.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/trajectory.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/model_modifier.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/parameter.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/signal_modifier.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/_src/timeseries.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/tests/test_model_modifier.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/tests/conftest.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/tests/conftest.py24# ---------------------------------------------------------------------------
MEDIUMpython/mujoco/sysid/tests/conftest.py26# ---------------------------------------------------------------------------
MEDIUMpython/mujoco/sysid/tests/conftest.py140# ---------------------------------------------------------------------------
MEDIUMpython/mujoco/sysid/tests/conftest.py142# ---------------------------------------------------------------------------
MEDIUMpython/mujoco/sysid/tests/test_timeseries.py14# ==============================================================================
MEDIUMpython/mujoco/sysid/tests/test_timeseries.py24# ---------------------------------------------------------------------------
MEDIUMpython/mujoco/sysid/tests/test_timeseries.py26# ---------------------------------------------------------------------------
184 more matches not shown…
Hyper-Verbose Identifiers339 hits · 298 pts
SeverityFileLineSnippet
LOWtest/benchmark/run_ablation.py138def compiler_cmake_flags_variants():
LOWpython/setup.py63def get_external_lib_patterns():
LOWpython/setup.py117def parse_cmake_args_from_environ(env_var_name=MUJOCO_CMAKE_ARGS):
LOWpython/mujoco/renderer_test.py31 def test_renderer_unknown_camera_name(self):
LOWpython/mujoco/renderer_test.py46 def test_renderer_camera_under_range(self):
LOWpython/mujoco/renderer_test.py61 def test_renderer_camera_over_range(self):
LOWpython/mujoco/renderer_test.py76 def test_renderer_renders_scene(self):
LOWpython/mujoco/renderer_test.py101 def test_renderer_output_without_out(self):
LOWpython/mujoco/renderer_test.py133 def test_renderer_output_with_out(self):
LOWpython/mujoco/renderer_test.py163 def test_renderer_del_safe_when_init_fails_early(self):
LOWpython/mujoco/specs_test.py1006 def test_duplicate_name_error(self):
LOWpython/mujoco/specs_test.py2087 def test_make_flex_with_pos_quat(self):
LOWpython/mujoco/specs_test.py1242 def test_compiler_from_element(self):
LOWpython/mujoco/specs_test.py1417 def test_delete_from_attached_spec_error(self):
LOWpython/mujoco/specs_test.py1432 def test_attach_valid_child_lists(self):
LOWpython/mujoco/specs_test.py2009 def test_encode_xml_without_model(self):
LOWpython/mujoco/specs_test.py2022 def test_encode_no_encoder_raises(self):
LOWpython/mujoco/specs_test.py479 def test_size_kwarg_variable_length(self):
LOWpython/mujoco/specs_test.py584 def test_compile_errors_with_line_info(self):
LOWpython/mujoco/specs_test.py637 def test_uncompiled_spec_can_be_written(self):
LOWpython/mujoco/specs_test.py641 def test_modelname_default_class(self):
LOWpython/mujoco/specs_test.py979 def test_geom_and_mesh_plugin(self):
LOWpython/mujoco/specs_test.py1024 def test_duplicate_name_error_when_adding_specs_with_kwargs(self):
LOWpython/mujoco/specs_test.py1044 def test_delete_unused_plugin(self):
