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mujoco

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Commit history

Commits included in published releases. Unpublished intermediate commits are private. Showing matches from the latest 100 commits ending at this release.

remove UpdateCMakeMinimumRequired.cmake

Taylor Howell · Sep 15, 2025, 12:30 PM UTC

155d6c686a87

Merge pull request #2851 from traversaro/patch-43

Taylor Howell · Sep 15, 2025, 12:26 PM UTC

85a7ac8e82e0

Refactor cmake_minimum_required handling in dependencies

Silvio Traversaro · Sep 15, 2025, 11:44 AM UTC

ea856a4c318d

add comments explaining patches

Taylor Howell · Sep 15, 2025, 11:28 AM UTC

0ddb840395ff

add description of file utility

Taylor Howell · Sep 15, 2025, 11:17 AM UTC

c79b2d064b03

add copyright header

Taylor Howell · Sep 15, 2025, 11:16 AM UTC

1b7e508f17b0

patch for cmake_minimum_required version

Taylor Howell · Sep 15, 2025, 10:40 AM UTC

83a619c5b7bc

Ensure that the Octree is balanced.

Alessio Quaglino · Sep 12, 2025, 3:33 PM UTC

4fc69fa64d0a

Don't prepend `meshdir` to asset paths in `MjSpec.to_zip`.

Google DeepMind · Sep 12, 2025, 2:53 PM UTC

2287b9f815a9

Refactor: Convert `mjCOctree::MakeOctree` from recursive to iterative.

Alessio Quaglino · Sep 12, 2025, 10:21 AM UTC

7e048b7535d3

Update use of `absl::MutexLock` in fixture.cc

Yuval Tassa · Sep 12, 2025, 9:45 AM UTC

f61f89bf5417

Import NVIDIA/warp from GitHub.

Taylor Howell · Sep 11, 2025, 10:06 PM UTC

89152fb39e8f

Extract functions from mjv_updateCamera for calculating frames and frustums.

Haroon Qureshi · Sep 11, 2025, 11:09 AM UTC

ad5f07e060e2

Add light ids.

Haroon Qureshi · Sep 11, 2025, 10:19 AM UTC

017e7d5a7346

Catch RuntimeErrors when importing warp.

Google DeepMind · Sep 11, 2025, 12:52 AM UTC

da2fad4530ee

Revert Eigen version

Rishi Krishnan · Sep 10, 2025, 4:33 PM UTC

4b18009f4755

Update Mujoco Deps in preperation for the 3.3.6 release

Rishi Krishnan · Sep 9, 2025, 7:01 PM UTC

6ec5f8b9c2cd

Resize keyframes also at the start of compilation.

Alessio Quaglino · Sep 9, 2025, 3:15 PM UTC

9d5063799fc4

In USD exporting docs change NVIDIA mujoco-usd-converter to Newton.

Sam Haves · Sep 9, 2025, 12:38 PM UTC

3b738ebb67e4

Expose minimal asset cache API.

Kyle Bayes · Sep 4, 2025, 7:17 PM UTC

ea660f4c13b1

Update https://pypi.org/project/glfw/ to 2.9.0.

Michiel Blokzijl · Sep 3, 2025, 2:00 PM UTC

02a535b44f83

Transform inputs to global before calling rayMesh in SDF collisions.

Alessio Quaglino · Sep 3, 2025, 1:11 PM UTC

767996ab1799

Refactor `MJMODEL_POINTERS` into category-specific macros.

Yuval Tassa · Sep 2, 2025, 11:40 AM UTC

7a93e22514f4

Add target relative mouse motion actions.

Haroon Qureshi · Sep 2, 2025, 10:38 AM UTC

8d884585ddea

Explain how to build Python and C/C++ sources from the same codebase.

Michiel Blokzijl · Sep 2, 2025, 9:50 AM UTC

ee777f74d35f

Add `passive` collision mode for flexes.

