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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 Unpublished intermediate commits are private.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 pytest from 8.3.3 to 9.0.3 in /python

dependabot[bot] · Apr 23, 2026, 8:24 AM UTC

685c9ca5befc

Add hashes for 3.14 wheels to Python build requirements.

Michael Moss · Apr 23, 2026, 8:21 AM UTC

4b3f3aee6b1f

Clean-up flex assumptions.

Alessio Quaglino · Apr 22, 2026, 3:00 PM UTC

a891782553ab

Adjust refcount expectations for Python 3.14

Matej Aleksandrov · Apr 22, 2026, 1:33 PM UTC

863a084d7f18

Add mj_containsFileVFS and mj_containsBufferVFS functions.

Sam Haves · Apr 22, 2026, 12:26 PM UTC

4cfebcc32bfa

Update doc/mjwarp/update_types.py

Taylor Howell · Apr 21, 2026, 5:02 PM UTC

c3fddf5dc150

Fix flexcomp strain constraints with rotated grids.

Alessio Quaglino · Apr 21, 2026, 3:01 PM UTC

ba149aa04371

Remove modelfiledir_ from compiled assets, use owning spec modelfiledir instead.

Sam Haves · Apr 21, 2026, 1:59 PM UTC

da01bd37a266

Add mj_maxContact API function.

Kyle Bayes · Apr 21, 2026, 11:02 AM UTC

3325971840e9

Update multiccd documentation.

Kyle Bayes · Apr 20, 2026, 7:52 PM UTC

bc5883e82f20

Enable multiccd by default.

Kyle Bayes · Apr 20, 2026, 6:59 PM UTC

6cb6e5a93f62

Use function for applying transforms to multimesh Renderables.

Haroon Qureshi · Apr 20, 2026, 5:38 PM UTC

8e7787ad0900

Fix flexcomp empty cell detection that was causing missing cells.

Alessio Quaglino · Apr 20, 2026, 4:27 PM UTC

188196603d5c

Allow Transforms to be set directly on Renderable.

Haroon Qureshi · Apr 20, 2026, 4:05 PM UTC

476e2e909e0b

Improve slider precision and range clamping, fixes #3206

Yuval Tassa · Apr 20, 2026, 3:53 PM UTC

b2281883dd8f

Cache benchmark data in `engine_util_sparse_benchmark_test`

Yuval Tassa · Apr 20, 2026, 3:29 PM UTC

a8a5afc8dcbf

Add dof="2d" option to flexcomp for in-plane deformations.

Alessio Quaglino · Apr 20, 2026, 2:13 PM UTC

2d12dee025b5

Introduce Trs type.

Haroon Qureshi · Apr 20, 2026, 2:13 PM UTC

cad734ae7048

Add `StringToVector<std::string>` overload for `char*`.

Alessio Quaglino · Apr 20, 2026, 1:48 PM UTC

35f7db8e91a5

Use RenderableParams for creating Renderables.

Haroon Qureshi · Apr 20, 2026, 11:50 AM UTC

86ad41b9c2ab

Optimize flex by pinning nodes in empty cells.

Alessio Quaglino · Apr 20, 2026, 11:40 AM UTC

508e581ba923

Fix undefined reference errors for StringToVector with GCC and LTO.

Alessio Quaglino · Apr 20, 2026, 11:16 AM UTC

fa7b36d1111f

Simplify RenderTarget creation.

Haroon Qureshi · Apr 20, 2026, 10:27 AM UTC

eb31027a7ca2

Refactor `mju_combineSparse` to eliminate temporary buffers.

Yuval Tassa · Apr 20, 2026, 10:09 AM UTC

e6d77650f727

Change flex constraints to eigenmodes of the stiffness matrix.

Alessio Quaglino · Apr 20, 2026, 9:02 AM UTC

3230cf99f902

Remove MeshPtr type alias.

Haroon Qureshi · Apr 20, 2026, 9:01 AM UTC

bf9be2c3127f

Consolidate stack allocation calls in primal solvers down from 30 to 2 (dense) or 6 (sparse). Preparation for atomic allocation calls in threaded mode.

Yuval Tassa · Apr 20, 2026, 8:46 AM UTC

a04c2b1b4a12

Make file search deterministic in FindFileInPath.

Matija Kecman · Apr 20, 2026, 8:26 AM UTC

cf3f6ccf1f56

Manage dynamic meshes (skins, flexes) in model_objects.

Haroon Qureshi · Apr 20, 2026, 8:23 AM UTC

f3f12bfad6a4

Update Windows build notes.

Yuval Tassa · Apr 20, 2026, 8:12 AM UTC

6bf31cf68a0f

Refactor flex strain constraints to be per-cell.

Alessio Quaglino · Apr 19, 2026, 2:20 PM UTC

3d45a3319064

Import of Warp v1.12.1 from https://github.com/nvidia/warp.

Taylor Howell · Apr 17, 2026, 6:21 PM UTC

a9e61966b5a3

Use banded solver for implicit flex integration.

