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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 Unpublished intermediate commits are private.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.

Bump pillow from 12.2.0 to 12.3.0 in /python

dependabot[bot] · Jul 21, 2026, 12:26 PM UTC

faaf6ae5fdfd

Fix sparse-path rotational Jacobian misalignment in mj_jacSum

Yuval Tassa · Jul 21, 2026, 9:01 AM UTC

426cb5481df9

Merge pull request #3396 from teerthsharma:topo/linear-island-scratch

Copybara-Service · Jul 20, 2026, 11:16 PM UTC

a1f38c8e6e0c

Credit linear-memory island discovery

teerthsharma · Jul 20, 2026, 3:55 AM UTC

57faf5f63a13

Restore flex island invariants in comments

teerthsharma · Jul 20, 2026, 3:49 AM UTC

7ae4f22693bb

Restore static-constraint island diagnostic

teerthsharma · Jul 20, 2026, 3:42 AM UTC

cdda84719154

Export disjoint-set island helpers directly

teerthsharma · Jul 20, 2026, 3:29 AM UTC

8d9f230514e7

Remove temporary island benchmark

teerthsharma · Jul 20, 2026, 3:13 AM UTC

d9c8bcbc8f86

Benchmark and expose disjoint-set islands

teerthsharma · Jul 18, 2026, 11:29 AM UTC

5d91d878c2b2

Revert unvalidated island topology cache

teerthsharma · Jul 11, 2026, 1:43 PM UTC

ba2782140f92

Cache island topology data

teerthsharma · Jul 11, 2026, 1:38 PM UTC

bc32db7f258a

Update engine_island.c

teerthsharma · Jul 11, 2026, 6:20 AM UTC

03203e2f32ba

Build native islands directly from constraint incidence

teerthsharma · Jul 11, 2026, 4:18 AM UTC

52ddcbc81a5e

Merge pull request #3406 from devshahofficial:agent/pr3157-attach-mjcwrap

Copybara-Service · Jul 20, 2026, 4:39 PM UTC

5ea4c3a58c3e

Add geom adhesion: contacts that pull, via translated friction cones.

Yuval Tassa · Jul 20, 2026, 3:35 PM UTC

a264d0bc8bfa

Update MuJoCo version to 3.11.0 in preparation for breaking changes release.

Michael Moss · Jul 20, 2026, 2:25 PM UTC

b942c9f9229d

studio: catch KeyboardInterrupt in samples and format imports.

Matija Kecman · Jul 20, 2026, 2:19 PM UTC

8196ca17f8c7

Re-enable ccache, which appears unrelated to the test failures.

Michael Moss · Jul 20, 2026, 11:14 AM UTC

a62bf19e64e3

Release docs auto-generation scripts and test

Yuval Tassa · Jul 20, 2026, 11:11 AM UTC

1a33ca4ae558

Adding type suppressions for pyrefly

Hana Joo · Jul 20, 2026, 9:39 AM UTC

78946ca94e0e

Function for converting mjvCamera to mjrCamera.

Haroon Qureshi · Jul 20, 2026, 8:39 AM UTC

00abc5465fb1

Add MUJOCO_ENABLE_LTO CMake option to make LTO configurable. Fixes #3374, #2904

Yuval Tassa · Jul 20, 2026, 6:45 AM UTC

6f487086a529

Add docstrings to mjCPair.

Kyle Bayes · Jul 19, 2026, 2:38 PM UTC

3990305373b8

improve wording in changelog

Yuval Tassa · Jul 17, 2026, 11:07 PM UTC

9bf03e6056e3

Add boolean flags for gravity compensation and surface velocity in mjModel.

Yuval Tassa · Jul 17, 2026, 10:04 PM UTC

a04b0c5b97de

Add model.xml fallback search path to mjz decoder

Sam Haves · Jul 17, 2026, 7:02 PM UTC

ebd4abae0311

Add fields for flex collisions in threaded narrowphase.

Kyle Bayes · Jul 17, 2026, 5:48 PM UTC

e3293a5f292d

Copybara import of the project:

Yuval Tassa · Jul 17, 2026, 5:01 PM UTC

135b482c9dd0

Interpret position and intvelocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle. The force uses the setpoint representative nearest the current length for smooth tracking beyond pi.

Yuval Tassa · Jul 17, 2026, 2:48 PM UTC

56a93979e084

Disable ccache to see if it fixes random test crash issues.

Michael Moss · Jul 17, 2026, 12:58 PM UTC

9331c1cd9be0

Merge pull request #3387 from bd-pmorais:pmorais/renderer-live-mat-texid

Copybara-Service · Jul 17, 2026, 8:23 AM UTC

b75470a1e052

Fix attached tendon wrap model pointers

devshahofficial · Jul 16, 2026, 10:00 PM UTC

3e1dffc286de

Remove Mac x86 from the build matrix.

Michael Moss · Jul 16, 2026, 5:47 PM UTC

54bf99f11662

Add changelog entry for effective metric flex elasticity.