LOWpython/mujoco/specs_test.py1087 def test_access_option_stat_visual(self):
LOWpython/mujoco/specs_test.py1508 def test_incorrect_hfield_size(self):
LOWpython/mujoco/__init__.py243def _load_all_bundled_plugins():
LOWpython/mujoco/msh2obj_test.py57 def test_obj_model_matches_msh_model(self) -> None:
LOWpython/mujoco/minimize_test.py322 def test_x_scale_default_is_no_op(self) -> None:
LOWpython/mujoco/minimize_test.py335 def test_x_scale_reaches_same_minimum(self) -> None:
LOWpython/mujoco/minimize_test.py395 def test_x_scale_jac_convergence(self) -> None:
LOWpython/mujoco/vfs_test.py64 def test_double_close_is_safe(self):
LOWpython/mujoco/vfs_test.py69 def test_operations_after_close_raise(self):
LOWpython/mujoco/vfs_test.py83 def test_add_duplicate_raises(self):
LOWpython/mujoco/vfs_test.py96 def test_delete_missing_raises(self):
LOWpython/mujoco/vfs_test.py108 def test_compile_simple_model(self):
LOWpython/mujoco/vfs_test.py114 def test_compile_model_with_mesh(self):
LOWpython/mujoco/vfs_test.py121 def test_spec_from_string_with_vfs(self):
LOWpython/mujoco/vfs_test.py128 def test_from_xml_string_with_vfs(self):
LOWpython/mujoco/vfs_test.py136 def test_spec_compile_with_vfs(self):
LOWpython/mujoco/vfs_test.py143 def test_spec_recompile_with_vfs(self):
LOWpython/mujoco/vfs_test.py155 def test_long_lived_vfs_without_context(self):
LOWpython/mujoco/vfs_test.py170 def test_vfs_and_assets_raises(self):
LOWpython/mujoco/vfs_test.py178 def test_backward_compat_assets_dict(self):
LOWpython/mujoco/vfs_test.py221 def test_attach_no_asset_dict_needed(self):
LOWpython/mujoco/rollout.py357def _check_number_of_dimensions(ndim, **kwargs):
LOWpython/mujoco/rollout.py365def _check_trailing_dimension(dim, **kwargs):
LOWpython/mujoco/rollout_test.py201 def test_infer_nbatch_initial_state(self, model_name):
LOWpython/mujoco/rollout_test.py220 def test_infer_nbatch_control(self, model_name):
LOWpython/mujoco/rollout_test.py239 def test_infer_nbatch_warmstart(self, model_name):
LOWpython/mujoco/rollout_test.py285 def test_infer_nbatch_sensordata(self, model_name):
LOWpython/mujoco/rollout_test.py308 def test_one_rollout_fixed_ctrl(self, model_name):
LOWpython/mujoco/rollout_test.py375 def test_multi_rollout_fixed_ctrl_infer_from_output(self, model_name):
LOWpython/mujoco/rollout_test.py396 def test_py_rollout_generalized_control(self, model_name):
LOWpython/mujoco/rollout_test.py554 def test_threading_native_persistent_object(self):
LOWpython/mujoco/rollout_test.py603 def test_threading_native_persistent_function(self):
LOWpython/mujoco/rollout_test.py800 def test_length_one_model_list(self):
LOWpython/mujoco/bindings_test.py228 def test_named_indexing_invalid_names_in_model(self):
LOWpython/mujoco/bindings_test.py235 def test_named_indexing_no_name_argument_in_model(self):
LOWpython/mujoco/bindings_test.py242 def test_named_indexing_invalid_names_in_data(self):
279 more matches not shown…
Deep Nesting224 hits · 210 pts
SeverityFileLineSnippet
LOWpython/mujoco/viewer.py326
LOWpython/mujoco/viewer.py448
LOWpython/mujoco/__init__.py127
LOWpython/mujoco/__init__.py243
LOWpython/mujoco/minimize.py142
LOWpython/mujoco/minimize_test.py99
LOWpython/mujoco/rollout.py382
LOWpython/mujoco/rollout.py396
LOWpython/mujoco/rollout_test.py946
LOWpython/mujoco/introspect/structs_test.py47
LOWpython/mujoco/introspect/structs_test.py92