Alessio Quaglino · Sep 1, 2025, 11:13 AM UTC

8acd83f3173d

Extract memory allocation functions and core utilities

Yuval Tassa · Sep 1, 2025, 10:37 AM UTC

b9900db00e87

Documentation bug fixes.

Yuval Tassa · Aug 30, 2025, 6:02 PM UTC

5d598a49a20b

Remove `mjDSBL_PASSIVE`, split it into `mjDSBL_SPRING` and `mjDSBL_DAMPING`.

Yuval Tassa · Aug 29, 2025, 1:05 PM UTC

b092563cab47

Add libwayland-dev and libxkbcommon-dev to GitHub Actions YAML.

Saran Tunyasuvunakool · Aug 28, 2025, 2:39 PM UTC

0eea5d6dbdd8

Update the GLFW dependency used by MuJoCo to 3.4.

Michiel Blokzijl · Aug 28, 2025, 2:23 PM UTC

508d22f7940f

Add printing of block-diagonalized matrices

Yuval Tassa · Aug 28, 2025, 7:53 AM UTC

b1c94c37618e

Import google-deepmind/mujoco_warp from GitHub.

Baruch Tabanpour · Aug 27, 2025, 11:10 PM UTC

ba4740285300

Fix memory error when placing images in viewport

Tom Power · Aug 27, 2025, 8:19 PM UTC

79f2bbc7273d

Update USD schema formatting

Yuval Tassa · Aug 27, 2025, 2:01 PM UTC

643dc5bf4f9b

Remove unused mjMOUSE_SELECT option.

Haroon Qureshi · Aug 27, 2025, 10:18 AM UTC

ed6fa7fe0989

Allow contact sensor `subtree1/subtree2` to be any body.

Yuval Tassa · Aug 26, 2025, 5:59 PM UTC

7443e685ac1f

Import google-deepmind/mujoco_warp from GitHub.

Baruch Tabanpour · Aug 26, 2025, 5:16 PM UTC

9eaa31af2f01

Update comment in engine_forward_test.cc.

Taylor Howell · Aug 26, 2025, 2:11 PM UTC

1ac51cf2a5ed

Add some missing Nullable annotations.

Yuval Tassa · Aug 26, 2025, 12:51 PM UTC

debfdf011e2b

Make constraint island discovery on by default.

Yuval Tassa · Aug 26, 2025, 11:26 AM UTC

ec94bb49aab9

Fix spelling in engine_forward_test.cc.

Taylor Howell · Aug 25, 2025, 4:14 PM UTC

4cf5c3721182

Move `mjtConstraint` from `mjmodel.h` to `mjdata.h`.

Yuval Tassa · Aug 25, 2025, 6:44 AM UTC

2b45b39ce578

Move `mjtConstraintState` from `mjmodel.h` to `mjdata.h`.

Yuval Tassa · Aug 24, 2025, 7:37 PM UTC

d77ecb3f0646

Order fields in mjxmacro like in mjmodel and mjdata headers, add tests.

Yuval Tassa · Aug 24, 2025, 6:16 PM UTC

1c1bb14e1c7e

Use LaTeX macros for prettier uppercase subscripts in documentation.

Yuval Tassa · Aug 23, 2025, 12:38 PM UTC

747931221826

Improve mj_addM and associated test

Yuval Tassa · Aug 23, 2025, 10:56 AM UTC

a230aa60c592

No public description

Google DeepMind · Aug 22, 2025, 10:03 PM UTC

a64a26c3aefb

Add some missing Nullable annotations.

Yuval Tassa · Aug 22, 2025, 7:14 PM UTC

93c566573026

Add ability to specify a material assignment to a mesh asset.

Sam Haves · Aug 22, 2025, 4:10 PM UTC

1fb1810b0713

Internal change.

Google DeepMind · Aug 22, 2025, 1:40 PM UTC

42d845455586

Fix cast; should be mjtGeom not mjtMouse.

