google-deepmind/mujoco

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

C++★ 17,017+574 that day#3 on trending

Analyzed November 10, 2026 at a937a4f (main) with jscpd v5 in 4.9s.

E34.5/100

Project health558,486 lines of code (L)

Duplication43

10.3% in cpp, python, c, c-header, csharp, cmake, typescript, bash, latex, javascript, objectivec, makefile

Dead code6

31.3%

Complexity41

64.8%

The score is jscpd's own --health model: markup, data and text left out, tests kept. The numbers below are the trending scan's.

4.71%duplicated code · 14,998 of 318,700 lines

1,177clones in code

654code files of 1,682 scanned

14.19%duplicated over all files · 6,000 clones

Most complex files

src/user/user_objects.cc2454 cx
src/user/user_model.cc2097 cx
src/user/user_flexcomp.cc1415 cx
src/engine/engine_derivative.c975 cx
wasm/codegen/generated/bindings.h970 cx
src/engine/engine_core_util.c961 cx
src/engine/engine_metric.c833 cx
wasm/codegen/generated/bindings.cc830 cx
src/engine/engine_vis_visualize.c822 cx
src/user/user_api.cc797 cx

Dead code 31.29% unused · 60 findings

python/mujoco/introspect/structs.pyunused-file
mjx/mujoco/mjx/warp/forward.pyunused-file
mjx/mujoco/mjx/_src/io.pyunused-file
mjx/mujoco/mjx/_src/smooth.pyunused-file
python/mujoco/introspect/enums.pyunused-file
mjx/mujoco/mjx/_src/support.pyunused-file
mjx/mujoco/mjx/_src/collision_convex.pyunused-file
python/mujoco/batch.pyunused-file
mjx/mujoco/mjx/_src/sensor.pyunused-file
mjx/mujoco/mjx/_src/constraint.pyunused-file

The code number leaves out tests, fixtures, docs, examples, data files, styles, translations and vendored code, and 58 generated files: doc/_static/onthispage_mjwarp.js, doc/includes/references.h, doc/js/linenumbers.js, include/mujoco/experimental/usd/mjcPhysics/actuator.h, include/mujoco/experimental/usd/mjcPhysics/api.h, include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h, include/mujoco/experimental/usd/mjcPhysics/equalityAPI.h, include/mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h, include/mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h, include/mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h, include/mujoco/experimental/usd/mjcPhysics/imageableAPI.h, include/mujoco/experimental/usd/mjcPhysics/jointAPI.h, include/mujoco/experimental/usd/mjcPhysics/keyframe.h, include/mujoco/experimental/usd/mjcPhysics/materialAPI.h, include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h, include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h, include/mujoco/experimental/usd/mjcPhysics/siteAPI.h, include/mujoco/experimental/usd/mjcPhysics/tendon.h, include/mujoco/experimental/usd/mjcPhysics/tokens.h, mjx/mujoco/mjx/warp/bvh.py and 38 more.

Largest clones in the code

17 lines in 45 placespython67 tokens

python/mujoco/introspect/functions.py:774–790python/mujoco/introspect/functions.py:794–810python/mujoco/introspect/functions.py:814–830python/mujoco/introspect/functions.py:834–850python/mujoco/introspect/functions.py:854–870and 40 more

774name='mj_step',
775return_type=ValueType(name='void'),
776parameters=(
777    FunctionParameterDecl(
778        name='m',
779        type=PointerType(
780            inner_type=ValueType(name='mjModel', is_const=True),
781        ),
782    ),
783    FunctionParameterDecl(

First 10 of 17 lines.

16 lines in 29 placespython63 tokens

python/mujoco/introspect/functions.py:1578–1593python/mujoco/introspect/functions.py:2746–2761python/mujoco/introspect/functions.py:2872–2887python/mujoco/introspect/functions.py:3120–3135python/mujoco/introspect/functions.py:3152–3167and 24 more

1578return_type=ValueType(name='void'),
1579parameters=(
1580    FunctionParameterDecl(
1581        name='m',
1582        type=PointerType(
1583            inner_type=ValueType(name='mjModel', is_const=True),
1584        ),
1585    ),
1586    FunctionParameterDecl(
1587        name='d',

First 10 of 16 lines.