LOWpython/mujoco/introspect/codegen/formatter.py63
LOWpython/mujoco/introspect/codegen/formatter.py129
LOWpython/mujoco/introspect/codegen/generate_structs.py204
LOWpython/mujoco/introspect/codegen/generate_functions.py78
LOWpython/mujoco/sysid/_src/optimize.py205
LOWpython/mujoco/sysid/_src/residual.py54
LOWpython/mujoco/sysid/_src/plotting.py26
LOWpython/mujoco/sysid/_src/model_modifier.py28
LOWpython/mujoco/sysid/_src/parameter.py370
LOWpython/mujoco/sysid/_src/parameter.py591
LOWpython/mujoco/sysid/_src/parameter.py628
LOWpython/mujoco/sysid/report/builder.py45
LOW…mujoco/sysid/report/sections/parameter_distribution.py110
LOWpython/mujoco/sysid/report/sections/parameters.py64
LOWpython/mujoco/sysid/report/sections/parameters.py105
LOW…hon/mujoco/sysid/report/sections/optimization_trace.py372
LOWpython/mujoco/codegen/generate_cs_bindings.py360
LOWpython/mujoco/codegen/generate_cs_bindings.py492
LOWpython/mujoco/codegen/generate_cs_bindings.py570
LOWpython/mujoco/codegen/generate_cs_bindings.py596
LOWpython/mujoco/codegen/generate_cs_bindings.py634
LOWpython/mujoco/codegen/generate_cs_bindings.py672
LOWpython/mujoco/codegen/generate_spec_bindings.py144
LOWpython/mujoco/codegen/generate_spec_bindings.py193
LOWpython/mujoco/codegen/generate_spec_bindings.py322
LOWpython/mujoco/codegen/generate_spec_bindings.py334
LOWpython/mujoco/codegen/generate_spec_bindings.py347
LOWpython/mujoco/codegen/generate_spec_bindings.py351
LOWpython/mujoco/egl/__init__.py35
LOWpython/mujoco/usd/shapes.py23
LOWpython/mujoco/usd/shapes.py298
LOWpython/mujoco/usd/shapes.py373
LOWwasm/codegen/generators/functions.py117
LOWwasm/codegen/generators/functions.py166
LOWwasm/codegen/generators/functions.py194
LOWwasm/codegen/generators/enums.py22
LOWwasm/codegen/generators/structs.py71
LOWwasm/codegen/generators/structs.py283
LOWwasm/codegen/generators/structs.py331
LOWwasm/codegen/generators/structs.py463
LOWwasm/codegen/generators/structs.py533
LOWwasm/codegen/generators/structs.py731
LOWwasm/codegen/generators/structs.py798
LOWwasm/codegen/generators/common.py45
LOWmjx/mujoco/mjx/_src/constraint.py619
LOWmjx/mujoco/mjx/_src/constraint.py669
LOWmjx/mujoco/mjx/_src/sensor.py54
LOWmjx/mujoco/mjx/_src/sensor.py287
LOWmjx/mujoco/mjx/_src/sensor.py428
164 more matches not shown…
Cross-File Repetition38 hits · 190 pts
SeverityFileLineSnippet
HIGHpython/mujoco/renderer_test.py0<mujoco> <worldbody> <camera name="a"/> </worldbody> </mujoco>
HIGHpython/mujoco/renderer_test.py0<mujoco> <worldbody> <camera name="a"/> </worldbody> </mujoco>
HIGHpython/mujoco/renderer_test.py0<mujoco> <worldbody> <camera name="a"/> </worldbody> </mujoco>
HIGHpython/mujoco/renderer_test.py0<mujoco> <worldbody> <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/> <geom name="white_box" type="box" size
HIGHpython/mujoco/renderer_test.py0<mujoco> <worldbody> <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/> <geom name="white_box" type="box" size
HIGHpython/mujoco/renderer_test.py0<mujoco> <worldbody> <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/> <geom name="white_box" type="box" size
HIGHpython/mujoco/usd/exporter_test.py0<mujoco> <worldbody> <camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/> <geom name="white_box" type="box" size
HIGHpython/mujoco/cgl/__init__.py0an egl context for headless accelerated opengl rendering on gpu devices.