Haroon Qureshi · Aug 22, 2025, 12:46 PM UTC

debbd7c91616

Add `nullable` attribute to AST nodes for function parameters in API introspection. Fixes #309

Google DeepMind · Aug 21, 2025, 7:33 PM UTC

ecfe65242fa4

Do not update `qacc_warmstart` at the end of the solver call; instead, update it at the same time as all other state variables. This change makes `mj_forward` idempotent.

Baruch Tabanpour · Aug 21, 2025, 5:43 PM UTC

3dec35a91e2e

Remove transposed Jacobian fields from `mjData`

Yuval Tassa · Aug 21, 2025, 2:20 PM UTC

2f28473bc1de

Compute sparse Jacobian transpose inside solver.

Yuval Tassa · Aug 21, 2025, 1:54 PM UTC

5fe4224ae75e

Replace `std::array` with C-style array for error buffer in GJK tests.

Yuval Tassa · Aug 21, 2025, 1:02 PM UTC

f71053243e4f

Allow transposing of sparse sub-matrices whose first row is > 0

Yuval Tassa · Aug 21, 2025, 12:55 PM UTC

174a50442d5c

Do not update `qacc_warmstart` at the end of the solver call; instead, update it at the same time as all other state variables. This change makes `mj_forward` idempotent.

Yuval Tassa · Aug 20, 2025, 6:29 PM UTC

c7a82c32dc33

Import google-deepmind/mujoco_warp from GitHub.

Baruch Tabanpour · Aug 19, 2025, 11:00 PM UTC

bf04103b6fc0

Updates to Playground for warp.

Baruch Tabanpour · Aug 19, 2025, 10:11 PM UTC

fd96de330e68

Add proper handling of MJCF asset/mesh/texturedir compiler attributes to USD plugin.

Sam Haves · Aug 18, 2025, 6:37 PM UTC

4bad134ba221

Refactor mj_mulM to use CSR structure

Yuval Tassa · Aug 18, 2025, 4:08 PM UTC

424226b640da

Decrease time step in shell examples.

Alessio Quaglino · Aug 18, 2025, 3:59 PM UTC

c2ff60e630ed

Add section to OpenUSD/Exporting docs linking to mujoco-usd-converter.

Sam Haves · Aug 18, 2025, 2:43 PM UTC

eed43f698281

Improve island visualization colors and logic.

Yuval Tassa · Aug 18, 2025, 12:02 PM UTC

7c10a62f21ff

Bending stiffness for curved shells in flex.

Alessio Quaglino · Aug 18, 2025, 11:12 AM UTC

b66175eba62c

Improve `mj_fullM` documentation, add clarifying test.

Yuval Tassa · Aug 17, 2025, 6:01 PM UTC

972ffd7b90b0

Use CSR matrices for dof-dof index mappings

Yuval Tassa · Aug 16, 2025, 8:05 PM UTC

6b41fbe72a38

Move `ntree` to `mjModel` allocator sizes

Yuval Tassa · Aug 16, 2025, 4:15 PM UTC

c0096b51a477

Rename `spec` to `sig` in state-related API functions.

Yuval Tassa · Aug 16, 2025, 3:37 PM UTC

144771103714

Add error reporting to model loading in engine tests, where missing

Yuval Tassa · Aug 16, 2025, 3:11 PM UTC

5a24eb2d3498

Add utility functions for mapping between sparse matrix patterns.

Yuval Tassa · Aug 15, 2025, 6:21 PM UTC

bbb70d98a431

Always try to find the skybox texture, even if there are no materials in the MJCF. Fixes #2412

Google DeepMind · Aug 15, 2025, 4:52 PM UTC

931036adda9b

Ignore geoms with tiny mass in inertiafromgeom computation. Fixes #2754

Yuval Tassa · Aug 15, 2025, 2:56 PM UTC

b566ef28831b

Delete sparsity structures from `mjData`, use the ones in `mjModel`

Yuval Tassa · Aug 14, 2025, 4:11 PM UTC

977f94e9dfba

Put sparsity structures in `mjModel`, don't use them yet.

