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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 Unpublished intermediate commits are private.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.

Update MjBindings.cs

Tom Erez · Mar 5, 2026, 12:02 PM UTC

50c27cf771c4

Merge pull request #2893 from joanllobera:fix/passive-attribute-droped

Copybara-Service · Mar 5, 2026, 11:18 AM UTC

f1bcac29527b

Rename `render` to `render/classic`.

Haroon Qureshi · Mar 5, 2026, 9:42 AM UTC

aef44210cbb8

Rename member `history_` to `sim_history_`.

Haroon Qureshi · Mar 5, 2026, 9:23 AM UTC

5506fbf506ba

Merge pull request #3150 from kevinzakka:fix/principal-point-frustum-sign

Copybara-Service · Mar 4, 2026, 8:22 PM UTC

870f9fea2431

Merge pull request #3142 from kevinzakka:simulate-fix

Copybara-Service · Mar 4, 2026, 7:09 PM UTC

b129248be4d3

Update MJX documentation headers

Taylor Howell · Mar 4, 2026, 6:53 PM UTC

df3c8a2c2854

Refactor USD connect and weld equality decoding to align with MuJoCo's relpose semantics.

Sam Haves · Mar 4, 2026, 4:33 PM UTC

b25f8433fe76

Re-add `${CMAKE_ARGS}` to script which was removed by mistake.

Haroon Qureshi · Mar 4, 2026, 3:56 PM UTC

8ddb5ff97be8

Move function that parses the graphics mode from a string into graphics_mode.cc.

Haroon Qureshi · Mar 4, 2026, 3:29 PM UTC

64597f45d3f1

Make Renderer more self-contained.

Haroon Qureshi · Mar 4, 2026, 3:25 PM UTC

c70b05e0371c

Add user sensor visualization in simulate. This is triggered when the product of `sensor_intprm[0]` and `sensor_intprm[1]` is equal to the sensor data dimension divided by 3 (the RGB channels).

Alessio Quaglino · Mar 4, 2026, 3:06 PM UTC

15d8fc13b910

Update tactile sensor docs.

Alessio Quaglino · Mar 4, 2026, 2:52 PM UTC

4e83e813d7e5

Add missing files.

Haroon Qureshi · Mar 4, 2026, 1:50 PM UTC

20efb8ee8d58

Remove separate targets for classic and filament renderer.

Haroon Qureshi · Mar 4, 2026, 12:55 PM UTC

13d164063cf1

Refactor spec editing logic into its own class.

Haroon Qureshi · Mar 4, 2026, 12:01 PM UTC

84682a46b0af

Merge renderer+offscreen mode into unified graphics mode.

Haroon Qureshi · Mar 4, 2026, 11:19 AM UTC

73f73d94f73a

Fix swapped vertical frustum bounds for cameras with principal point offset.

Kevin Zakka · Mar 4, 2026, 9:03 AM UTC

77ce80bc63e5

Don't produce mesh polygon data unless graph data is present. This fixes some nondeterminism in the compiler.

Kyle Bayes · Mar 4, 2026, 8:36 AM UTC

8ab791fdf798

Fix extra dim for depth, matches rgb output shape.

Baruch Tabanpour · Mar 3, 2026, 9:26 PM UTC

a8d6b0c8487f

Refactor mj_collideGeoms.

Kyle Bayes · Mar 3, 2026, 9:10 PM UTC

490c1f4126c3

Move OBJ handling to a mjpDecoder.

Sam Haves · Mar 3, 2026, 7:21 PM UTC

91d3565cd528

Reformat README.md for better readability.

Google DeepMind · Mar 3, 2026, 5:20 PM UTC

0974612338aa

Merge pull request #3117 from MatiasManevi:wasm-npm-package

Copybara-Service · Mar 3, 2026, 1:35 PM UTC

c94a5f3bad25

MuJoCo Warp documentation: Physics callbacks

Taylor Howell · Mar 3, 2026, 10:37 AM UTC

ace8e524070b

Fix macOS crash on viewer close (NSScreen main-thread assertion)

Kevin Zakka · Mar 2, 2026, 8:48 PM UTC

327f05a567f5

Fix process hang on viewer close in launch_passive

Kevin Zakka · Mar 2, 2026, 8:21 PM UTC

6f52631a2ad8

Cleanup wasm package script

MatiasManevi · Mar 2, 2026, 6:20 PM UTC

07fdf1f46596

Fix repeated call to restrict pointer.

Kyle Bayes · Mar 2, 2026, 6:02 PM UTC

a06c09115772

Merge mjc_ccdIteration into mjc_penetration.

Kyle Bayes · Mar 2, 2026, 5:17 PM UTC

d00ddea26999

Add collisions between flexes and SDF geoms.

Alessio Quaglino · Feb 27, 2026, 10:34 PM UTC

bf74d01d932e

Refactor Mesh-SDF collision to use farthest point sampling and mjMAXCONPAIR.

Alessio Quaglino · Feb 27, 2026, 5:41 PM UTC

c2e67ab5079c

Update mjx-warp docs.

Baruch Tabanpour · Feb 27, 2026, 1:25 AM UTC

67b6ab058926

Refactor MJX warp RenderContext, get rid of brittle pytree owner pattern.

Baruch Tabanpour · Feb 26, 2026, 10:48 PM UTC

07cda5a3c490

Expose vsm blur width parameter.

Haroon Qureshi · Feb 26, 2026, 4:22 PM UTC

07d7bc95e35b

Fix documentation describing relpose for weld equality.

Sam Haves · Feb 26, 2026, 3:53 PM UTC

b71cdfb4ec7d

Restore mesh-SDF collisions.