HIGHpython/mujoco/egl/__init__.py0an egl context for headless accelerated opengl rendering on gpu devices.
HIGHpython/mujoco/egl/__init__.py0an egl context for headless accelerated opengl rendering on gpu devices.
HIGHwasm/codegen/generators/constants.py0check_sizes(res, vec1); check_sizes(res, vec2); int n = res_.size();
HIGHwasm/codegen/generators/constants.py0check_sizes(res, vec1); check_sizes(res, vec2); int n = res_.size();
HIGHwasm/codegen/generators/constants.py0check_sizes(res, vec1); check_sizes(res, vec2); int n = res_.size();
HIGHwasm/codegen/generators/constants.py0check_size(jacp, m.nv() * 3); check_size(jacr, m.nv() * 3);
HIGHwasm/codegen/generators/constants.py0check_size(jacp, m.nv() * 3); check_size(jacr, m.nv() * 3);
HIGHwasm/codegen/generators/constants.py0check_size(jacp, m.nv() * 3); check_size(jacr, m.nv() * 3);
HIGHwasm/codegen/generators/constants.py0check_size(jacp, m.nv() * 3); check_size(jacr, m.nv() * 3);
HIGHmjx/mujoco/mjx/_src/io.py0puts mujoco.mjmodel onto a device, resulting in mjx.model.
HIGHmjx/mujoco/mjx/_src/io.py0puts mujoco.mjmodel onto a device, resulting in mjx.model.
HIGHmjx/mujoco/mjx/_src/io.py0puts mujoco.mjmodel onto a device, resulting in mjx.model.
HIGHmjx/mujoco/mjx/_src/io.py0puts mujoco.mjdata onto a device, resulting in mjx.data.
HIGHmjx/mujoco/mjx/_src/io.py0puts mujoco.mjdata onto a device, resulting in mjx.data.
HIGHmjx/mujoco/mjx/_src/io.py0puts mujoco.mjdata onto a device, resulting in mjx.data.
HIGHmjx/mujoco/mjx/_src/io.py0gets mjx.data from a device into an existing mujoco.mjdata or list.
HIGHmjx/mujoco/mjx/_src/io.py0gets mjx.data from a device into an existing mujoco.mjdata or list.
HIGHmjx/mujoco/mjx/_src/io.py0gets mjx.data from a device into an existing mujoco.mjdata or list.
HIGHmjx/mujoco/mjx/_src/collision_convex.py0wraps collision functions for use by collision_driver.
HIGHmjx/mujoco/mjx/_src/collision_primitive.py0wraps collision functions for use by collision_driver.
HIGHmjx/mujoco/mjx/_src/collision_sdf.py0wraps collision functions for use by collision_driver.
HIGHmjx/mujoco/mjx/_src/collision_driver_test.py0<mujoco> <worldbody> <body> <joint type="free"/> <geom pos="0 0 0" size="0.2" type="sphere"/> </body> <body > <joint typ
HIGHmjx/mujoco/mjx/codegen/generate_warp_types.py0<mujoco> <worldbody> <body> <joint type="free"/> <geom pos="0 0 0" size="0.2" type="sphere"/> </body> <body > <joint typ
HIGHmjx/mujoco/mjx/warp/collision_driver_test.py0<mujoco> <worldbody> <body> <joint type="free"/> <geom pos="0 0 0" size="0.2" type="sphere"/> </body> <body > <joint typ
HIGHmjx/mujoco/mjx/_src/math.py0returns the closest point on the a-b line segment to a point pt.
HIGH…ird_party/mujoco_warp/_src/collision_primitive_core.py0returns the closest point on the a-b line segment to a point pt.
HIGHmjx/mujoco/mjx/third_party/mujoco_warp/_src/math.py0returns the closest point on the a-b line segment to a point pt.
HIGHmjx/mujoco/mjx/_src/math.py0returns closest point on the line segment and the distance squared.
