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mujoco

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 Unpublished intermediate commits are private.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

Testing full macro and fix studio.

havess · Apr 8, 2026, 4:06 PM UTC

314965a3cb81

Testing __has_attribute check for clang/GNUC

havess · Apr 8, 2026, 3:03 PM UTC

9028a6ec8508

Add condition to team notification of github actions that it's from 'main'

Sam Haves · Apr 2, 2026, 11:42 AM UTC

72231cf83bd2

Import google-deepmind/mujoco_warp from GitHub.

Taylor Howell · Apr 1, 2026, 4:32 PM UTC

b3b0bd676cad

Add `<dcmotor>` actuator and related docs and tests.

Yuval Tassa · Apr 1, 2026, 2:49 PM UTC

93f5821c8f5e

Rename texture_util to texture.

Haroon Qureshi · Apr 1, 2026, 12:13 PM UTC

0715115074a7

Update GuiView to use Texture class.

Haroon Qureshi · Apr 1, 2026, 12:05 PM UTC

e1f6d12ef0c6

Split Texture creation into two structs.

Haroon Qureshi · Apr 1, 2026, 11:31 AM UTC

8fc5ef3a5dee

Introduce a Texture class that wraps filament::Texture.

Haroon Qureshi · Apr 1, 2026, 10:51 AM UTC

0cebefcc81a2

Move all texture creation functions into texture_util.

Haroon Qureshi · Apr 1, 2026, 10:47 AM UTC

fab67707fe2f

Import NVIDIA/warp from GitHub.

Taylor Howell · Apr 1, 2026, 8:53 AM UTC

cd70990ee2d3

Copybara import of the project:

dependabot[bot] · Mar 31, 2026, 2:27 PM UTC

f391336347ea

Correctly compute bounding boxes for meshes.

Haroon Qureshi · Mar 31, 2026, 12:57 PM UTC

e9559e7901d6

Factor out mjModel-specific objects from ObjectManager.

Haroon Qureshi · Mar 31, 2026, 11:16 AM UTC

93d7f7ffe5bf

Workaround for TypeScript `'outFile' is deprecated` errors.

Michael Moss · Mar 31, 2026, 10:54 AM UTC

e1753ca58534

Use mjrf functions from within other mjrf functions.

Haroon Qureshi · Mar 31, 2026, 10:36 AM UTC

e971baaab605

Test building obj and stl decoders as part of mujoco lib.

Sam Haves · Apr 2, 2026, 4:37 PM UTC

315c2b5e2b24

Fix missing #

havess · Mar 30, 2026, 8:31 PM UTC

47284b202c17

Try and avoid linker optimizing out the plugin registration.

havess · Mar 30, 2026, 8:09 PM UTC

3f9cde5f5866

Reapply "Modify mjPLUGIN_LIB_INIT to use C runtime initializer."

havess · Mar 30, 2026, 7:57 PM UTC

bd4cdecb8027

Revert "Modify mjPLUGIN_LIB_INIT to use C runtime initializer."

havess · Mar 30, 2026, 7:21 PM UTC

4e209995797b

Modify mjPLUGIN_LIB_INIT to use C runtime initializer.

Sam Haves · Mar 30, 2026, 7:10 PM UTC

50fe86a2f460

Merge pull request #3200 from StafaH:render_doc_update

Copybara-Service · Mar 30, 2026, 7:10 PM UTC

ab7b78caa94a

[JAX] Replace jnp.clip(..., a_min=..., a_max=...) with jnp.clip(..., min=..., max=...).

Peter Hawkins · Mar 30, 2026, 5:27 PM UTC

47264877a120

Add missing API documentation entries.

Yuval Tassa · Mar 30, 2026, 12:11 PM UTC

5107c31c061b

Update mjwarp render doc after flex rendering improvements

Mustafa Haiderbhai · Mar 27, 2026, 5:01 PM UTC

5e677f1091c3

Move material multipliers to calling function.

Haroon Qureshi · Mar 27, 2026, 3:06 PM UTC

e4f4044659ef

Remove ObjectManager dependency from Light.

Haroon Qureshi · Mar 27, 2026, 2:57 PM UTC

e17e3bfd8278

Add PBR test model.

Haroon Qureshi · Mar 27, 2026, 2:04 PM UTC

75bbf03cfb1d

Remove ObjectManager dependency from GuiView.

Haroon Qureshi · Mar 27, 2026, 1:01 PM UTC

b31e15fbb87c

Refactor FilamentContext to prepare for upcoming changes.

Haroon Qureshi · Mar 27, 2026, 11:25 AM UTC

1c2100e27c0c

Remove mjModel dependency from builtins.

Haroon Qureshi · Mar 27, 2026, 11:23 AM UTC

d597b23e5e22

Remove `mjrContext` from `FilamentContext`.

Haroon Qureshi · Mar 27, 2026, 10:12 AM UTC

f7fb23084d0d

Convert monolithic `RecompileCompare` and `WriteReadCompare` tests into test suites, one test per file.