Yuval Tassa · Aug 14, 2025, 2:36 PM UTC

7eb13777f88a

Compute sparse matrix sizes before making the `mjModel` in the compiler.

Yuval Tassa · Aug 14, 2025, 12:50 PM UTC

f077fd00a94e

MJX safe division. Fixes #2776, #2568, #2657.

Taylor Howell · Aug 14, 2025, 12:48 PM UTC

0ba31e2c1fea

Add prefix to asset paths when appending specs.

Alessio Quaglino · Aug 14, 2025, 10:48 AM UTC

07e7417d26d2

Add ten_length as MJX public field and warp tendon function call to MJX.

Baruch Tabanpour · Aug 14, 2025, 4:53 AM UTC

1763fa537a3c

Add ten_length as MJX public field and warp tendon function call to MJX.

Google DeepMind · Aug 14, 2025, 1:08 AM UTC

d3ff929bc683

Add ten_length as MJX public field and warp tendon function call to MJX.

Baruch Tabanpour · Aug 14, 2025, 12:26 AM UTC

d7e925bd8a12

Import google-deepmind/mujoco_warp from GitHub.

Baruch Tabanpour · Aug 13, 2025, 11:07 PM UTC

1a7ec97b0763

Suffix asset names when attaching specs.

Alessio Quaglino · Aug 13, 2025, 8:42 PM UTC

eff4dda18959

Use mj_rayMesh for computing an inexact SDF for mesh-SDF collisions.

Alessio Quaglino · Aug 13, 2025, 2:49 PM UTC

dcdf0a9c5cc6

Do not strip the path when compiling an mjSpec.

Alessio Quaglino · Aug 13, 2025, 2:42 PM UTC

cc52d0242baa

Update MJX-W testspeed.

Baruch Tabanpour · Aug 13, 2025, 1:23 PM UTC

6a9e68a54219

Fix bug in MJX contact sensor.

Baruch Tabanpour · Aug 12, 2025, 9:22 AM UTC

da9037e2b0a8

Fix MJX test_sensor_contact.

Taylor Howell · Aug 11, 2025, 12:03 PM UTC

0a02e7b7223b

Clean up and standardize `mj_printFormattedData`

Yuval Tassa · Aug 9, 2025, 9:02 PM UTC

84ba12e7b36e

Fix oct_distance return value.

Alessio Quaglino · Aug 9, 2025, 7:32 AM UTC

ca4ca173ab12

Update MuJoCo's version number following the 3.3.5 release.

Rishi Krishnan · Aug 8, 2025, 11:44 PM UTC

ed3ff1587040

Update Mujoco Deps in preperation for the 3.3.5 release

Rishi Krishnan · Aug 8, 2025, 9:05 PM UTC

3152458a6bf2

Improve field order and comments in mjdata.h

Yuval Tassa · Aug 8, 2025, 3:51 PM UTC

249b0cd87dff

Update x_norm in tetrahedron case in GJK.

Kyle Bayes · Aug 8, 2025, 2:50 PM UTC

50fa598d9391

Fix a gcc-related compilation error.

Yuval Tassa · Aug 8, 2025, 12:59 PM UTC

19781b60a157

Cleanup: extract local functions in compiler for setting `datatype` and `needstage`

Yuval Tassa · Aug 8, 2025, 11:10 AM UTC

8b5213c557d0

Clean up `engine_core_smooth.c`

Yuval Tassa · Aug 8, 2025, 11:04 AM UTC

3c6e4f1ece4d

Note the mjs parsing error in the changelog.

Alessio Quaglino · Aug 7, 2025, 10:39 PM UTC

92d77819fdcb