HIGH…ird_party/mujoco_warp/_src/collision_primitive_core.py0returns closest point on the line segment and the distance squared.
HIGHmjx/mujoco/mjx/third_party/mujoco_warp/_src/math.py0returns closest point on the line segment and the distance squared.
Unused Imports233 hits · 164 pts
SeverityFileLineSnippet
LOWpython/mujoco/renderer.py19
LOWpython/mujoco/specs_test.py23
LOWpython/mujoco/__init__.py54
LOWpython/mujoco/__init__.py55
LOWpython/mujoco/__init__.py56
LOWpython/mujoco/__init__.py57
LOWpython/mujoco/__init__.py58
LOWpython/mujoco/__init__.py59
LOWpython/mujoco/__init__.py60
LOWpython/mujoco/__init__.py66
LOWpython/mujoco/__init__.py71
LOWpython/mujoco/__init__.py76
LOWpython/mujoco/gl_context.py19
LOWpython/mujoco/cgl/__init__.py17
LOWpython/mujoco/cgl/__init__.py19
LOWpython/mujoco/sysid/__init__.py17
LOWpython/mujoco/sysid/__init__.py18
LOWpython/mujoco/sysid/__init__.py19
LOWpython/mujoco/sysid/__init__.py20
LOWpython/mujoco/sysid/__init__.py21
LOWpython/mujoco/sysid/__init__.py22
LOWpython/mujoco/sysid/__init__.py23
LOWpython/mujoco/sysid/__init__.py24
LOWpython/mujoco/sysid/__init__.py25
LOWpython/mujoco/sysid/__init__.py26
LOWpython/mujoco/sysid/__init__.py27
LOWpython/mujoco/sysid/__init__.py28
LOWpython/mujoco/sysid/__init__.py29
LOWpython/mujoco/sysid/__init__.py30
LOWpython/mujoco/sysid/__init__.py31
LOWpython/mujoco/sysid/__init__.py32
LOWpython/mujoco/sysid/__init__.py33
LOWpython/mujoco/sysid/__init__.py34
LOWpython/mujoco/sysid/__init__.py35
LOWpython/mujoco/sysid/__init__.py36
LOWpython/mujoco/sysid/__init__.py37
LOWpython/mujoco/sysid/__init__.py38
LOWpython/mujoco/sysid/__init__.py39
LOWpython/mujoco/sysid/__init__.py40
LOWpython/mujoco/sysid/__init__.py41
LOWpython/mujoco/sysid/__init__.py42
LOWpython/mujoco/sysid/__init__.py43
LOWpython/mujoco/sysid/__init__.py44
LOWpython/mujoco/sysid/__init__.py45
LOWpython/mujoco/sysid/__init__.py46
LOWpython/mujoco/sysid/__init__.py47
LOWpython/mujoco/sysid/__init__.py48
LOWpython/mujoco/sysid/__init__.py49
LOWpython/mujoco/sysid/__init__.py50
LOWpython/mujoco/sysid/__init__.py51
LOWpython/mujoco/sysid/__init__.py52
LOWpython/mujoco/sysid/__init__.py53
LOWpython/mujoco/sysid/__init__.py54
LOWpython/mujoco/sysid/__init__.py55
LOWpython/mujoco/sysid/__init__.py56
LOWpython/mujoco/sysid/__init__.py57
LOWpython/mujoco/sysid/_src/residual.py18
LOWpython/mujoco/sysid/_src/plotting.py18
LOWpython/mujoco/sysid/_src/signal_transform.py18
LOWpython/mujoco/sysid/_src/trajectory.py18
173 more matches not shown…
Docstring Block Structure17 hits · 85 pts
SeverityFileLineSnippet
HIGHpython/mujoco/rollout.py65Rolls out open-loop trajectories from initial states, get subsequent state and sensor values. Python wrapper for ro
HIGHpython/mujoco/rollout.py276Rolls out open-loop trajectories from initial states, get subsequent states and sensor values. Python wrapper for rol
HIGHpython/mujoco/rollout.py397Infers dimension `dim` given guess `value` from set of arrays. Args: dim: Dimension to be inferred. value: In
HIGHpython/mujoco/sysid/_src/timeseries.py670Resample the time series to new timestamps or a specific time interval. This method creates a new TimeSeries object
HIGHpython/mujoco/rendering/classic/renderer.py133Renders the scene as a numpy array of pixel values. Args: out: Alternative output array in which to place the
HIGHwasm/codegen/generators/structs.py734Sorts structs based on their field dependencies using topological sort. Structs with no dependencies on other struc
HIGHmjx/mujoco/mjx/_src/solver.py375Updates grad and M / grad given latest solver iteration. Corresponds to CGupdateGradient in mujoco/src/engine/engine_