Yuval Tassa · Mar 27, 2026, 1:21 AM UTC

9f5fc99711dc

Remove unused member variable.

Haroon Qureshi · Mar 26, 2026, 12:17 PM UTC

0021564035d2

Remove unused variable.

Haroon Qureshi · Mar 26, 2026, 12:06 PM UTC

a25b9376f001

Ignore new tsc deprecation warning from emscripten.

Michael Moss · Mar 25, 2026, 5:38 PM UTC

f28e727a575d

Update references.h

Yuval Tassa · Mar 25, 2026, 3:58 PM UTC

c000724a5392

Fix build.

Haroon Qureshi · Mar 25, 2026, 3:57 PM UTC

07fc5bc7368c

Detect KTX files as image/ktx.

Haroon Qureshi · Mar 25, 2026, 3:32 PM UTC

4fce53c31fec

Add comments to mjpEncoder member functions.

Sam Haves · Mar 25, 2026, 2:32 PM UTC

10c5f5d066e4

Adds function for creating the filament Platform based on the renderer configuration.

Haroon Qureshi · Mar 25, 2026, 2:15 PM UTC

1bfd68cbbaac

Warn when a non-rigid flex has no constraints or passive forces.

Alessio Quaglino · Mar 25, 2026, 1:49 PM UTC

c49bc7c7c030

Implement reflective surfaces.

Haroon Qureshi · Mar 25, 2026, 1:43 PM UTC

fd3ce4fe92f8

Add reflective materials.

Haroon Qureshi · Mar 25, 2026, 1:10 PM UTC

02b0b40b1cf9

Use model name for window title.

Haroon Qureshi · Mar 25, 2026, 12:52 PM UTC

c61d239ac622

Ensure decoder has an error string.

Haroon Qureshi · Mar 25, 2026, 12:52 PM UTC

4df2fc249050

Introduce mjpEncoder plugin architecture

Sam Haves · Mar 25, 2026, 12:34 PM UTC

f5d3ce34510b

Parallelize tactile sensor computation.

Alessio Quaglino · Mar 24, 2026, 12:20 PM UTC

2d33b5024328

Add test for geom and mesh plugin attributes.

Alessio Quaglino · Mar 24, 2026, 10:59 AM UTC

f4e346923996

Remove model and data from ccd object. Each geom gets a copy of pos and mat, which is editable without modifying mjData.

Kyle Bayes · Mar 23, 2026, 11:51 AM UTC

5c0de1f84d40

Add class to manage resources for a RenderTarget.

Haroon Qureshi · Mar 23, 2026, 11:17 AM UTC

babcfd657519

Update pybind to 3.0.2.

Michael Moss · Mar 23, 2026, 9:43 AM UTC

5664b9e89e08

Fix documentation links

Yuval Tassa · Mar 20, 2026, 7:26 PM UTC

4b1667e4ce48

Allow actuators to add damping and armature to joint and tendon transmissions.

Yuval Tassa · Mar 20, 2026, 6:40 PM UTC

510d75f4cf05

Merge pull request #3164 from Balint-H:unity/passive-resubmit

Copybara-Service · Mar 20, 2026, 4:05 PM UTC

f7bd6d15f790

Disable clang-format for MuJoCo public headers and engine source.

Yuval Tassa · Mar 20, 2026, 12:05 PM UTC

c348bc9f4c19

Fix `--gc-sections` linking error on github macos-15-x86_64.

Michael Moss · Mar 20, 2026, 11:57 AM UTC

904744bd72f8

Fix call_guard usage inside .def_property calls.

Michael Moss · Mar 20, 2026, 11:50 AM UTC

02d1d3d503d6

Enable float32 testing for most MuJoCo engine and user tests.

Yuval Tassa · Mar 20, 2026, 11:04 AM UTC

9fa3f6f77eab

Merge pull request #3184 from MatiasManevi:single-thread-npm

Copybara-Service · Mar 19, 2026, 8:05 PM UTC

cab4b73f4176

Enable shadows depending on render settings.

Haroon Qureshi · Mar 19, 2026, 4:59 PM UTC

6134fe48d9cb

Use model's `num_quads` for generating planes.

Haroon Qureshi · Mar 19, 2026, 4:44 PM UTC

eae31f0b3cc2

Save some CMake logs for debugging.

Michael Moss · Mar 19, 2026, 4:32 PM UTC

779f6e84038c

Move Render logic into the Scene/Gui View classes.

Haroon Qureshi · Mar 19, 2026, 3:49 PM UTC

7c63bcc8f3c4

Import google-deepmind/mujoco_warp from GitHub.

Taylor Howell · Mar 18, 2026, 6:57 PM UTC

57bdf89d07bc

Bit compress face vertices in EPA to reduce memory needed. The parameter ccd_iteration is only supported to 1000, so we only need 10 bits for vertex index.