Alessio Quaglino · Jul 16, 2026, 2:34 PM UTC

cadf3bdedda8

Reflect mjvgeom texture field changes in the filament renderer

Pedro Morais · Jul 16, 2026, 2:29 PM UTC

03e484116d8f

Use `mj_id2name` in viewer code where appropriate.

Yuval Tassa · Jul 16, 2026, 1:50 PM UTC

0ce5e98916d8

Apply unsymmetrized fluid derivatives to standalone free bodies in implicitfast.

Yuval Tassa · Jul 16, 2026, 11:47 AM UTC

a77dff84a49d

Use body center-of-mass (subtree_com) instead of lookat point for tracking cameras.

Haroon Qureshi · Jul 16, 2026, 9:39 AM UTC

eeda4d098493

Correctly apply visibility state from mjvOption.

Haroon Qureshi · Jul 16, 2026, 7:23 AM UTC

3b63fbc6ba2e

Fix some changelog links

Yuval Tassa · Jul 16, 2026, 1:05 AM UTC

f841b67c1734

Add geom surfacevel: zero-dof conveyors, treadmills and turntables.

Yuval Tassa · Jul 16, 2026, 12:57 AM UTC

4787c8094c13

Merge pull request #3403 from rkothari3:docs-simulate-shortcuts

Copybara-Service · Jul 15, 2026, 10:14 PM UTC

97eb1e5d0c59

Implicit flex elasticity in the CG constraint solver via an effective metric

Alessio Quaglino · Jul 15, 2026, 9:56 PM UTC

ea230a950c4f

Remove midpoint integration, superseded by free-body gyroscopic derivatives.

Yuval Tassa · Jul 15, 2026, 7:07 PM UTC

f0fa3d82604b

Make change non-breaking per haroonq's feedback

Pedro Morais · Jul 15, 2026, 3:53 PM UTC

0a6b631d4b0f

Update studio to use mjv_moveCamera.

Haroon Qureshi · Jul 15, 2026, 3:50 PM UTC

b2106db52f3c

Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs).

Yuval Tassa · Jul 15, 2026, 3:29 PM UTC

d507e92198c9

Set max in hill climbing support. When imax is the optimal index then this reduces from three iterations down to one.

Kyle Bayes · Jul 15, 2026, 2:50 PM UTC

06f12a93725f

Add pan/tilt motions to mjv_moveCamera.

Haroon Qureshi · Jul 15, 2026, 1:49 PM UTC

52317058ba9d

Migrate filament header documentation to docs.

Haroon Qureshi · Jul 15, 2026, 1:14 PM UTC

1e85ce176fc5

Add links to numbered changelog entries.

Yuval Tassa · Jul 15, 2026, 11:34 AM UTC

b60609d2a133

Fix changlelog item numbering

Yuval Tassa · Jul 15, 2026, 10:24 AM UTC

64d4b3bdb28c

Remove unneeded mjvScene argument from mjv_moveCamera.

Haroon Qureshi · Jul 15, 2026, 9:25 AM UTC

fa36015bae5c

Merge pull request #3340 from devshahofficial:devshahofficial/mjr-renderer-info

Copybara-Service · Jul 15, 2026, 8:37 AM UTC

6c78c8664e36

Add zero-iteration early exit to the primal solvers, certified by the duality gap.

Yuval Tassa · Jul 15, 2026, 12:23 AM UTC

c69ef03083f8

docs: add full keyboard and mouse shortcut reference for simulate

rkothari3 · Jul 14, 2026, 6:01 PM UTC

2fe87a483344

Add the Newton decrement as a termination criterion of the Newton solver.

Yuval Tassa · Jul 14, 2026, 5:29 PM UTC

1e66efd11425

Support arbitrary large meshes in multiccd by reusing EPA memory.

Kyle Bayes · Jul 14, 2026, 3:47 PM UTC

2444defc6366

Add fixed-size 6x6 dense LU factorization with benchmark.

Yuval Tassa · Jul 14, 2026, 3:37 PM UTC

0afafacfc582

Merge pull request #3363 from ebms03:fix-resolve-plugin-segfault

Copybara-Service · Jul 14, 2026, 12:47 PM UTC

b7af32ac879c

internal change

Yuval Tassa · Jul 14, 2026, 10:59 AM UTC

23cc3833720e

Replace functionally opaque Viscous Pause with functionally transparent "Viscous posing mode" toggle.

Yuval Tassa · Jul 14, 2026, 8:49 AM UTC

0ce8f7b06bd2

Add a CMake deps cache to improve build reliability and speed.

Michael Moss · Jul 14, 2026, 8:37 AM UTC

3c6080b1c05a

Calibrate float32 tolerances for several engine tests.

Yuval Tassa · Jul 14, 2026, 7:51 AM UTC

796b803ecf5a

Fix single-precision (mjUSESINGLE) CMake builds.