HIGHmjx/mujoco/mjx/_src/io.py527Puts mujoco.MjModel onto a device, resulting in mjx.Model. Args: m: the model to put onto device device: whic
HIGHmjx/mujoco/mjx/_src/io.py840Allocate and initialize Data. Args: m: the model to use device: which device to use - if unspecified picks th
HIGHmjx/mujoco/mjx/_src/test_util.py295Creates a random MJCF for testing. Args: seed: seed for rng min_trees: minimum number of kinematic trees to g
HIGHmjx/mujoco/mjx/_src/scan.py98A vmap that accepts numpy arrays. Numpy arrays are statically vmapped, and the elements are passed to f as static a
HIGHmjx/mujoco/mjx/_src/scan.py176Scan a function across bodies or actuators. Scan group data according to type and batch shape then calls vmap(f) on i
HIGHmjx/mujoco/mjx/_src/scan.py345Scan ``f`` across bodies in tree order, carrying results up/down the tree. This function groups bodies according to l
HIGHmjx/mujoco/mjx/_src/render_util.py39Unpack uint32 ABGR pixel data into float32 RGB. Args: rc: RenderContextPytree. cam_id: Camera index to extrac
HIGHmjx/mujoco/mjx/_src/render_util.py79Extract and normalize depth data for a camera. Args: rc: RenderContextPytree. cam_id: Camera index to extract
HIGHmjx/mujoco/mjx/_src/render_util.py116Extract segmentation object IDs for a camera. Args: rc: RenderContextPytree. cam_id: Camera index to extract.
HIGHmjx/mujoco/mjx/third_party/mujoco_warp/_src/util_pkg.py48Check if an installed package satisfies a version requirement. Supports operators: >=, <=, >, <, ==, != Version co
Hallucination Indicators7 hits · 70 pts
SeverityFileLineSnippet
CRITICAL…/third_party/warp/_src/jax_experimental/custom_call.py133 wp._src.context.runtime.core.wp_cuda_launch_kernel(
CRITICAL…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py449 wp._src.context.runtime.core.wp_cuda_launch_kernel(
CRITICAL…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py461 wp._src.context.runtime.core.wp_cpu_launch_kernel(
CRITICAL…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py813 if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream):
CRITICAL…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py846 if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream):
CRITICAL…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py885 if not wp._src.context.runtime.core.wp_cuda_graph_update_memcpy_batch(
CRITICAL…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py899 if not wp._src.context.runtime.core.wp_cuda_graph_launch(graph_exec, cuda_stream):
Cross-Language Confusion9 hits · 40 pts
SeverityFileLineSnippet
HIGHpython/mujoco/codegen/generate_spec_bindings.py248 self.{fullvarname}->reserve(rhs_view.length());
HIGHwasm/codegen/tests/generators_test.py373 return (ptr_ && ptr_->string_field) ? *(ptr_->string_field) : "";
HIGHwasm/codegen/tests/generators_test.py376 if (ptr_ && ptr_->string_field) {
HIGHwasm/codegen/tests/generators_test.py265 if (owned_ && ptr_) {
HIGHwasm/codegen/generators/structs.py203 f'return (ptr_ && ptr_->{f.name}) ? *(ptr_->{f.name}) : "";'
HIGHwasm/codegen/generators/structs.py206 with builder.block(f"if (ptr_ && ptr_->{f.name})"):
HIGHwasm/codegen/generators/structs.py407 if (id < 0 || id >= ptr_->nfield) { \\
HIGHwasm/codegen/generators/structs.py432 if (id < 0 || id >= model->nfield) { \\
HIGHwasm/codegen/generators/structs.py490 with builder.block("if (owned_ && ptr_)"):
Self-Referential Comments12 hits · 33 pts
SeverityFileLineSnippet
MEDIUMpython/mujoco/specs_test.py2079 # Create a spec with minimal flexcomp args (defaults).