Alessio Quaglino · Apr 17, 2026, 2:59 PM UTC

b16383dfaf12

Implement multi-cell finite element method for interpolated flexes.

Alessio Quaglino · Apr 17, 2026, 11:10 AM UTC

6c7ed667812b

Merge Material into Renderable.

Haroon Qureshi · Apr 17, 2026, 8:58 AM UTC

8415dff3075e

Fix WASM build issues, improve test coverage and improve cmake files

Matija Kecman · Apr 17, 2026, 8:28 AM UTC

c23b5e8420f6

Remove window dependency from PipGui

Matija Kecman · Apr 17, 2026, 7:10 AM UTC

f91ce9a62744

Add Human-700 to model gallery

Yuval Tassa · Apr 16, 2026, 4:01 PM UTC

506aa79ad89b

Move DrawMode into its own header file.

Haroon Qureshi · Apr 16, 2026, 11:43 AM UTC

1117e7db3974

Improve AABB bounds in makeAAMM.

Kyle Bayes · Apr 16, 2026, 10:24 AM UTC

56e98cc16ccc

Remove dependency on Texture from ObjectManager.

Haroon Qureshi · Apr 16, 2026, 10:23 AM UTC

5a0809efaf44

Keep track of the vertex attributes in a Mesh.

Haroon Qureshi · Apr 16, 2026, 8:41 AM UTC

a6b98e5a7848

Fix CMakeLists file.

Haroon Qureshi · Apr 15, 2026, 4:36 PM UTC

eacbce95f440

Remove thread_local EPA data in favor of using mjData stack.

Kyle Bayes · Apr 15, 2026, 4:19 PM UTC

d9b3faf8f485

Fix mj_loadXML hang in single-threaded WASM builds

Matija Kecman · Apr 15, 2026, 3:56 PM UTC

7ac30a39fe0b

Rename GuiView to ImguiBridge.

Haroon Qureshi · Apr 15, 2026, 3:43 PM UTC

e047f1101ae1

2-3x speedup of sparse matrix squaring.

Yuval Tassa · Apr 15, 2026, 2:19 PM UTC

a2d0e33c0ff1

Update GuiView to use SceneView and Renderables.

Haroon Qureshi · Apr 15, 2026, 1:55 PM UTC

62cffb153637

Hoist solver stack allocations out of iteration loop

Yuval Tassa · Apr 15, 2026, 11:22 AM UTC

8f3ed662eb9d

Allow submeshes to be set when adding meshes to a Renderable.

Haroon Qureshi · Apr 15, 2026, 10:25 AM UTC

f24f9ef44d04

Make StepControlGui a reusable component and refactor/simplify the implementation

Matija Kecman · Apr 15, 2026, 9:47 AM UTC

9289905c9aa8

Add ReadPixels function to RenderTarget.

Haroon Qureshi · Apr 15, 2026, 8:39 AM UTC

d913e0b1e9e4

Update MuJoCo version to 3.7.1 following the 3.7.0 release

Michael Moss · Apr 14, 2026, 11:48 PM UTC

4a98cc8bff73

Import google-deepmind/mujoco_warp from GitHub.

Taylor Howell · Apr 14, 2026, 7:55 PM UTC

8bf11166b140

Refactor flex stiffness storage to support variable sizes.

Alessio Quaglino · Apr 14, 2026, 4:38 PM UTC

57241585934c

Small fixes to decor rendering.

Haroon Qureshi · Apr 14, 2026, 1:50 PM UTC

08bb6e66f15b

Update changelog for the 3.7.0 release.

Michael Moss · Apr 14, 2026, 11:09 AM UTC

72cb2b210da6

Allow Light objects to be image based lights.

Haroon Qureshi · Apr 14, 2026, 10:48 AM UTC

aef058944209

Remove Drawable abstraction.

Haroon Qureshi · Apr 14, 2026, 10:13 AM UTC

fd5a7004f84c

Automated rollback of PiperOrigin-RevId: 899009633.

Michael Moss · Apr 14, 2026, 8:15 AM UTC

171e6dc1775d

Fix UI material; it no longer requires featureLevel 0.

Haroon Qureshi · Apr 14, 2026, 7:13 AM UTC

82e021fcdae3

Remove usages of `texture2D` and other FL0 features that are obsolete due to FL0 now going through `spirv-cross`. This is an early upload of https://github.com/google/filament/pull/9867 and necessary material changes

Google DeepMind · Apr 14, 2026, 12:30 AM UTC

813546577936

Add Jdot correction for connect and weld constaints

Yuval Tassa · Apr 13, 2026, 7:47 PM UTC

412cee205963

Implement midpoint integrator for free bodies.

Yuval Tassa · Apr 13, 2026, 4:37 PM UTC

0c337799bd9f

Merge pull request #3216 from tkelestemur:mjx-render-batched-unpackers

Copybara-Service · Apr 13, 2026, 5:58 PM UTC

d9b5d8babb53

URDF parsing no longer strips filepaths by default.

Sam Haves · Apr 13, 2026, 3:21 PM UTC

7ae07d81579b

Add protocols for authoring simulation environments. This is for preview only, we discourage users from using this in production code.

