├── .github ├── DISCUSSION_TEMPLATE │ └── Asking-for-Help.yaml ├── ISSUE_TEMPLATE │ ├── Bug-Report.yaml │ ├── Feature-Request.yaml │ └── config.yml └── workflows │ ├── build.yml │ └── build_steps.sh ├── .gitignore ├── .readthedocs.yml ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── SECURITY.md ├── STYLEGUIDE.md ├── banner.png ├── cmake ├── CheckAvxSupport.cmake ├── FindOrFetch.cmake ├── MujocoDependencies.cmake ├── MujocoHarden.cmake ├── MujocoLinkOptions.cmake ├── MujocoMacOS.cmake ├── MujocoOptions.cmake ├── ShellTests.cmake ├── TargetAddRpath.cmake ├── ccd-support-emscripten.patch ├── cleanup_test_dir.sh ├── mujocoConfig.cmake.in ├── qhull-support-emscripten.patch ├── setup_test_dir.sh └── third_party_deps │ ├── dear_imgui.cmake │ ├── dear_imgui │ └── CMakeLists.txt │ ├── filament.cmake │ ├── font_awesome.cmake │ ├── font_awesome │ └── CMakeLists.txt │ ├── implot.cmake │ ├── implot │ └── CMakeLists.txt │ ├── libwebp.cmake │ ├── opensans.cmake │ ├── opensans │ └── CMakeLists.txt │ └── sdl2.cmake ├── dist ├── Info.plist.framework.in ├── Info.plist.simulate.in ├── module.modulemap ├── mujoco.icns ├── mujoco.ico ├── mujoco.rc └── simulate.rc ├── doc ├── APIreference │ ├── APIfunctions.rst │ ├── APIglobals.rst │ ├── APItypes.rst │ ├── functions.rst │ ├── functions_override.rst │ └── index.rst ├── Makefile ├── OpenUSD │ ├── building.rst │ ├── exporting.rst │ ├── importing.rst │ ├── index.rst │ ├── mjcPhysics.rst │ └── mjcf_file_format_plugin.rst ├── XMLreference.rst ├── XMLschema.rst ├── _static │ ├── FLV.m │ ├── desert.png │ ├── example.mp4 │ ├── example.xml │ ├── example_saved.txt │ ├── example_saved.xml │ ├── favicons │ │ ├── favicon-16x16.png │ │ ├── favicon-180x180.png │ │ ├── favicon-192x192.png │ │ └── favicon-32x32.png │ ├── fromto.xml │ ├── gyroscopic.xml │ ├── hello.xml │ ├── onthispage_mjwarp.js │ ├── pendulum.xml │ └── tendon.xml ├── changelog.rst ├── computation │ ├── fluid.rst │ └── index.rst ├── conf.py ├── css │ ├── theme_overrides.css │ └── theme_overrides_mjwarp.css ├── docutils.conf ├── ext │ ├── header_reader.py │ ├── header_reader_test.py │ └── mujoco_include.py ├── images │ ├── APIreference │ │ └── arrowhead.svg │ ├── XMLreference │ │ ├── armature.gif │ │ ├── armature_dark.gif │ │ ├── c.png │ │ ├── fromto.png │ │ ├── h.png │ │ ├── peaks.png │ │ ├── s.png │ │ ├── skybox.png │ │ ├── ss.png │ │ ├── st.png │ │ ├── tactile.png │ │ ├── tendon.png │ │ ├── tendon_armature.gif │ │ ├── tendon_armature_dark.gif │ │ └── w.png │ ├── banner.svg │ ├── changelog │ │ ├── contactlabel.png │ │ ├── ellipsoidinertia.gif │ │ ├── meshfit.png │ │ ├── mug.png │ │ ├── procedural_terrain_generation.png │ │ └── simulate_text_width.png │ ├── computation │ │ ├── ccd_dark.gif │ │ ├── ccd_light.gif │ │ ├── contact_frame.svg │ │ ├── contact_frame_dark.svg │ │ ├── fruitfly.png │ │ ├── gPGS.svg │ │ ├── gPGS_dark.svg │ │ ├── island.svg │ │ ├── kutta_cond_plate.svg │ │ ├── kutta_cond_plate_dark.svg │ │ ├── magnus.png │ │ ├── midphase.gif │ │ ├── softcontact.png │ │ └── softcontact_dark.png │ ├── mjx │ │ ├── SPS.svg │ │ └── apg_diagram.png │ ├── modeling │ │ ├── box.png │ │ ├── box2.png │ │ ├── bunny1.png │ │ ├── bunny2.png │ │ ├── cloth.png │ │ ├── cloth2.png │ │ ├── coil.png │ │ ├── cylinder.png │ │ ├── ellipsoid.png │ │ ├── flexelem.png │ │ ├── grid1.png │ │ ├── grid1pin.png │ │ ├── grid2.png │ │ ├── grid2pin.png │ │ ├── impedance.png │ │ ├── impedance_dark.png │ │ ├── loop.png │ │ ├── mocap1.png │ │ ├── mocap2.png │ │ ├── musclemodel.png │ │ ├── musclemodel_dark.png │ │ ├── musclerange.png │ │ ├── musclerange_dark.png │ │ ├── particle.png │ │ ├── particle2.png │ │ ├── rope.png │ │ └── tendonwraps.png │ ├── models │ │ ├── flag.gif │ │ ├── hammock.gif │ │ ├── humanoid.gif │ │ ├── humanoid100.gif │ │ ├── particle.gif │ │ └── softbox.gif │ ├── overview │ │ ├── bodygeomsite.png │ │ ├── example.png │ │ └── hello.png │ └── python │ │ └── rollout.png ├── includes │ ├── macros.rst │ ├── references.h │ └── roles.rst ├── index.rst ├── js │ └── linenumbers.js ├── mjwarp │ ├── api.rst │ ├── index.rst │ └── update_types.py ├── mjx.rst ├── modeling.rst ├── models.rst ├── overview.rst ├── programming │ ├── extension.rst │ ├── index.rst │ ├── modeledit.rst │ ├── samples.rst │ ├── simulation.rst │ ├── ui.rst │ └── visualization.rst ├── python.rst ├── references.bib ├── requirements.txt ├── templates │ └── layout.html └── unity.rst ├── include └── mujoco │ ├── experimental │ └── usd │ │ ├── layer_sink.h │ │ ├── mjcPhysics │ │ ├── actuator.h │ │ ├── api.h │ │ ├── collisionAPI.h │ │ ├── imageableAPI.h │ │ ├── jointAPI.h │ │ ├── keyframe.h │ │ ├── materialAPI.h │ │ ├── meshCollisionAPI.h │ │ ├── sceneAPI.h │ │ ├── siteAPI.h │ │ ├── tendon.h │ │ └── tokens.h │ │ ├── usd.h │ │ ├── utils.h │ │ └── writer.h │ ├── mjdata.h │ ├── mjexport.h │ ├── mjmacro.h │ ├── mjmodel.h │ ├── mjplugin.h │ ├── mjrender.h │ ├── mjsan.h │ ├── mjspec.h │ ├── mjthread.h │ ├── mjtnum.h │ ├── mjui.h │ ├── mjvisualize.h │ ├── mjxmacro.h │ └── mujoco.h ├── mjx ├── MANIFEST.in ├── README.md ├── cuda_requirements.txt ├── mujoco │ └── mjx │ │ ├── __init__.py │ │ ├── _src │ │ ├── __init__.py │ │ ├── collision_convex.py │ │ ├── collision_driver.py │ │ ├── collision_driver_test.py │ │ ├── collision_primitive.py │ │ ├── collision_sdf.py │ │ ├── collision_types.py │ │ ├── constraint.py │ │ ├── constraint_test.py │ │ ├── dataclasses.py │ │ ├── dataclasses_test.py │ │ ├── derivative.py │ │ ├── forward.py │ │ ├── forward_test.py │ │ ├── inverse.py │ │ ├── inverse_test.py │ │ ├── io.py │ │ ├── io_test.py │ │ ├── math.py │ │ ├── math_test.py │ │ ├── mesh.py │ │ ├── mesh_test.py │ │ ├── passive.py │ │ ├── passive_test.py │ │ ├── ray.py │ │ ├── ray_test.py │ │ ├── scan.py │ │ ├── scan_test.py │ │ ├── sensor.py │ │ ├── sensor_test.py │ │ ├── smooth.py │ │ ├── smooth_test.py │ │ ├── solver.py │ │ ├── solver_test.py │ │ ├── support.py │ │ ├── support_test.py │ │ ├── test_util.py │ │ └── types.py │ │ ├── integration_test │ │ ├── collision_driver_test.py │ │ ├── forward_test.py │ │ └── smooth_test.py │ │ ├── test_data │ │ ├── actuator │ │ │ ├── arm21.xml │ │ │ ├── arm26.xml │ │ │ ├── general_dyntype.xml │ │ │ └── tendon_force_clamp.xml │ │ ├── barkour_v0 │ │ │ ├── README.md │ │ │ └── assets │ │ │ │ ├── abduction.stl │ │ │ │ ├── barkour_v0_mjx.xml │ │ │ │ ├── body.stl │ │ │ │ ├── foot.stl │ │ │ │ ├── handle.stl │ │ │ │ ├── head.stl │ │ │ │ ├── head_mount.stl │ │ │ │ ├── hfield_240_280.png │ │ │ │ ├── lower_leg_1to1.stl │ │ │ │ ├── powercable.stl │ │ │ │ ├── upper_left_1.stl │ │ │ │ ├── upper_left_2.stl │ │ │ │ ├── upper_left_3.stl │ │ │ │ ├── upper_right_1.stl │ │ │ │ ├── upper_right_2.stl │ │ │ │ └── upper_right_3.stl │ │ ├── constraints.xml │ │ ├── convex.xml │ │ ├── humanoid │ │ │ ├── 01_humanoids.xml │ │ │ ├── 02_humanoids.xml │ │ │ ├── 03_humanoids.xml │ │ │ ├── 04_humanoids.xml │ │ │ ├── 05_humanoids.xml │ │ │ ├── 06_humanoids.xml │ │ │ ├── 07_humanoids.xml │ │ │ ├── 08_humanoids.xml │ │ │ ├── 09_humanoids.xml │ │ │ ├── 10_humanoids.xml │ │ │ ├── README.md │ │ │ ├── humanoid.png │ │ │ └── humanoid.xml │ │ ├── meshes │ │ │ ├── dodecahedron.stl │ │ │ ├── pyramid.stl │ │ │ └── tetrahedron.stl │ │ ├── pendula.xml │ │ ├── quadratic_frictionloss.xml │ │ ├── ray.xml │ │ ├── sensor │ │ │ ├── model.xml │ │ │ └── sensor.xml │ │ ├── shadow_hand │ │ │ ├── README.md │ │ │ ├── assets │ │ │ │ ├── f_distal_pst.obj │ │ │ │ ├── f_distal_pst_214.obj │ │ │ │ ├── f_knuckle.obj │ │ │ │ ├── f_middle.obj │ │ │ │ ├── f_proximal.obj │ │ │ │ ├── forearm_0.obj │ │ │ │ ├── forearm_1.obj │ │ │ │ ├── forearm_collision.obj │ │ │ │ ├── lf_metacarpal.obj │ │ │ │ ├── mounting_plate.obj │ │ │ │ ├── palm.obj │ │ │ │ ├── th_distal_pst.obj │ │ │ │ ├── th_distal_pst_190.obj │ │ │ │ ├── th_middle.obj │ │ │ │ ├── th_proximal.obj │ │ │ │ └── wrist.obj │ │ │ ├── right_hand.xml │ │ │ ├── scene_right.xml │ │ │ └── shadow_hand.png │ │ └── tendon │ │ │ ├── armature.xml │ │ │ ├── fixed.xml │ │ │ ├── fixed_site.xml │ │ │ ├── fixed_site_wrap.xml │ │ │ ├── no_tendon.xml │ │ │ ├── pulley_fixed_site_wrap.xml │ │ │ ├── pulley_site.xml │ │ │ ├── pulley_site_wrap.xml │ │ │ ├── pulley_wrap.xml │ │ │ ├── site.xml │ │ │ ├── site_wrap.xml │ │ │ ├── tendon.xml │ │ │ └── wrap_sidesite.xml │ │ ├── testspeed.py │ │ ├── third_party │ │ ├── mujoco_warp │ │ │ ├── __init__.py │ │ │ ├── _src │ │ │ │ ├── __init__.py │ │ │ │ ├── benchmark.py │ │ │ │ ├── block_cholesky.py │ │ │ │ ├── collision_convex.py │ │ │ │ ├── collision_driver.py │ │ │ │ ├── collision_gjk.py │ │ │ │ ├── collision_primitive.py │ │ │ │ ├── collision_primitive_core.py │ │ │ │ ├── collision_sdf.py │ │ │ │ ├── constraint.py │ │ │ │ ├── derivative.py │ │ │ │ ├── forward.py │ │ │ │ ├── inverse.py │ │ │ │ ├── io.py │ │ │ │ ├── math.py │ │ │ │ ├── passive.py │ │ │ │ ├── ray.py │ │ │ │ ├── sensor.py │ │ │ │ ├── smooth.py │ │ │ │ ├── solver.py │ │ │ │ ├── support.py │ │ │ │ ├── types.py │ │ │ │ ├── util_misc.py │ │ │ │ └── warp_util.py │ │ │ ├── pyproject.toml │ │ │ └── viewer.py │ │ └── warp │ │ │ └── _src │ │ │ └── jax_experimental │ │ │ ├── __init__.py │ │ │ ├── custom_call.py │ │ │ ├── ffi.py │ │ │ └── xla_ffi.py │ │ ├── viewer.py │ │ └── warp │ │ ├── __init__.py │ │ ├── collision_driver.py │ │ ├── collision_driver_test.py │ │ ├── ffi.py │ │ ├── forward.py │ │ ├── forward_test.py │ │ ├── smooth.py │ │ ├── smooth_test.py │ │ ├── test_util.py │ │ ├── testspeed.py │ │ └── types.py ├── pyproject.toml ├── requirements.txt ├── training_apg.ipynb └── tutorial.ipynb ├── model ├── CMakeLists.txt ├── adhesion │ ├── README.md │ └── active_adhesion.xml ├── balloons │ └── balloons.xml ├── car │ └── car.xml ├── cards │ ├── assets │ │ ├── 10_of_clubs.png │ │ ├── 10_of_diamonds.png │ │ ├── 10_of_hearts.png │ │ ├── 10_of_spades.png │ │ ├── 2_of_clubs.png │ │ ├── 2_of_diamonds.png │ │ ├── 2_of_hearts.png │ │ ├── 2_of_spades.png │ │ ├── 3_of_clubs.png │ │ ├── 3_of_diamonds.png │ │ ├── 3_of_hearts.png │ │ ├── 3_of_spades.png │ │ ├── 4_of_clubs.png │ │ ├── 4_of_diamonds.png │ │ ├── 4_of_hearts.png │ │ ├── 4_of_spades.png │ │ ├── 5_of_clubs.png │ │ ├── 5_of_diamonds.png │ │ ├── 5_of_hearts.png │ │ ├── 5_of_spades.png │ │ ├── 6_of_clubs.png │ │ ├── 6_of_diamonds.png │ │ ├── 6_of_hearts.png │ │ ├── 6_of_spades.png │ │ ├── 7_of_clubs.png │ │ ├── 7_of_diamonds.png │ │ ├── 7_of_hearts.png │ │ ├── 7_of_spades.png │ │ ├── 8_of_clubs.png │ │ ├── 8_of_diamonds.png │ │ ├── 8_of_hearts.png │ │ ├── 8_of_spades.png │ │ ├── 9_of_clubs.png │ │ ├── 9_of_diamonds.png │ │ ├── 9_of_hearts.png │ │ ├── 9_of_spades.png │ │ ├── ace_of_clubs.png │ │ ├── ace_of_diamonds.png │ │ ├── ace_of_hearts.png │ │ ├── ace_of_spades.png │ │ ├── black_joker.png │ │ ├── card.obj │ │ ├── jack_of_clubs.png │ │ ├── jack_of_diamonds.png │ │ ├── jack_of_hearts.png │ │ ├── jack_of_spades.png │ │ ├── king_of_clubs.png │ │ ├── king_of_diamonds.png │ │ ├── king_of_hearts.png │ │ ├── king_of_spades.png │ │ ├── queen_of_clubs.png │ │ ├── queen_of_diamonds.png │ │ ├── queen_of_hearts.png │ │ ├── queen_of_spades.png │ │ └── red_joker.png │ └── cards.xml ├── cube │ ├── README.md │ ├── assets │ │ ├── blue.png │ │ ├── blue_orange.png │ │ ├── blue_orange_white.png │ │ ├── blue_orange_yellow.png │ │ ├── blue_red.png │ │ ├── blue_red_white.png │ │ ├── blue_red_yellow.png │ │ ├── blue_white.png │ │ ├── blue_yellow.png │ │ ├── green.png │ │ ├── green_orange.png │ │ ├── green_orange_white.png │ │ ├── green_orange_yellow.png │ │ ├── green_red.png │ │ ├── green_red_white.png │ │ ├── green_red_yellow.png │ │ ├── green_white.png │ │ ├── green_yellow.png │ │ ├── orange.png │ │ ├── orange_red.png │ │ ├── orange_white.png │ │ ├── orange_yellow.png │ │ ├── red.png │ │ ├── red_white.png │ │ ├── red_yellow.png │ │ ├── white.png │ │ └── yellow.png │ └── cube_3x3x3.xml ├── flex │ ├── asset │ │ ├── bunny.obj │ │ ├── bunny_with_uv.obj │ │ ├── cap.obj │ │ └── sponge.png │ ├── basket.xml │ ├── bunny.xml │ ├── bunny_quadratic.xml │ ├── bunny_with_uv.xml │ ├── flag.xml │ ├── floppy.xml │ ├── gripper.xml │ ├── gripper_trilinear.xml │ ├── jelly.xml │ ├── mannequin.xml │ ├── pancake.xml │ ├── plate.xml │ ├── poncho.xml │ ├── poncho_vertcollide.xml │ ├── press.xml │ ├── pulley.xml │ ├── quadratic.xml │ ├── scene.xml │ ├── softbox.xml │ ├── sphere_full.xml │ ├── sphere_passive.xml │ ├── sphere_radial.xml │ ├── sphere_trilinear.xml │ ├── trampoline.xml │ └── trilinear.xml ├── hammock │ └── hammock.xml ├── humanoid │ ├── 100_humanoids.xml │ ├── 22_humanoids.xml │ ├── README.md │ ├── humanoid.png │ ├── humanoid.xml │ └── humanoid100.xml ├── mug │ ├── mug.obj │ ├── mug.png │ └── mug.xml ├── plugin │ ├── actuator │ │ └── pid.xml │ ├── elasticity │ │ ├── belt.xml │ │ ├── cable.xml │ │ ├── coil.xml │ │ └── scene.xml │ ├── sdf │ │ ├── asset │ │ │ ├── README.md │ │ │ ├── die.obj │ │ │ ├── spot.obj │ │ │ └── spot.png │ │ ├── bowl.xml │ │ ├── cow.xml │ │ ├── gear.xml │ │ ├── mesh.xml │ │ ├── mug.xml │ │ ├── nutbolt.xml │ │ ├── primitives.xml │ │ ├── scene.xml │ │ └── torus.xml │ └── sensor │ │ ├── a.png │ │ └── touch_grid.xml ├── replicate │ ├── README.md │ ├── asset │ │ └── marble.png │ ├── bowl.xml │ ├── bunnies.xml │ ├── bunny.obj │ ├── container.xml │ ├── cylinder.xml │ ├── helix.xml │ ├── leaves.xml │ ├── newton_cradle.xml │ ├── particle.xml │ ├── particle_free.xml │ ├── particle_free2d.xml │ ├── scene.xml │ ├── stonehenge.xml │ └── tendon.xml ├── sleep │ ├── 100_humanoids.xml │ ├── dominos.xml │ └── humanoid.xml ├── slider_crank │ └── slider_crank.xml ├── tactile │ └── tactile.xml └── tendon_arm │ └── arm26.xml ├── plugin ├── actuator │ ├── CMakeLists.txt │ ├── README.md │ ├── pid.cc │ ├── pid.h │ └── register.cc ├── elasticity │ ├── CMakeLists.txt │ ├── README.md │ ├── cable.cc │ ├── cable.h │ ├── elasticity.cc │ ├── elasticity.h │ └── register.cc ├── sdf │ ├── CMakeLists.txt │ ├── README.md │ ├── bolt.cc │ ├── bolt.h │ ├── bowl.cc │ ├── bowl.h │ ├── gear.cc │ ├── gear.h │ ├── nut.cc │ ├── nut.h │ ├── register.cc │ ├── sdf.cc │ ├── sdf.h │ ├── torus.cc │ └── torus.h └── sensor │ ├── CMakeLists.txt │ ├── README.md │ ├── images │ ├── 180-30.png │ ├── 180-90.png │ ├── 30-30.png │ ├── fovea.png │ ├── normal.png │ ├── tangential1.png │ └── tangential2.png │ ├── register.cc │ ├── touch_grid.cc │ └── touch_grid.h ├── python ├── LQR.ipynb ├── MANIFEST.in ├── README.md ├── build_requirements.txt ├── build_requirements_usd.txt ├── least_squares.ipynb ├── make_sdist.sh ├── make_sdist_requirements.txt ├── mjspec.ipynb ├── mujoco │ ├── CMakeLists.txt │ ├── __init__.py │ ├── bindings_test.py │ ├── callbacks.cc │ ├── cgl │ │ ├── __init__.py │ │ └── cgl.py │ ├── codegen │ │ ├── generate_enum_traits.py │ │ ├── generate_function_traits.py │ │ └── generate_spec_bindings.py │ ├── constants.cc │ ├── egl │ │ ├── __init__.py │ │ └── egl_ext.py │ ├── enums.cc │ ├── errors.cc │ ├── errors.h │ ├── functions.cc │ ├── functions.h │ ├── gl_context.py │ ├── glfw │ │ └── __init__.py │ ├── indexer_xmacro.h │ ├── indexers.cc │ ├── indexers.h │ ├── introspect │ │ ├── __init__.py │ │ ├── ast_nodes.py │ │ ├── ast_nodes_test.py │ │ ├── codegen │ │ │ ├── formatter.py │ │ │ ├── generate_enums.py │ │ │ ├── generate_functions.py │ │ │ └── generate_structs.py │ │ ├── enums.py │ │ ├── enums_test.py │ │ ├── functions.py │ │ ├── functions_test.py │ │ ├── mjxmacro.py │ │ ├── structs.py │ │ ├── structs_test.py │ │ ├── type_parsing.py │ │ └── type_parsing_test.py │ ├── memory_leak_test.py │ ├── minimize.py │ ├── minimize_test.py │ ├── mjpython │ │ ├── Info.plist │ │ ├── mjpython.icns │ │ ├── mjpython.mm │ │ └── mjpython.py │ ├── msh2obj.py │ ├── msh2obj_test.py │ ├── osmesa │ │ └── __init__.py │ ├── private.h │ ├── raw.h │ ├── render.cc │ ├── render_test.py │ ├── renderer.py │ ├── renderer_test.py │ ├── rollout.cc │ ├── rollout.py │ ├── rollout_test.py │ ├── serialization.h │ ├── simulate.cc │ ├── specs.cc │ ├── specs_test.py │ ├── specs_wrapper.cc │ ├── specs_wrapper.h │ ├── structs.cc │ ├── structs.h │ ├── structs_wrappers.cc │ ├── testdata │ │ ├── MJCF_NoRoot.zip │ │ ├── MJCF_Root.zip │ │ ├── abdomen_1_body.msh │ │ ├── checkerboard.png │ │ ├── model.xml │ │ ├── msh.xml │ │ ├── simple_usd_preview_surface.usda │ │ └── usd_golden.usda │ ├── threadpool.cc │ ├── threadpool.h │ ├── usd │ │ ├── README.md │ │ ├── camera.py │ │ ├── demo.py │ │ ├── exporter.py │ │ ├── exporter_test.py │ │ ├── lights.py │ │ ├── objects.py │ │ ├── shapes.py │ │ └── utils.py │ ├── util │ │ ├── CMakeLists.txt │ │ ├── array_traits.h │ │ ├── array_traits_test.cc │ │ ├── crossplatform.h │ │ ├── func_traits.h │ │ ├── func_traits_test.cc │ │ ├── func_wrap.h │ │ ├── func_wrap_test.cc │ │ ├── tuple_tools.h │ │ └── tuple_tools_test.cc │ ├── viewer.py │ └── viewer_test.py ├── pyproject.toml ├── rollout.ipynb ├── setup.py └── tutorial.ipynb ├── sample ├── CMakeLists.txt ├── array_safety.h ├── basic.cc ├── cmake │ ├── CheckAvxSupport.cmake │ ├── FindOrFetch.cmake │ ├── MujocoHarden.cmake │ ├── MujocoLinkOptions.cmake │ ├── MujocoMacOS.cmake │ ├── SampleDependencies.cmake │ └── SampleOptions.cmake ├── compile.cc ├── dependencies.cc ├── record.cc └── testspeed.cc ├── simulate ├── CMakeLists.txt ├── README.md ├── array_safety.h ├── cmake │ ├── CheckAvxSupport.cmake │ ├── FindOrFetch.cmake │ ├── MujocoHarden.cmake │ ├── MujocoLinkOptions.cmake │ ├── MujocoMacOS.cmake │ ├── SimulateDependencies.cmake │ └── SimulateOptions.cmake ├── glfw_adapter.cc ├── glfw_adapter.h ├── glfw_corevideo.h ├── glfw_corevideo.mm ├── glfw_dispatch.cc ├── glfw_dispatch.h ├── macos_gui.mm ├── main.cc ├── platform_ui_adapter.cc ├── platform_ui_adapter.h ├── simulate.cc └── simulate.h ├── src ├── cc │ └── array_safety.h ├── engine │ ├── CMakeLists.txt │ ├── engine_array_safety.h │ ├── engine_callback.c │ ├── engine_callback.h │ ├── engine_collision_box.c │ ├── engine_collision_convex.c │ ├── engine_collision_convex.h │ ├── engine_collision_driver.c │ ├── engine_collision_driver.h │ ├── engine_collision_gjk.c │ ├── engine_collision_gjk.h │ ├── engine_collision_primitive.c │ ├── engine_collision_primitive.h │ ├── engine_collision_sdf.c │ ├── engine_collision_sdf.h │ ├── engine_core_constraint.c │ ├── engine_core_constraint.h │ ├── engine_core_smooth.c │ ├── engine_core_smooth.h │ ├── engine_core_util.c │ ├── engine_core_util.h │ ├── engine_crossplatform.cc │ ├── engine_crossplatform.h │ ├── engine_derivative.c │ ├── engine_derivative.h │ ├── engine_derivative_fd.c │ ├── engine_derivative_fd.h │ ├── engine_forward.c │ ├── engine_forward.h │ ├── engine_global_table.h │ ├── engine_init.c │ ├── engine_init.h │ ├── engine_inline.h │ ├── engine_inverse.c │ ├── engine_inverse.h │ ├── engine_io.c │ ├── engine_io.h │ ├── engine_island.c │ ├── engine_island.h │ ├── engine_macro.h │ ├── engine_memory.c │ ├── engine_memory.h │ ├── engine_name.c │ ├── engine_name.h │ ├── engine_passive.c │ ├── engine_passive.h │ ├── engine_plugin.cc │ ├── engine_plugin.h │ ├── engine_print.c │ ├── engine_print.h │ ├── engine_ray.c │ ├── engine_ray.h │ ├── engine_sensor.c │ ├── engine_sensor.h │ ├── engine_setconst.c │ ├── engine_setconst.h │ ├── engine_sleep.c │ ├── engine_sleep.h │ ├── engine_solver.c │ ├── engine_solver.h │ ├── engine_sort.h │ ├── engine_support.c │ ├── engine_support.h │ ├── engine_util_blas.c │ ├── engine_util_blas.h │ ├── engine_util_container.c │ ├── engine_util_container.h │ ├── engine_util_errmem.c │ ├── engine_util_errmem.h │ ├── engine_util_misc.c │ ├── engine_util_misc.h │ ├── engine_util_solve.c │ ├── engine_util_solve.h │ ├── engine_util_sparse.c │ ├── engine_util_sparse.h │ ├── engine_util_sparse_avx.h │ ├── engine_util_spatial.c │ ├── engine_util_spatial.h │ ├── engine_vis_init.c │ ├── engine_vis_init.h │ ├── engine_vis_interact.c │ ├── engine_vis_interact.h │ ├── engine_vis_visualize.c │ └── engine_vis_visualize.h ├── experimental │ ├── filament │ │ ├── CMakeLists.txt │ │ ├── assets │ │ │ ├── ibl.ktx │ │ │ ├── pbr.mat │ │ │ ├── pbr_packed.mat │ │ │ ├── phong_2d.mat │ │ │ ├── phong_2d_fade.mat │ │ │ ├── phong_2d_uv.mat │ │ │ ├── phong_2d_uv_fade.mat │ │ │ ├── phong_color.mat │ │ │ ├── phong_color_fade.mat │ │ │ ├── phong_cube.mat │ │ │ ├── phong_cube_fade.mat │ │ │ ├── unlit_depth.mat │ │ │ ├── unlit_line.mat │ │ │ ├── unlit_segmentation.mat │ │ │ └── unlit_ui.mat │ │ ├── filament │ │ │ ├── buffer_util.cc │ │ │ ├── buffer_util.h │ │ │ ├── builtins.cc │ │ │ ├── builtins.h │ │ │ ├── color_grading_options.cc │ │ │ ├── color_grading_options.h │ │ │ ├── drawable.cc │ │ │ ├── drawable.h │ │ │ ├── filament_context.cc │ │ │ ├── filament_context.h │ │ │ ├── geom_util.cc │ │ │ ├── geom_util.h │ │ │ ├── gui_view.cc │ │ │ ├── gui_view.h │ │ │ ├── imgui_editor.cc │ │ │ ├── imgui_editor.h │ │ │ ├── light.cc │ │ │ ├── light.h │ │ │ ├── material.cc │ │ │ ├── material.h │ │ │ ├── math_util.h │ │ │ ├── model_util.cc │ │ │ ├── model_util.h │ │ │ ├── object_manager.cc │ │ │ ├── object_manager.h │ │ │ ├── renderables.cc │ │ │ ├── renderables.h │ │ │ ├── scene_view.cc │ │ │ ├── scene_view.h │ │ │ ├── texture_util.cc │ │ │ ├── texture_util.h │ │ │ ├── vertex_util.cc │ │ │ └── vertex_util.h │ │ ├── render_context_filament.cc │ │ ├── render_context_filament.h │ │ └── stubs.cc │ ├── platform │ │ ├── CMakeLists.txt │ │ ├── gui.cc │ │ ├── gui.h │ │ ├── helpers.cc │ │ ├── helpers.h │ │ ├── imgui_widgets.cc │ │ ├── imgui_widgets.h │ │ ├── interaction.cc │ │ ├── interaction.h │ │ ├── renderer.cc │ │ ├── renderer.h │ │ ├── sim_history.cc │ │ ├── sim_history.h │ │ ├── sim_profiler.cc │ │ ├── sim_profiler.h │ │ ├── step_control.cc │ │ ├── step_control.h │ │ ├── window.cc │ │ ├── window.h │ │ └── window_osx.mm │ ├── studio │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── app.cc │ │ ├── app.h │ │ ├── build.sh │ │ ├── index.html │ │ ├── main.cc │ │ └── wasm.cc │ └── usd │ │ ├── CMakeLists.txt │ │ ├── kinematic_tree.cc │ │ ├── kinematic_tree.h │ │ ├── layer_sink.cc │ │ ├── material_parsing.cc │ │ ├── material_parsing.h │ │ ├── mjcPhysics │ │ ├── README.md │ │ ├── actuator.cpp │ │ ├── collisionAPI.cpp │ │ ├── generatedSchema.usda │ │ ├── imageableAPI.cpp │ │ ├── jointAPI.cpp │ │ ├── keyframe.cpp │ │ ├── materialAPI.cpp │ │ ├── meshCollisionAPI.cpp │ │ ├── plugInfo.json │ │ ├── sceneAPI.cpp │ │ ├── schema.usda │ │ ├── siteAPI.cpp │ │ ├── tendon.cpp │ │ └── tokens.cpp │ │ ├── plugins │ │ └── mjcf │ │ │ ├── mjcf_file_format.cc │ │ │ ├── mjcf_file_format.h │ │ │ ├── mujoco_to_usd.cc │ │ │ ├── mujoco_to_usd.h │ │ │ ├── plugInfo.json │ │ │ ├── utils.cc │ │ │ └── utils.h │ │ ├── usd_to_mjspec.cc │ │ ├── utils.cc │ │ └── writer.cc ├── render │ ├── CMakeLists.txt │ ├── font │ │ ├── back100.inc │ │ ├── back150.inc │ │ ├── back200.inc │ │ ├── back250.inc │ │ ├── back300.inc │ │ ├── back50.inc │ │ ├── big100.inc │ │ ├── big150.inc │ │ ├── big200.inc │ │ ├── big250.inc │ │ ├── big300.inc │ │ ├── big50.inc │ │ ├── normal100.inc │ │ ├── normal150.inc │ │ ├── normal200.inc │ │ ├── normal250.inc │ │ ├── normal300.inc │ │ └── normal50.inc │ ├── glad │ │ ├── glad.c │ │ ├── glad.h │ │ └── loader.cc │ ├── render_context.c │ ├── render_context.h │ ├── render_gl2.c │ ├── render_gl2.h │ ├── render_gl3.c │ ├── render_gl3.h │ ├── render_util.c │ └── render_util.h ├── thread │ ├── CMakeLists.txt │ ├── thread_pool.cc │ ├── thread_pool.h │ ├── thread_queue.h │ ├── thread_task.cc │ └── thread_task.h ├── ui │ ├── CMakeLists.txt │ ├── ui_main.c │ └── ui_main.h ├── user │ ├── CMakeLists.txt │ ├── user_api.cc │ ├── user_api.h │ ├── user_cache.cc │ ├── user_cache.h │ ├── user_composite.cc │ ├── user_composite.h │ ├── user_flexcomp.cc │ ├── user_flexcomp.h │ ├── user_init.c │ ├── user_mesh.cc │ ├── user_model.cc │ ├── user_model.h │ ├── user_objects.cc │ ├── user_objects.h │ ├── user_resource.cc │ ├── user_resource.h │ ├── user_util.cc │ ├── user_util.h │ ├── user_vfs.cc │ └── user_vfs.h └── xml │ ├── CMakeLists.txt │ ├── xml.cc │ ├── xml.h │ ├── xml_api.cc │ ├── xml_api.h │ ├── xml_base.cc │ ├── xml_base.h │ ├── xml_native_reader.cc │ ├── xml_native_reader.h │ ├── xml_native_writer.cc │ ├── xml_native_writer.h │ ├── xml_numeric_format.cc │ ├── xml_numeric_format.h │ ├── xml_urdf.cc │ ├── xml_urdf.h │ ├── xml_util.cc │ └── xml_util.h ├── test ├── CMakeLists.txt ├── benchmark │ ├── CMakeLists.txt │ ├── ccd_benchmark_test.cc │ ├── crb_benchmark_test.cc │ ├── engine_util_sparse_benchmark_test.cc │ ├── engine_util_spatial_benchmark_test.cc │ ├── factorI_benchmark_test.cc │ ├── inertia_benchmark_test.cc │ ├── iszero_benchmark_test.cc │ ├── parse_benchmark_test.cc │ ├── run_ablation.py │ ├── solveLD_benchmark_test.cc │ ├── sort_benchmark_test.cc │ ├── step_benchmark_test.cc │ ├── testdata │ │ ├── 2humanoid100.xml │ │ ├── cache_hits.xml │ │ ├── flag.xml │ │ ├── highres_sphere.obj │ │ ├── humanoid.xml │ │ ├── humanoid200.xml │ │ ├── humanoid_body.xml │ │ ├── inertia.xml │ │ └── noise.png │ └── thread_performance_test.cc ├── engine │ ├── CMakeLists.txt │ ├── engine_collision_box_test.cc │ ├── engine_collision_convex_test.cc │ ├── engine_collision_driver_test.cc │ ├── engine_collision_gjk_test.cc │ ├── engine_collision_sdf_test.cc │ ├── engine_core_constraint_test.cc │ ├── engine_core_smooth_test.cc │ ├── engine_derivative_test.cc │ ├── engine_forward_test.cc │ ├── engine_inverse_test.cc │ ├── engine_io_test.cc │ ├── engine_island_test.cc │ ├── engine_passive_test.cc │ ├── engine_plugin_test.cc │ ├── engine_print_test.cc │ ├── engine_ray_test.cc │ ├── engine_sensor_test.cc │ ├── engine_setconst_test.cc │ ├── engine_sleep_test.cc │ ├── engine_solver_test.cc │ ├── engine_sort_test.cc │ ├── engine_support_test.cc │ ├── engine_thread_test.cc │ ├── engine_util_blas_test.cc │ ├── engine_util_container_test.cc │ ├── engine_util_errmem_test.cc │ ├── engine_util_misc_test.cc │ ├── engine_util_solve_test.cc │ ├── engine_util_sparse_test.cc │ ├── engine_util_spatial_test.cc │ ├── engine_vis_visualize_test.cc │ └── testdata │ │ ├── actuation │ │ ├── actearly.xml │ │ ├── activation.xml │ │ ├── actuator_group_disable.xml │ │ ├── damper.xml │ │ ├── dampratio.xml │ │ ├── joint_force_clamp.xml │ │ ├── refsite.xml │ │ ├── refsite_free.xml │ │ ├── sites.xml │ │ ├── tendon_dampratio.xml │ │ └── tendon_force_clamp.xml │ │ ├── armature_equivalence.xml │ │ ├── catenary.xml │ │ ├── collision_box │ │ ├── boxbox_bad0.xml │ │ ├── boxbox_bad1.xml │ │ ├── boxbox_deep.xml │ │ └── boxbox_duplicate.xml │ │ ├── collision_convex │ │ ├── box_boxmesh.xml │ │ ├── capsule_mesh.xml │ │ ├── cylinder_box.xml │ │ ├── dice.xml │ │ ├── dice_boxmesh.xml │ │ ├── die.obj │ │ ├── edge_edge.xml │ │ ├── frameless_contact.xml │ │ ├── frameless_contact_hfield.xml │ │ ├── long_box.xml │ │ ├── multiple_objects.xml │ │ ├── perf │ │ │ ├── box.xml │ │ │ ├── boxmesh.xml │ │ │ ├── ellipsoid.xml │ │ │ ├── mixed.xml │ │ │ └── spheremesh.xml │ │ └── stacked_boxes.xml │ │ ├── collision_driver │ │ ├── humanoid.xml │ │ ├── midphase.xml │ │ └── planks.xml │ │ ├── collision_primitive │ │ ├── sphere_cylinder.xml │ │ └── spheres_cylinders.xml │ │ ├── collisions.xml │ │ ├── connect.xml │ │ ├── core_constraint │ │ ├── dofless_contact.xml │ │ ├── dofless_tendon_frictional.xml │ │ ├── dofless_tendon_limited.xml │ │ ├── dofless_tendon_limitedmargin.xml │ │ ├── dofless_weld.xml │ │ ├── joint_limited_bilateral_margin.xml │ │ ├── soft_weld.xml │ │ └── tendon_limited_bilateral_margin.xml │ │ ├── core_smooth │ │ ├── rne_post │ │ │ ├── connect │ │ │ │ ├── force_free.xml │ │ │ │ ├── force_slide.xml │ │ │ │ ├── force_slide_rotated.xml │ │ │ │ ├── multiple_constraints.xml │ │ │ │ └── torque_free.xml │ │ │ └── weld │ │ │ │ ├── force_free.xml │ │ │ │ ├── force_free_rotated.xml │ │ │ │ ├── force_torque_free.xml │ │ │ │ ├── force_torque_free_rotated.xml │ │ │ │ ├── force_torque_free_rotated_tendon.xml │ │ │ │ ├── tfratio0_force_free.xml │ │ │ │ ├── tfratio0_force_slide.xml │ │ │ │ ├── tfratio0_force_slide_rotated.xml │ │ │ │ ├── tfratio0_multiple_constraints.xml │ │ │ │ └── tfratio0_torque_free.xml │ │ ├── ten_J0.xml │ │ ├── ten_J1.xml │ │ ├── ten_J2.xml │ │ ├── ten_J3.xml │ │ ├── ten_armature_0.xml │ │ ├── ten_armature_0_compare.xml │ │ ├── ten_armature_0_equiv.xml │ │ ├── ten_armature_1.xml │ │ ├── ten_armature_1_compare.xml │ │ ├── ten_armature_1_equiv.xml │ │ ├── ten_armature_2.xml │ │ ├── ten_armature_3.xml │ │ ├── ten_armature_4.xml │ │ ├── ten_armature_offtree.xml │ │ ├── tendon_wrap_cylinder.xml │ │ └── tendon_wrap_sphere.xml │ │ ├── derivative │ │ ├── damped_actuators.xml │ │ ├── damped_pendulum.xml │ │ ├── energy_conserving_pendulum.xml │ │ ├── linear.xml │ │ ├── tumbling_thin_object.xml │ │ └── tumbling_thin_object_ellipsoid.xml │ │ ├── ellipsoidinertia.xml │ │ ├── equality_site.xml │ │ ├── equality_site_body_compare.xml │ │ ├── frame.xml │ │ ├── hammock │ │ ├── hammock.xml │ │ └── humanoid_body.xml │ │ ├── inertia.xml │ │ ├── island │ │ ├── 2humanoid100.xml │ │ ├── abacus.xml │ │ ├── humanoid.xml │ │ ├── island_efc.xml │ │ └── tendon_wrap.xml │ │ ├── ray │ │ ├── box.xml │ │ ├── capsule.xml │ │ ├── cylinder.xml │ │ ├── ellipsoid.xml │ │ ├── hfield.xml │ │ ├── mesh.xml │ │ ├── plane.xml │ │ ├── ray_swing.xml │ │ ├── sdf.xml │ │ ├── sphere.xml │ │ ├── stanford_bunny.obj │ │ └── stanford_bunny.xml │ │ ├── rotations.xml │ │ ├── select.xml │ │ ├── sensor │ │ ├── camprojection.xml │ │ ├── contact.xml │ │ ├── contact_net.xml │ │ ├── contact_sorted.xml │ │ ├── contact_subtree.xml │ │ ├── contact_subtree_partial.xml │ │ ├── fromto_body_body.xml │ │ ├── fromto_capsule_ellipsoid.xml │ │ ├── fromto_convex.xml │ │ ├── fromto_primitive.xml │ │ ├── humanoid.xml │ │ └── insidesite.xml │ │ ├── skingroup.xml │ │ ├── sleep │ │ ├── contact.xml │ │ ├── contactpair.xml │ │ ├── equality.xml │ │ ├── init.xml │ │ ├── init_island.xml │ │ ├── init_island_fail.xml │ │ ├── mocap.xml │ │ ├── perf │ │ │ ├── 2humanoid100.xml │ │ │ ├── dominos.xml │ │ │ ├── humanoid.xml │ │ │ ├── smooth.xml │ │ │ ├── static.xml │ │ │ └── world.xml │ │ ├── sensor.xml │ │ ├── smooth.xml │ │ ├── static.xml │ │ ├── tendon.xml │ │ └── tendon2.xml │ │ ├── spin_recoil.xml │ │ ├── tendon_springlength.xml │ │ ├── vis_interact │ │ └── boxes.xml │ │ ├── vis_visualize │ │ ├── frustum.xml │ │ └── orthographic.xml │ │ └── weld.xml ├── experimental │ ├── CMakeLists.txt │ └── usd │ │ ├── mjcPhysics │ │ ├── mjc_physics_scene_test.cc │ │ └── mjc_site_api_test.cc │ │ ├── plugins │ │ └── mjcf │ │ │ ├── CMakeLists.txt │ │ │ ├── mjcf_file_format_test.cc │ │ │ └── testdata │ │ │ ├── materials.xml │ │ │ ├── mesh_obj.xml │ │ │ ├── meshes │ │ │ └── tetrahedron.obj │ │ │ └── textures │ │ │ ├── cube.png │ │ │ ├── emissive.png │ │ │ ├── metallic.png │ │ │ ├── normal.png │ │ │ ├── occlusion.png │ │ │ ├── orm.png │ │ │ └── roughness.png │ │ ├── test_utils.cc │ │ └── test_utils.h ├── fixture.cc ├── fixture.h ├── fixture_test.cc ├── header_test.cc ├── pipeline_test.cc ├── plugin │ ├── actuator │ │ ├── CMakeLists.txt │ │ └── pid_test.cc │ ├── decoder │ │ └── decoder_test.cc │ ├── elasticity │ │ ├── CMakeLists.txt │ │ └── elasticity_test.cc │ └── sensor │ │ ├── CMakeLists.txt │ │ ├── sensor_test.cc │ │ └── testdata │ │ └── touch_grid_test.xml ├── sample │ ├── CMakeLists.txt │ ├── compile_test.sh │ └── testspeed_test.sh ├── testdata │ ├── catenary.xml │ ├── flex.xml │ ├── frustum.xml │ ├── hammock.xml │ ├── model.xml │ └── tendon_wrap.xml ├── thread │ ├── CMakeLists.txt │ ├── thread_pool_test.cc │ └── thread_queue_test.cc ├── user │ ├── CMakeLists.txt │ ├── testdata │ │ ├── auto_limits.xml │ │ ├── capsule_inertia.xml │ │ ├── cube.msh │ │ ├── cube.obj │ │ ├── cube.skn │ │ ├── cube.stl │ │ ├── cube.xml │ │ ├── cube_22_ascii_surf_gmshApp.msh │ │ ├── cube_22_ascii_surf_gmshApp.xml │ │ ├── cube_22_ascii_vol_gmshApp.msh │ │ ├── cube_22_ascii_vol_gmshApp.xml │ │ ├── cube_22_ascii_vol_gmshApp_missing_dim.xml │ │ ├── cube_22_binary_surf_gmshApp.msh │ │ ├── cube_22_binary_surf_gmshApp.xml │ │ ├── cube_22_binary_vol_gmshApp.msh │ │ ├── cube_22_binary_vol_gmshApp.xml │ │ ├── cube_41_ascii_surf_gmshApp.msh │ │ ├── cube_41_ascii_surf_gmshApp.xml │ │ ├── cube_41_ascii_vol_gmshApp.msh │ │ ├── cube_41_ascii_vol_gmshApp.xml │ │ ├── cube_41_binary_surf_gmshApp.msh │ │ ├── cube_41_binary_surf_gmshApp.xml │ │ ├── cube_41_binary_vol_gmshApp.msh │ │ ├── cube_41_binary_vol_gmshApp.xml │ │ ├── cube_complete.obj │ │ ├── cube_cup.obj │ │ ├── cube_cup_hi.obj │ │ ├── cube_cup_quad.obj │ │ ├── cube_skin.xml │ │ ├── cube_with_mesh_def.xml │ │ ├── discardvisual.xml │ │ ├── discardvisual_false.xml │ │ ├── duplicate.obj │ │ ├── duplicate.xml │ │ ├── duplicate_vertices.stl │ │ ├── duplicate_vertices.xml │ │ ├── dzhanibekov.xml │ │ ├── fitmesh_aabb.xml │ │ ├── fitmesh_inertiabox.xml │ │ ├── flipped_torus.xml │ │ ├── frame1.xml │ │ ├── frame2.xml │ │ ├── freejoint.xml │ │ ├── hfield.png │ │ ├── hfield_png.xml │ │ ├── hfield_xml.xml │ │ ├── inertia_compare.xml │ │ ├── inertia_concave.xml │ │ ├── inertia_convex.xml │ │ ├── inertia_shell.xml │ │ ├── keyframe.xml │ │ ├── lengthrange.xml │ │ ├── makemesh.xml │ │ ├── malformed_cube_22_ascii_missing_element.msh │ │ ├── malformed_cube_22_ascii_missing_element.xml │ │ ├── malformed_cube_22_ascii_missing_node.msh │ │ ├── malformed_cube_22_ascii_missing_node.xml │ │ ├── malformed_cube_22_ascii_missing_num_elements.msh │ │ ├── malformed_cube_22_ascii_missing_num_elements.xml │ │ ├── malformed_cube_22_ascii_missing_num_nodes.msh │ │ ├── malformed_cube_22_ascii_missing_num_nodes.xml │ │ ├── malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.msh │ │ ├── malformed_cube_41_ascii_mismatch_between_max_nodes_and_nodes_in_block.xml │ │ ├── malformed_cube_41_ascii_missing_element.msh │ │ ├── malformed_cube_41_ascii_missing_element.xml │ │ ├── malformed_cube_41_ascii_missing_element_header.msh │ │ ├── malformed_cube_41_ascii_missing_element_header.xml │ │ ├── malformed_cube_41_ascii_missing_node.msh │ │ ├── malformed_cube_41_ascii_missing_node_header.msh │ │ ├── malformed_cube_41_ascii_missing_node_header.xml │ │ ├── malformed_cube_41_ascii_missing_node_index.msh │ │ ├── malformed_cube_41_ascii_missing_node_index.xml │ │ ├── malformed_duplicated.xml │ │ ├── malformed_face.obj │ │ ├── malformed_face.xml │ │ ├── malformed_flex_nofaces.xml │ │ ├── mesh.xml │ │ ├── rigid_flex.xml │ │ ├── robot_arm.xml │ │ ├── shark_22_ascii_fTetWild.msh │ │ ├── shark_22_ascii_vol_fTetWild.xml │ │ ├── shark_22_binary_fTetWild.msh │ │ ├── shark_22_binary_vol_fTetWild.xml │ │ ├── stanford_bunny.obj │ │ ├── textured_torus.xml │ │ ├── textured_torus │ │ │ ├── carpet.png │ │ │ ├── textured_torus.mtl │ │ │ └── textured_torus.obj │ │ ├── textured_torus_flex.xml │ │ ├── torus.obj │ │ ├── torus.xml │ │ ├── torus_maxhullvert.xml │ │ ├── torus_maxhullvert_default.xml │ │ ├── torus_quads.obj │ │ ├── torus_quads.xml │ │ └── torus_shell.xml │ ├── user_api_test.cc │ ├── user_cache_test.cc │ ├── user_composite_test.cc │ ├── user_flex_test.cc │ ├── user_mesh_test.cc │ ├── user_model_test.cc │ ├── user_objects_test.cc │ ├── user_resource_test.cc │ ├── user_util_test.cc │ └── user_vfs_test.cc └── xml │ ├── CMakeLists.txt │ ├── testdata │ ├── child.xml │ ├── hfield.png │ ├── hfield_png_nonrgb.xml │ ├── lights.xml │ ├── many_dependencies.xml │ ├── meshes │ │ ├── cube.skn │ │ ├── flex.obj │ │ └── mesh1.obj │ ├── parent.xml │ ├── parent_model.xml │ └── simple_hinge.usda │ ├── xml_api_test.cc │ ├── xml_native_reader_test.cc │ ├── xml_native_writer_test.cc │ ├── xml_schema_test.cc │ ├── xml_urdf_test.cc │ └── xml_utils_test.cc ├── unity ├── CHANGELOG.md ├── CHANGELOG.md.meta ├── Editor.meta ├── Editor │ ├── Bindings.meta │ ├── Bindings │ │ ├── MujocoBinaryRetriever.cs │ │ └── MujocoBinaryRetriever.cs.meta │ ├── Components.meta │ ├── Components │ │ ├── AbsoluteValuePropertyEditor.cs │ │ ├── AbsoluteValuePropertyEditor.cs.meta │ │ ├── MjActuatorEditor.cs │ │ ├── MjActuatorEditor.cs.meta │ │ ├── MjGeomEditor.cs │ │ ├── MjGeomEditor.cs.meta │ │ ├── MjHandles.cs │ │ ├── MjHandles.cs.meta │ │ ├── MjHingeJointEditor.cs │ │ ├── MjHingeJointEditor.cs.meta │ │ ├── MjMouseSpring.cs │ │ ├── MjMouseSpring.cs.meta │ │ ├── MjShapeComponentEditor.cs │ │ ├── MjShapeComponentEditor.cs.meta │ │ ├── MjSlideJointEditor.cs │ │ └── MjSlideJointEditor.cs.meta │ ├── Exporter.meta │ ├── Exporter │ │ ├── MjExporterEditorWindow.cs │ │ └── MjExporterEditorWindow.cs.meta │ ├── Importer.meta │ ├── Importer │ │ ├── MjImporterEditorWindow.cs │ │ ├── MjImporterEditorWindow.cs.meta │ │ ├── MjImporterWithAssets.cs │ │ ├── MjImporterWithAssets.cs.meta │ │ ├── ObjMeshImportUtility.cs │ │ ├── ObjMeshImportUtility.cs.meta │ │ ├── StlMeshImporter.cs │ │ ├── StlMeshImporter.cs.meta │ │ ├── StlMeshParser.cs │ │ └── StlMeshParser.cs.meta │ ├── Mujoco.Editor.asmdef │ └── Mujoco.Editor.asmdef.meta ├── README.md ├── README.md.meta ├── Runtime.meta ├── Runtime │ ├── Bindings.meta │ ├── Bindings │ │ ├── FixedSizeIListHelper.cs │ │ ├── FixedSizeIListHelper.cs.meta │ │ ├── MjBindings.cs │ │ └── MjBindings.cs.meta │ ├── Components.meta │ ├── Components │ │ ├── Bodies.meta │ │ ├── Bodies │ │ │ ├── MjBaseBody.cs │ │ │ ├── MjBaseBody.cs.meta │ │ │ ├── MjBody.cs │ │ │ ├── MjBody.cs.meta │ │ │ ├── MjMocapBody.cs │ │ │ └── MjMocapBody.cs.meta │ │ ├── Equality.meta │ │ ├── Equality │ │ │ ├── MjBaseConstraint.cs │ │ │ ├── MjBaseConstraint.cs.meta │ │ │ ├── MjConnect.cs │ │ │ ├── MjConnect.cs.meta │ │ │ ├── MjJointConstraint.cs │ │ │ ├── MjJointConstraint.cs.meta │ │ │ ├── MjTendonConstraint.cs │ │ │ ├── MjTendonConstraint.cs.meta │ │ │ ├── MjWeld.cs │ │ │ └── MjWeld.cs.meta │ │ ├── Joints.meta │ │ ├── Joints │ │ │ ├── MjBallJoint.cs │ │ │ ├── MjBallJoint.cs.meta │ │ │ ├── MjBaseJoint.cs │ │ │ ├── MjBaseJoint.cs.meta │ │ │ ├── MjFreeJoint.cs │ │ │ ├── MjFreeJoint.cs.meta │ │ │ ├── MjHingeJoint.cs │ │ │ ├── MjHingeJoint.cs.meta │ │ │ ├── MjJointSettings.cs │ │ │ ├── MjJointSettings.cs.meta │ │ │ ├── MjSlideJoint.cs │ │ │ └── MjSlideJoint.cs.meta │ │ ├── MjActuator.cs │ │ ├── MjActuator.cs.meta │ │ ├── MjComponent.cs │ │ ├── MjComponent.cs.meta │ │ ├── MjExclude.cs │ │ ├── MjExclude.cs.meta │ │ ├── MjGizmos.cs │ │ ├── MjGizmos.cs.meta │ │ ├── MjGlobalSettings.cs │ │ ├── MjGlobalSettings.cs.meta │ │ ├── MjInertial.cs │ │ ├── MjInertial.cs.meta │ │ ├── MjScene.cs │ │ ├── MjScene.cs.meta │ │ ├── Sensors.meta │ │ ├── Sensors │ │ │ ├── MjActuatorScalarSensor.cs │ │ │ ├── MjActuatorScalarSensor.cs.meta │ │ │ ├── MjBaseSensor.cs │ │ │ ├── MjBaseSensor.cs.meta │ │ │ ├── MjBodyQuaternionSensor.cs │ │ │ ├── MjBodyQuaternionSensor.cs.meta │ │ │ ├── MjBodyVectorSensor.cs │ │ │ ├── MjBodyVectorSensor.cs.meta │ │ │ ├── MjGeomQuaternionSensor.cs │ │ │ ├── MjGeomQuaternionSensor.cs.meta │ │ │ ├── MjGeomVectorSensor.cs │ │ │ ├── MjGeomVectorSensor.cs.meta │ │ │ ├── MjJointScalarSensor.cs │ │ │ ├── MjJointScalarSensor.cs.meta │ │ │ ├── MjSiteQuaternionSensor.cs │ │ │ ├── MjSiteQuaternionSensor.cs.meta │ │ │ ├── MjSiteScalarSensor.cs │ │ │ ├── MjSiteScalarSensor.cs.meta │ │ │ ├── MjSiteVectorSensor.cs │ │ │ ├── MjSiteVectorSensor.cs.meta │ │ │ ├── MjUserSensor.cs │ │ │ └── MjUserSensor.cs.meta │ │ ├── Shapes.meta │ │ ├── Shapes │ │ │ ├── IMjShape.cs │ │ │ ├── IMjShape.cs.meta │ │ │ ├── MeshGenerators.cs │ │ │ ├── MeshGenerators.cs.meta │ │ │ ├── MjBoxShape.cs │ │ │ ├── MjBoxShape.cs.meta │ │ │ ├── MjCapsuleShape.cs │ │ │ ├── MjCapsuleShape.cs.meta │ │ │ ├── MjCylinderShape.cs │ │ │ ├── MjCylinderShape.cs.meta │ │ │ ├── MjEllipsoidShape.cs │ │ │ ├── MjEllipsoidShape.cs.meta │ │ │ ├── MjGeom.cs │ │ │ ├── MjGeom.cs.meta │ │ │ ├── MjGeomSettings.cs │ │ │ ├── MjGeomSettings.cs.meta │ │ │ ├── MjHeightFieldShape.cs │ │ │ ├── MjHeightFieldShape.cs.meta │ │ │ ├── MjMeshFilter.cs │ │ │ ├── MjMeshFilter.cs.meta │ │ │ ├── MjMeshShape.cs │ │ │ ├── MjMeshShape.cs.meta │ │ │ ├── MjPlaneShape.cs │ │ │ ├── MjPlaneShape.cs.meta │ │ │ ├── MjShapeComponent.cs │ │ │ ├── MjShapeComponent.cs.meta │ │ │ ├── MjSite.cs │ │ │ ├── MjSite.cs.meta │ │ │ ├── MjSphereShape.cs │ │ │ └── MjSphereShape.cs.meta │ │ ├── Tendons.meta │ │ └── Tendons │ │ │ ├── MjBaseTendon.cs │ │ │ ├── MjBaseTendon.cs.meta │ │ │ ├── MjFixedTendon.cs │ │ │ ├── MjFixedTendon.cs.meta │ │ │ ├── MjSpatialTendon.cs │ │ │ └── MjSpatialTendon.cs.meta │ ├── Importer.meta │ ├── Importer │ │ ├── MjXmlModifiers.cs │ │ ├── MjXmlModifiers.cs.meta │ │ ├── MjcfImporter.cs │ │ └── MjcfImporter.cs.meta │ ├── Mujoco.Runtime.asmdef │ ├── Mujoco.Runtime.asmdef.meta │ ├── Resources.meta │ ├── Resources │ │ ├── mujoco_semitransparent_template.mat │ │ └── mujoco_semitransparent_template.mat.meta │ ├── Tools.meta │ └── Tools │ │ ├── AbsoluteValueAttribute.cs │ │ ├── AbsoluteValueAttribute.cs.meta │ │ ├── ConvertMj2Rca.cs │ │ ├── ConvertMj2Rca.cs.meta │ │ ├── MjEngineTool.cs │ │ ├── MjEngineTool.cs.meta │ │ ├── MjHierarchyTool.cs │ │ ├── MjHierarchyTool.cs.meta │ │ ├── MjTransformation.cs │ │ ├── MjTransformation.cs.meta │ │ ├── MjVfs.cs │ │ ├── MjVfs.cs.meta │ │ ├── MjcfGenerationContext.cs │ │ ├── MjcfGenerationContext.cs.meta │ │ ├── XmlElementExtensions.cs │ │ └── XmlElementExtensions.cs.meta ├── Tests.meta ├── Tests │ ├── Editor.meta │ ├── Editor │ │ ├── Bindings.meta │ │ ├── Bindings │ │ │ ├── FixedSizeIListHelperTests.cs │ │ │ └── FixedSizeIListHelperTests.cs.meta │ │ ├── Components.meta │ │ ├── Components │ │ │ ├── Bodies.meta │ │ │ ├── Bodies │ │ │ │ ├── MjBodyTests.cs │ │ │ │ └── MjBodyTests.cs.meta │ │ │ ├── Equality.meta │ │ │ ├── Equality │ │ │ │ ├── MjConnectTests.cs │ │ │ │ ├── MjConnectTests.cs.meta │ │ │ │ ├── MjJointConstraintTests.cs │ │ │ │ ├── MjJointConstraintTests.cs.meta │ │ │ │ ├── MjTendonConstraintTests.cs │ │ │ │ ├── MjTendonConstraintTests.cs.meta │ │ │ │ ├── MjWeldTests.cs │ │ │ │ └── MjWeldTests.cs.meta │ │ │ ├── Joints.meta │ │ │ ├── Joints │ │ │ │ ├── MjBallJointTests.cs │ │ │ │ ├── MjBallJointTests.cs.meta │ │ │ │ ├── MjBaseJointTests.cs │ │ │ │ ├── MjBaseJointTests.cs.meta │ │ │ │ ├── MjHingeJointTests.cs │ │ │ │ ├── MjHingeJointTests.cs.meta │ │ │ │ ├── MjJointSettingsTests.cs │ │ │ │ ├── MjJointSettingsTests.cs.meta │ │ │ │ ├── MjSlideJointTests.cs │ │ │ │ └── MjSlideJointTests.cs.meta │ │ │ ├── MjActuatorTests.cs │ │ │ ├── MjActuatorTests.cs.meta │ │ │ ├── MjExcludeTests.cs │ │ │ ├── MjExcludeTests.cs.meta │ │ │ ├── MjGeomSettingsTests.cs │ │ │ ├── MjGeomSettingsTests.cs.meta │ │ │ ├── MjGeomTests.cs │ │ │ ├── MjGeomTests.cs.meta │ │ │ ├── MjGlobalSettingsTests.cs │ │ │ ├── MjGlobalSettingsTests.cs.meta │ │ │ ├── MjInertialTests.cs │ │ │ ├── MjInertialTests.cs.meta │ │ │ ├── MjSceneTests.cs │ │ │ ├── MjSceneTests.cs.meta │ │ │ ├── MjSiteTests.cs │ │ │ ├── MjSiteTests.cs.meta │ │ │ ├── MjcfGenerationContextTests.cs │ │ │ ├── MjcfGenerationContextTests.cs.meta │ │ │ ├── Sensors.meta │ │ │ ├── Sensors │ │ │ │ ├── MjActuatorScalarSensorTests.cs │ │ │ │ ├── MjActuatorScalarSensorTests.cs.meta │ │ │ │ ├── MjBaseSensorTests.cs │ │ │ │ ├── MjBaseSensorTests.cs.meta │ │ │ │ ├── MjBodyQuaternionSensorTests.cs │ │ │ │ ├── MjBodyQuaternionSensorTests.cs.meta │ │ │ │ ├── MjBodyVectorSensorTests.cs │ │ │ │ ├── MjBodyVectorSensorTests.cs.meta │ │ │ │ ├── MjGeomQuaternionSensorTests.cs │ │ │ │ ├── MjGeomQuaternionSensorTests.cs.meta │ │ │ │ ├── MjGeomVectorSensorTests.cs │ │ │ │ ├── MjGeomVectorSensorTests.cs.meta │ │ │ │ ├── MjJointScalarSensorTests.cs │ │ │ │ ├── MjJointScalarSensorTests.cs.meta │ │ │ │ ├── MjSiteQuaternionSensorTests.cs │ │ │ │ ├── MjSiteQuaternionSensorTests.cs.meta │ │ │ │ ├── MjSiteScalarSensorTests.cs │ │ │ │ ├── MjSiteScalarSensorTests.cs.meta │ │ │ │ ├── MjSiteVectorSensorTests.cs │ │ │ │ └── MjSiteVectorSensorTests.cs.meta │ │ │ ├── Shapes.meta │ │ │ ├── Shapes │ │ │ │ ├── MeshGeneratorsTests.cs │ │ │ │ ├── MeshGeneratorsTests.cs.meta │ │ │ │ ├── MjBoxShapeTests.cs │ │ │ │ ├── MjBoxShapeTests.cs.meta │ │ │ │ ├── MjCapsuleShapeTests.cs │ │ │ │ ├── MjCapsuleShapeTests.cs.meta │ │ │ │ ├── MjCylinderShapeTests.cs │ │ │ │ ├── MjCylinderShapeTests.cs.meta │ │ │ │ ├── MjEllipsoidShapeTests.cs │ │ │ │ ├── MjEllipsoidShapeTests.cs.meta │ │ │ │ ├── MjGizmosTests.cs │ │ │ │ ├── MjGizmosTests.cs.meta │ │ │ │ ├── MjPlaneShapeTests.cs │ │ │ │ ├── MjPlaneShapeTests.cs.meta │ │ │ │ ├── MjSphereShapeTests.cs │ │ │ │ └── MjSphereShapeTests.cs.meta │ │ │ ├── Tendons.meta │ │ │ └── Tendons │ │ │ │ ├── MjFixedTendonTests.cs │ │ │ │ ├── MjFixedTendonTests.cs.meta │ │ │ │ ├── MjSpatialTendonTests.cs │ │ │ │ └── MjSpatialTendonTests.cs.meta │ │ ├── Importer.meta │ │ ├── Importer │ │ │ ├── MjImporterTests.cs │ │ │ ├── MjImporterTests.cs.meta │ │ │ ├── MjStlMeshParserTests.cs │ │ │ ├── MjStlMeshParserTests.cs.meta │ │ │ ├── MjXmlModifiersTests.cs │ │ │ ├── MjXmlModifiersTests.cs.meta │ │ │ ├── MjcfImporterTests.cs │ │ │ └── MjcfImporterTests.cs.meta │ │ ├── Mujoco.Editor.Tests.asmdef │ │ ├── Mujoco.Editor.Tests.asmdef.meta │ │ ├── Tools.meta │ │ └── Tools │ │ │ ├── HierarchyToolTests.cs │ │ │ ├── HierarchyToolTests.cs.meta │ │ │ ├── MjEngineTests.cs │ │ │ ├── MjEngineTests.cs.meta │ │ │ ├── MjTransformationTests.cs │ │ │ ├── MjTransformationTests.cs.meta │ │ │ ├── MjVFSEditorTests.cs │ │ │ ├── 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