MEDIUMpython/mujoco/specs_test.py2088 # Create a spec with flexcomp that has a pose.
MEDIUMpython/mujoco/specs_test.py1992 # Create a simple spec and compile.
MEDIUMpython/mujoco/specs_test.py2010 # Create a simple spec and compile so XML can be written.
MEDIUMpython/mujoco/specs_test.py2023 # Create a simple spec and compile.
MEDIUMpython/mujoco/specs_test.py2036 # Create a spec with a flexcomp grid.
MEDIUMpython/mujoco/specs_test.py69 # Create a spec.
MEDIUMpython/mujoco/specs_test.py174 # Create a spec.
MEDIUMpython/mujoco/specs_test.py601 # Create a spec.
MEDIUMmjx/mujoco/mjx/_src/io.py804 # Create the raw MuJoCo data
MEDIUMmjx/mujoco/mjx/_src/types.py39 # This method is called only when lookup by value fails
MEDIUM…/third_party/warp/_src/jax_experimental/custom_call.py176 # Create the batched primitive.
Verbosity Indicators14 hits · 26 pts
SeverityFileLineSnippet
LOWpython/mujoco/specs_test.py1881 # Step 1: Create a rangefinder sensor attached to a site, no dataspec set.
LOWpython/mujoco/specs_test.py1901 # Step 2: Set dataspec to just mjRAYDATA_DIST
LOWpython/mujoco/specs_test.py1911 # Step 3: Add all raydata fields and check no-hit values
LOWpython/mujoco/specs_test.py1934 # Step 4: Add a floor plane, now the ray should hit
LOWpython/mujoco/specs_test.py1954 # Step 5: Add a camera-based rangefinder sensor
LOWmjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py287 # Step 1: Find tree edges
LOWmjx/mujoco/mjx/third_party/mujoco_warp/_src/island.py291 # Step 2: DFS flood fill
LOWdoc/_static/onthispage_mjwarp.js12 // Step 1: Find all attribute definitions and collect their IDs.
LOWdoc/_static/onthispage_mjwarp.js29 // Step 2: Find the sidebar container.
LOWdoc/_static/onthispage_mjwarp.js36 // Step 3: Get all links within that sidebar.
LOWdoc/_static/onthispage_mjwarp.js42 // Step 4: Iterate through the links and hide the ones that match.