Yuval Tassa · Jul 14, 2026, 2:01 AM UTC

6afe13573bec

Update user_model_test.cc

ebms03 · Jul 13, 2026, 6:46 PM UTC

07c14a7c1a06

Update user_model_test.cc

ebms03 · Jul 13, 2026, 3:03 PM UTC

fc5ed199a65e

Update CMakeLists.txt

ebms03 · Jul 13, 2026, 2:58 PM UTC

fb4686d049b6

Merge pull request #3395 from google-deepmind:dependabot/pip/mjx/pip-26.1.2

Copybara-Service · Jul 13, 2026, 1:13 PM UTC

9b053d68e923

Include gap in body_margin, fixing mid-phase pruning of in-gap contacts.

Yuval Tassa · Jul 13, 2026, 12:04 PM UTC

dddb2767c69b

Fix bug in mesh normal scaling for nonuniform mesh scales.

Yuval Tassa · Jul 13, 2026, 10:56 AM UTC

f5f9d9efb7cf

Replace functionally opaque Viscous Pause with functionally transparent "Viscous posing mode" toggle.

Google DeepMind · Jul 11, 2026, 8:47 PM UTC

fbf031a7d5af

Remove dead code.

Haroon Qureshi · Jul 11, 2026, 8:12 PM UTC

94132c75c7e7

Replace functionally opaque Viscous Pause with functionally transparent "Viscous posing mode" toggle.

Yuval Tassa · Jul 11, 2026, 8:00 PM UTC

724a6c662345

Fix numerical instability in elliptic contact line search.

Yuval Tassa · Jul 11, 2026, 10:03 AM UTC

892d889793a1

Fix `engine_util_sparse_test` on MSVC

Yuval Tassa · Jul 11, 2026, 1:27 AM UTC

4a03a6173486

Bump pip from 26.1 to 26.1.2 in /mjx

dependabot[bot] · Jul 10, 2026, 8:38 PM UTC

bc3f17107e05

Remove engine_util_container and its test.

Yuval Tassa · Jul 10, 2026, 2:25 PM UTC

d6650f84e58b

Add missing tests to cmake

Yuval Tassa · Jul 10, 2026, 2:24 PM UTC

0cb3fad65419

Rename testspeed argument npoolthread to nenginethread.

Yuval Tassa · Jul 10, 2026, 2:18 PM UTC

e6452e2c8849

Increase default sleep_tolerance from 1e-4 to 1e-3.

Yuval Tassa · Jul 10, 2026, 2:14 PM UTC

ff629889da1c

Clear material instance assignments at start of frame.

Haroon Qureshi · Jul 10, 2026, 10:56 AM UTC

40feb498a193

Import google-deepmind/mujoco_warp from GitHub.

Taylor Howell · Jul 10, 2026, 9:37 AM UTC

f6f80cd0a05f

Merge pull request #3381 from tkelestemur:tarik/mjx-warp-put-model-nworld

Copybara-Service · Jul 10, 2026, 9:02 AM UTC

cb28d0c7d1a7

Studio: extract TimelineScrubberGui and add it to the toolbar.

Yuval Tassa · Jul 10, 2026, 8:26 AM UTC

2f650a7beb5e

Add pluggable resource writing to MuJoCo

Sam Haves · Jul 9, 2026, 5:47 PM UTC

dc7581acfaac

Move texture block copy out of render context so it can be modified online via mjmodel

Pedro Morais · Jul 9, 2026, 3:08 PM UTC

d43c3ed42682

Revert addition of Clang-19 and 20 from Linux Compilers matrix.

Michael Moss · Jul 9, 2026, 2:12 PM UTC

bdeb7e7c4dbd

Fix damper kv inheritance from default classes in XML native reader

Google DeepMind · Jul 9, 2026, 1:43 PM UTC

faf0dabc3203

Autogenerate src files for doc line numbers.

Kyle Bayes · Jul 9, 2026, 12:50 PM UTC

ac29b596fb3a

Update the GitHub Linux Compilers matrix.

Michael Moss · Jul 9, 2026, 9:59 AM UTC

f04b0fcd3d5a

Replace history slider with a custom timeline scrubber.

Saran Tunyasuvunakool · Jul 8, 2026, 8:34 PM UTC

ce3fc0ccfb00

Copybara import of the project:

Omar Rayyan · Jul 8, 2026, 5:30 PM UTC

040872fd65e3

Studio: Only show PAUSE overlay when info overlay is active.

Yuval Tassa · Jul 8, 2026, 11:47 AM UTC

18147c50c8c5

Support pinned flex vertices with bending

Alessio Quaglino · Jul 8, 2026, 11:01 AM UTC

fb6d1cf18f0f

Add batch_sizes model batching for MJX Warp

Tarik Kelestemur · Jul 7, 2026, 5:15 AM UTC

4e5778433b95

Add renderer info query API

devshahofficial · Jun 13, 2026, 10:58 PM UTC

d23ff84c59ce

Implement SceneDecorator class.

Haroon Qureshi · Jul 7, 2026, 3:40 PM UTC

c4c2cad503e2

Get mjrfContext from the ModelObjects.

Haroon Qureshi · Jul 7, 2026, 2:44 PM UTC

4ab8617429e4

MJX Data.where. Fixes #3377

Taylor Howell · Jul 7, 2026, 2:13 PM UTC

6608f1affa60