15 lines in 26 placespython63 tokens

python/mujoco/introspect/functions.py:774–788python/mujoco/introspect/functions.py:874–888python/mujoco/introspect/functions.py:902–916python/mujoco/introspect/functions.py:1232–1246python/mujoco/introspect/functions.py:1256–1270and 21 more

774name='mj_step',
775return_type=ValueType(name='void'),
776parameters=(
777    FunctionParameterDecl(
778        name='m',
779        type=PointerType(
780            inner_type=ValueType(name='mjModel', is_const=True),
781        ),
782    ),
783    FunctionParameterDecl(

First 10 of 15 lines.

7 more

14 lines in 26 placespython53 tokens
python/mujoco/introspect/functions.py:877–890 python/mujoco/introspect/functions.py:1235–1248 python/mujoco/introspect/functions.py:1259–1272 python/mujoco/introspect/functions.py:1914–1927 python/mujoco/introspect/functions.py:2378–2391and 21 more
13 lines in 23 placespython57 tokens
python/mujoco/introspect/functions.py:774–786 python/mujoco/introspect/functions.py:1577–1589 python/mujoco/introspect/functions.py:1609–1621 python/mujoco/introspect/functions.py:2745–2757 python/mujoco/introspect/functions.py:3119–3131and 18 more
9 lines in 8 placescpp75 tokens
src/xml/xml_native_writer.cc:3066–3074 src/xml/xml_native_writer.cc:3075–3083 src/xml/xml_native_writer.cc:3084–3092 src/xml/xml_native_writer.cc:3093–3101 src/xml/xml_native_writer.cc:3102–3110and 3 more
22 lines in 3 placescpp261 tokens
src/user/user_flexcomp.cc:5149–5170 src/user/user_flexcomp.cc:5449–5470 src/user/user_flexcomp.cc:5740–5759
17 lines in 8 placespython67 tokens
python/mujoco/introspect/functions.py:7553–7569 python/mujoco/introspect/functions.py:7651–7667 python/mujoco/introspect/functions.py:7679–7695 python/mujoco/introspect/functions.py:7835–7851 python/mujoco/introspect/functions.py:7967–7983and 3 more
69 lines in 2 placesc-header441 tokens
simulate/array_safety.h:34–102 src/cc/array_safety.h:34–102
8 lines in 5 placesc109 tokens
src/engine/engine_collision_box.c:594–601 src/engine/engine_collision_box.c:1069–1076 src/engine/engine_collision_primitive.c:53–61 src/engine/engine_collision_primitive.c:332–340 src/engine/engine_collision_primitive.c:454–462

Largest clones over all files, tests and data included

171 lines in 9 placesmarkuptests1,837 tokens
mjx/mujoco/mjx/test_data/humanoid/02_humanoids.xml:35–205 mjx/mujoco/mjx/test_data/humanoid/03_humanoids.xml:38–208 mjx/mujoco/mjx/test_data/humanoid/04_humanoids.xml:41–211 mjx/mujoco/mjx/test_data/humanoid/05_humanoids.xml:44–214 mjx/mujoco/mjx/test_data/humanoid/06_humanoids.xml:47–217and 4 more
```
35    <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="3"/>
36  </default>
37</default>
38
39<visual>
40  <map force="0.1" zfar="30"/>
41  <rgba haze="0.15 0.25 0.35 1"/>
42  <quality shadowsize="4096"/>
43  <global offwidth="800" offheight="800"/>
44</visual>
```
First 10 of 171 lines.