Tom Erez · Apr 13, 2026, 3:20 PM UTC

f55aeb04fa30

Correct DC motor derivative calculation and enforce `actearly`.

Yuval Tassa · Apr 13, 2026, 2:18 PM UTC

c004d144d1f6

Rename Renderables to Renderable.

Haroon Qureshi · Apr 13, 2026, 11:00 AM UTC

bc83c24a4d05

Move Material into Renderables.

Haroon Qureshi · Apr 13, 2026, 9:51 AM UTC

b38aa0fa23e3

Remove ModelObjects and ObjectManager members from Drawable.

Haroon Qureshi · Apr 13, 2026, 8:51 AM UTC

126d5b67e31b

Update dependencies ahead of the 3.7.0 release.

Michael Moss · Apr 12, 2026, 9:00 PM UTC

45c6137ec2ed

Minor updates to documentation across multiple sections.

Yuval Tassa · Apr 12, 2026, 8:59 PM UTC

239aa1f8569e

Add protocols for authoring simulation environments. This is for preview only, we discourage users from using this in production code.

Tom Erez · Apr 10, 2026, 10:08 PM UTC

c08d181d5275

Add protocols for authoring simulation environments. This is for preview only, we discourage users from using this in production code.

Tom Erez · Apr 10, 2026, 8:25 PM UTC

bd4ee537b81d

Optimize `mj_tendonBias` by computing Jdot * qvel directly

Yuval Tassa · Apr 10, 2026, 11:57 AM UTC

f114ea803819

Implement sparse Jacobian time derivative

Yuval Tassa · Apr 10, 2026, 11:06 AM UTC

025ba59fab44

Prevent deletion from an attached mjSpec.

Alessio Quaglino · Apr 9, 2026, 8:12 PM UTC

6b724616c0d1

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

Sam Haves · Apr 9, 2026, 2:57 PM UTC

a744b366fb5a

Changes to `dcmotor`:

Yuval Tassa · Apr 9, 2026, 1:51 PM UTC

81720071b816

Expose Drawable Material allowing users to manipulate it directly.

Haroon Qureshi · Apr 9, 2026, 1:34 PM UTC

26fb65c7a7a2

Remove ObjectManager dependency from Material.

Haroon Qureshi · Apr 9, 2026, 12:33 PM UTC

f6baacfa86a7

keep render util test setup

Tarik Kelestemur · Apr 9, 2026, 12:14 PM UTC

1c310ca7be37

Split SceneView into two parts: SceneView and SceneBridge.

Haroon Qureshi · Apr 9, 2026, 10:32 AM UTC

edc807895f06

Enable multiccd for golden data.

Kyle Bayes · Apr 9, 2026, 10:06 AM UTC

229d821915f2

Add `com_pos` to Mujoco Warp shims.

Tom Power · Apr 9, 2026, 9:10 AM UTC

cc0933af8b4c

Refactor: Expose flex-related fields directly on mjx.Model.

Tom Power · Apr 9, 2026, 8:42 AM UTC

05e26e961c3c

Modify mj_PLUGIN_LIB_INIT to support multiple plugins in the same compilation unit.

Sam Haves · Apr 8, 2026, 6:34 PM UTC

f2461f9ce65f

fix render batching

Tarik Kelestemur · Apr 8, 2026, 6:09 PM UTC

de3912811408

Improve `mju_addToSclSparseInc` with two-pointer loop.

Yuval Tassa · Apr 8, 2026, 3:48 PM UTC

33fd2fe40e33

Update MuJoCo README with a link to mjswan.

Google DeepMind · Apr 8, 2026, 3:20 PM UTC

8191bf1e41c7

Remove ``mjWARN_VGEOMFULL``, handle visual geom buffer full warnings in `mjvScene`.

Yuval Tassa · Apr 8, 2026, 2:15 PM UTC

0e04436d51e7

Improve torque-speed Figure (3b) in dcmotor.pdf

Yuval Tassa · Apr 8, 2026, 1:04 PM UTC

5a2cc6cee373

Move flex/skin Mesh creation into ModelObjects.

Haroon Qureshi · Apr 8, 2026, 11:37 AM UTC

c6a434a408d7

Move UpdateMeshData into model_objects.cc.

Haroon Qureshi · Apr 8, 2026, 8:47 AM UTC

87b0ea785e18

Merge vertex_util into math_util.

Haroon Qureshi · Apr 7, 2026, 8:52 PM UTC

49b45bd993c3

Rename RenderTargetAndTextures to RenderTarget.

Haroon Qureshi · Apr 7, 2026, 7:29 PM UTC

f7fd5fc58bd2

Minor improvements to `dcmotor`

Yuval Tassa · Apr 7, 2026, 3:10 PM UTC

382474bb9dd1

Rename buffer_util to mesh.

Haroon Qureshi · Apr 7, 2026, 2:48 PM UTC

b61d30412605

Use MeshData struct for creating Meshes.

Haroon Qureshi · Apr 7, 2026, 1:40 PM UTC

a3c9115d1e01