Kyle Bayes · Mar 18, 2026, 6:08 PM UTC

eec6e43a7335

Restore PTHREAD flag

MatiasManevi · Mar 18, 2026, 4:13 PM UTC

b1c7ae1c1993

Remove PTHREAD flag

MatiasManevi · Mar 18, 2026, 4:04 PM UTC

9561decf645c

Shorten mv instruction

MatiasManevi · Mar 18, 2026, 3:10 PM UTC

b35a5bab5e7a

Remove `vertcollide` attribute from flex contact.

Alessio Quaglino · Mar 18, 2026, 2:58 PM UTC

e57d95e68fc6

Add newline

MatiasManevi · Mar 18, 2026, 2:50 PM UTC

65d8d26af61a

Change caution for note

MatiasManevi · Mar 18, 2026, 2:49 PM UTC

b694e9e951d1

Add documentation

MatiasManevi · Mar 18, 2026, 2:48 PM UTC

aa07cdde5c44

Add single threaded version

MatiasManevi · Mar 18, 2026, 2:18 PM UTC

8b7951c20cf8

Automated g4 rollback of changelist 885555524.

Sam Haves · Mar 18, 2026, 2:17 PM UTC

ef78f07ffb4f

Include obj and stl decoder plugins as sources in CMake builds.

Sam Haves · Mar 18, 2026, 1:22 PM UTC

15ca42ff681b

Fix studio web so that single file xml model can be loaded in a single-threaded wasm build

Matija Kecman · Mar 18, 2026, 12:30 PM UTC

f1715e67bd52

Planes should not receive shadows when rendered from behind.

Haroon Qureshi · Mar 18, 2026, 12:04 PM UTC

b0c48ba846b0

Support wireframe rendering.

Haroon Qureshi · Mar 18, 2026, 11:12 AM UTC

3f77daa27a21

Add flag for software rendering.

Haroon Qureshi · Mar 18, 2026, 8:47 AM UTC

bc1f9513be6d

Replace autowrap C# binding generator with introspect-based codegen.

Tom Erez · Mar 17, 2026, 9:17 PM UTC

60be42e83caf

Internal change.

Yuval Tassa · Mar 17, 2026, 7:28 PM UTC

206e24535313

Merge pull request #3178 from thowell:mjwarp_docs_mjlab_distributed_training_link_update

Copybara-Service · Mar 17, 2026, 4:03 PM UTC

c0ab1cc130d0

Improve ASAN poisoning logic in `mj_freeStack`.

Yuval Tassa · Mar 17, 2026, 3:25 PM UTC

9d3ee5a948ae

Fix resizing the window when running single threaded

Matija Kecman · Mar 17, 2026, 10:31 AM UTC

c420a6e1ca3a

Fix "Selected backend not supported in this build" error when running using WASM

Matija Kecman · Mar 17, 2026, 9:57 AM UTC

4be4a539c474

Make planes semi-transparent from behind.

Haroon Qureshi · Mar 17, 2026, 9:26 AM UTC

9a0dd7d32dbe

mujoco warp documentation: update mjlab distributed training link

Taylor Howell · Mar 16, 2026, 8:26 PM UTC

9d8004f60df2

Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

Yuval Tassa · Mar 16, 2026, 8:24 PM UTC

efae9157a771

Remove unnecessary const from grad parameter in strain Jacobian functions.

Alessio Quaglino · Mar 16, 2026, 8:03 PM UTC

aec1b45dcef9

Change flex strain constraints for trilinear to a more stable formulation.

Alessio Quaglino · Mar 16, 2026, 7:04 PM UTC

ac2730ab80e2

Update changelog for upcoming release.

Sam Haves · Mar 16, 2026, 4:22 PM UTC

a5098a068af4

Make preprocessor checks for `ADDRESS_SANITIZER` compatible with GCC

Yuval Tassa · Mar 16, 2026, 4:03 PM UTC

1f2587fe3e0d

Skip shared dofs for contact constraints

Taylor Howell · Mar 16, 2026, 3:36 PM UTC

bb38a348694d

Define `ADDRESS_SANITIZER` portably using standard compiler macros

Yuval Tassa · Mar 16, 2026, 3:17 PM UTC

eca5758bf9b1

MuJoCo Warp documentation: CCD margin

Taylor Howell · Mar 16, 2026, 1:48 PM UTC

63bab26536c7

Merge friction and limit constraint counting into instantiation functions.

Yuval Tassa · Mar 16, 2026, 12:22 PM UTC

c651a0daeb97

Rollback of 1cda1e7a8c2094fd0a87507d0c75bc2f109588d1, fixes #3163

Yuval Tassa · Mar 16, 2026, 12:16 PM UTC

a47a18dd28f6

Remove mj_jacDifPairCount by incorporating the counting into mj_jacDifPair

Yuval Tassa · Mar 16, 2026, 11:44 AM UTC

55f5ac0a1d13