802 lines in 2 placesmarkupdata files7,524 tokens

model/flex/bag.xml:47–848model/flex/bag_hoop.xml:47–848

47<geom type="plane" size="0 0 .05" material="plane"/>
48<flexcomp name="bag" type="direct" dim="2" radius="0.002" mass="0.06" rgba=".93 .95 .97 .45"
49          point="0.0899 0.0000 0.0300 0.0868 0.0233 0.0300 0.0778 0.0449 0.0300 0.0635 0.0635 0.0300 0.0449 0.0778 0.0300 0.0233 0.0868 0.0300 0.0000 0.0899 0.…
50          element="0 1 25 0 25 24 1 2 26 1 26 25 2 3 27 2 27 26 3 4 28 3 28 27 4 5 29 4 29 28 5 6 30 5 30 29 6 7 31 6 31 30 7 8 32 7 32 31 8 9 33 8 33 32 9 10 …
51  <elasticity young="21739.5498" poisson="0.4" thickness="6.70820393e-4" elastic2d="both" damping="0.015"/>
52  <contact selfcollide="none"/>
53</flexcomp>
54<body name="s0" pos="0.14202 -0.05094 0.22450">
55  <inertial pos="0 0 0" mass="0.0002" diaginertia="1e-10 1e-10 1e-10"/>
56  <joint type="slide" axis="1 0 0"/>

First 10 of 802 lines.

7 lines in 126 placesmarkupdata files52 tokens

model/flex/bag.xml:54–60model/flex/bag.xml:60–66model/flex/bag.xml:66–72model/flex/bag.xml:72–78model/flex/bag.xml:78–84and 121 more

54<body name="s0" pos="0.14202 -0.05094 0.22450">
55  <inertial pos="0 0 0" mass="0.0002" diaginertia="1e-10 1e-10 1e-10"/>
56  <joint type="slide" axis="1 0 0"/>
57  <joint type="slide" axis="0 1 0"/>
58  <joint type="slide" axis="0 0 1"/>
59</body>
60<body name="s1" pos="0.14202 -0.05094 0.23550">

60<body name="s1" pos="0.14202 -0.05094 0.23550">
61  <inertial pos="0 0 0" mass="0.0002" diaginertia="1e-10 1e-10 1e-10"/>
62  <joint type="slide" axis="1 0 0"/>
63  <joint type="slide" axis="0 1 0"/>
64  <joint type="slide" axis="0 0 1"/>
65</body>
66<body name="s2" pos="0.14721 -0.03637 0.22450">

86 lines in 8 placesmarkuptests913 tokens
mjx/mujoco/mjx/test_data/humanoid/03_humanoids.xml:200–285 mjx/mujoco/mjx/test_data/humanoid/04_humanoids.xml:203–288 mjx/mujoco/mjx/test_data/humanoid/05_humanoids.xml:206–291 mjx/mujoco/mjx/test_data/humanoid/06_humanoids.xml:209–294 mjx/mujoco/mjx/test_data/humanoid/07_humanoids.xml:212–297and 3 more
16 lines in 54 placesmarkuptests105 tokens
mjx/mujoco/mjx/test_data/actuator/arm21.xml:1–16 mjx/mujoco/mjx/test_data/actuator/arm26.xml:1–16 mjx/mujoco/mjx/test_data/humanoid/humanoid.xml:1–16 model/flex/bag.xml:1–16 model/flex/basket.xml:1–16and 49 more

By format, code only

Format	Files	Lines	Clones	Duplicated lines	Duplication
python	144	75,620	490	7,959	10.52%
cpp	169	110,080	329	3,206	2.91%
c	48	80,767	277	2,676	3.31%
c-header	202	40,424	64	888	2.2%
csharp	75	8,565	10	94	1.1%
bash	8	1,734	5	146	8.42%
objectivec	5	602	1	16	2.66%
typescript	2	532	1	13	2.44%
javascript	1	376	0	0	0%

By format, all files

Format	Files	Lines	Clones	Duplicated lines	Duplication
cpp	311	255,913	3,174	31,835	12.44%
markup	469	89,776	1,201	41,397	46.11%
python	252	119,070	754	13,619	11.44%
c	49	81,648	281	2,713	3.32%
c-header	226	61,604	210	6,504	10.56%
rest	45	54,203	196	2,229	4.11%
csharp	132	24,427	115	1,317	5.39%
cmake	67	7,678	15	1,277	16.63%
markdown	42	6,049	14	119	1.97%
typescript	8	3,857	11	98	2.54%

Trending appearances

Day	Rank	Stars	Files	Lines	Clones	All files	Code	Health	Commit
Nov 10, 2026	#3	17,017 (+574)	1,682	715,651	6,000	14.19%	4.71%	E 34.5	`a937a4f`

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