LOWsrc/experimental/studio/live.js80 // Step 1: fetch the root XML so mju_getXMLDependencies (which reads it
LOWsrc/experimental/studio/live.js88 // Step 2: ask MuJoCo for the transitive dependency list. The call is
LOWsrc/experimental/studio/live.js97 // Step 3: fetch every dependency in parallel, deduped against URLs
Excessive Try-Catch Wrapping18 hits · 24 pts
SeverityFileLineSnippet
LOWpython/mujoco/viewer.py302 except Exception as e: # pylint: disable=broad-except
LOWpython/mujoco/cgl/__init__.py70 except Exception: # pylint: disable=broad-exception-caught
LOWpython/mujoco/codegen/generate_cs_bindings.py422 except Exception: # pylint: disable=broad-except
MEDIUMwasm/codegen/tests/coverage_test.py50 print(f'Error reading resource {file_path}: {e}')
MEDIUMwasm/codegen/generators/common.py32 print(f"Error writing to output file: {filepath} - {e}")
MEDIUM…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py340def ffi_callback(self, call_frame, platform="CUDA"):
MEDIUM…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py731def ffi_callback(self, call_frame, platform="CUDA"):
MEDIUM…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py1683def ffi_callback(call_frame, platform="CUDA"):
LOW…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py324 except Exception:
LOW…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py468 except Exception as e:
LOW…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py719 except Exception:
LOW…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py1078 except Exception as e:
LOW…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py1362 except Exception as e:
LOW…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py1719 except Exception as e:
LOWmjx/mujoco/mjx/warp/visualize_render.py131 except Exception:
LOWmjx/mujoco/mjx/warp/testspeed.py279 except Exception as _:
LOWdoc/make_mujoco_stubs.py99 except Exception:
MEDIUMdoc/mjwarp/update_types.py68 print(f'Error: Could not find {filepath}', file=sys.stderr)
Redundant / Tautological Comments14 hits · 22 pts
SeverityFileLineSnippet
LOWpython/mujoco/viewer.py195 # Check if image is already the correct shape
LOWpython/mujoco/specs_test.py996 # Assign plugin to geom
LOWpython/mujoco/specs_test.py1001 # Assign plugin to mesh
LOWpython/mujoco/sysid/_src/optimize.py169 # Check if there are any parameters to optimize.
LOWpython/mujoco/sysid/_src/plotting.py74 # Check if we should capture this frame based on framerate
LOWpython/mujoco/sysid/report/builder.py58 # Check if this is a GroupSection (has 'sections' attribute)
LOWpython/mujoco/sysid/report/sections/parameters.py111 # Check if on boundary
LOW…ird_party/mujoco_warp/_src/collision_primitive_core.py948 # Check if contact normal is valid
LOWmjx/mujoco/mjx/third_party/mujoco_warp/_src/bvh.py489 # Check if current cell is planar
LOWmjx/mujoco/mjx/third_party/mujoco_warp/_src/bvh.py529 # Check if it lies on the SAME plane as start cell
LOW…jx/third_party/mujoco_warp/_src/collision_primitive.py265 # Check if the index is unique (appears exactly once)
LOW…mujoco/mjx/third_party/mujoco_warp/_src/render_util.py90 # Check if we have intrinsics (sensorsize[1] != 0)
LOW…joco/mjx/third_party/warp/_src/jax_experimental/ffi.py1469 # Check if annotation is a warp array type (annotation is an instance of wp.array)
LOW.github/workflows/build_steps.sh337# Set options to print the commands being run, and cause the script to exit with
AI Slop Vocabulary6 hits · 15 pts
SeverityFileLineSnippet
LOWpython/mujoco/rollout.py109 # just call rollout and return
LOWwasm/codegen/tests/generators_test.py615 # for integer just return the number
MEDIUM…/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py734 # TODO(team): directly utilize M for these settings
MEDIUMsrc/experimental/studio/live.js117 // application robust, you may want to override this behavior before shipping!
MEDIUMsrc/render/classic/render_context.c1651 // enable seamless cube maps if supported
MEDIUMsrc/engine/engine_util_spatial.c284 // robust method to extract the rotational part of deformations." In
Slop Phrases1 hit · 2 pts
SeverityFileLineSnippet
LOWsrc/engine/engine_support.c805 // don't forget to call mj_set0 after changing masses
Fake / Example Data2 hits · 1 pts
SeverityFileLineSnippet
LOWpython/mujoco/introspect/type_parsing.py100 'lorem ipsum(dolor sit (consectetur adipiscing) amet)sed do eiusmod',
LOWpython/mujoco/introspect/type_parsing.py102 ['consectetur adipiscing', 'dolor sit amet', 'lorem ipsumsed do eiusmod'].