Alessio Quaglino · Feb 26, 2026, 3:39 PM UTC

47a750d4a644

Rollback of Move OBJ handling to a mjpDecoder.

Sam Haves · Feb 26, 2026, 3:03 PM UTC

0ec836b2812d

Improve error handling of spec editor compilation.

Haroon Qureshi · Feb 26, 2026, 2:58 PM UTC

55d7226b06db

Merge pull request #3134 from kevinzakka:sensoracc-rnepost

Copybara-Service · Feb 26, 2026, 2:58 PM UTC

19b583a421cf

Add imgui stdlib target.

Haroon Qureshi · Feb 26, 2026, 2:12 PM UTC

137a5046254c

Add an Editor panel.

Haroon Qureshi · Feb 26, 2026, 12:50 PM UTC

a9675fbaa662

Refactor constraint tree iteration and island assignment.

Yuval Tassa · Feb 26, 2026, 2:48 AM UTC

7232ec3b4710

Expose VSM EL options.

Haroon Qureshi · Feb 25, 2026, 11:36 PM UTC

b7e192e5146a

Fix mj_sensorAcc returning zero after mj_step1 by clearing flg_rnepost in mj_step2.

Kevin Zakka · Feb 25, 2026, 9:59 PM UTC

43cde9716ccd

Separate mjModel/mjData ImGui table helper from mjSpec ImGui table helper.

Haroon Qureshi · Feb 25, 2026, 8:36 PM UTC

42d843a0fdc8

Improve `nJmom` by counting number of dofs for slidercrank and site transmissions

Taylor Howell · Feb 25, 2026, 6:40 PM UTC

53fadd9d639d

Move OBJ handling to a mjpDecoder.

Sam Haves · Feb 25, 2026, 5:11 PM UTC

b907ffedaa0a

Allow the shadow type and map size to be configured in data.

Haroon Qureshi · Feb 25, 2026, 4:33 PM UTC

abdea379af7b

Fix typos and minor corrections in MuJoCo documentation and comments.

Yuval Tassa · Feb 25, 2026, 3:56 PM UTC

0c66585e39b0

Merge branch 'main' into wasm-npm-package

MatiasManevi · Feb 25, 2026, 3:05 PM UTC

7dd76bcbd79c

Rename MuJoCo WASM output artifacts to `mujoco.*`.

Google DeepMind · Feb 25, 2026, 2:50 PM UTC

940cab25082d

Rename all filament mjr_ functions to mjrf_.

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

757758dd2e61

Replace TriangleMeshDistance with custom BVH-based SDF computation.

Alessio Quaglino · Feb 25, 2026, 12:46 PM UTC

22e3217fc0f3

Move tendon sparsity fields from mjData to mjModel

Taylor Howell · Feb 25, 2026, 12:31 PM UTC

52ed96bc3ac8

Read the clear color from the model if available

Matija Kecman · Feb 25, 2026, 12:08 PM UTC

253494739abf

Isolate libccd logic in mjc_penetration.

Kyle Bayes · Feb 25, 2026, 11:52 AM UTC

84205f7dd066

Improve polygon creation logic in compiler.

Kyle Bayes · Feb 25, 2026, 11:39 AM UTC

cd8bfb90c3ef

MuJoCo Warp documentation: SDF plugins

Taylor Howell · Feb 25, 2026, 11:16 AM UTC

d0fc1c2c8327

Show MuJoCo version in the help menu.

Haroon Qureshi · Feb 25, 2026, 11:10 AM UTC

ae7efead09ec

Fix typo in modeling.rst.

Yuval Tassa · Feb 25, 2026, 10:50 AM UTC

27dc92b05673

Restructure numeric constants table in API docs

Yuval Tassa · Feb 25, 2026, 8:53 AM UTC

40e000784940

Add support for loading XML models with VFS in WASM bindings.

Google DeepMind · Feb 24, 2026, 9:08 PM UTC

a83fa7299df6

Cleanup readme and publish step

MatiasManevi · Feb 24, 2026, 8:10 PM UTC

bad7e29d3bd0

Move publish step to sh file

MatiasManevi · Feb 24, 2026, 7:58 PM UTC

c17eb431cb81

Add caching for flex stiffness computation.

Alessio Quaglino · Feb 24, 2026, 6:44 PM UTC

09c7633a76b0

Remove empty lines

MatiasManevi · Feb 24, 2026, 6:08 PM UTC

1db1dfe6a0d2

Add memory management section to readme

MatiasManevi · Feb 24, 2026, 6:04 PM UTC

3bbb54899107

Merge pull request #3130 from MatiasManevi:fix-wasm-demo

Copybara-Service · Feb 24, 2026, 5:04 PM UTC

f383e60721aa

Fix Impl.CPP memory leaks due to mjModel/mjData not clearing from pytree.

Google DeepMind · Feb 24, 2026, 4:16 PM UTC

94acdb33bd12

Display Bodies as a tree in Spec Explorer.

Haroon Qureshi · Feb 24, 2026, 3:57 PM UTC

1d6ff2cecec1

Refactor SDF coefficient computation into mjCOctree.

Alessio Quaglino · Feb 24, 2026, 2:03 PM UTC

5fc580a8ba51

Enable COOP/COEP headers for wasm Vite dev servers

MatiasManevi · Feb 23, 2026, 9:41 PM UTC

c791f950cbb4

Move notes into example application section

MatiasManevi · Feb 23, 2026, 9:13 PM UTC

f27b8d3d7011

Merge wasm readme for package

MatiasManevi · Feb 23, 2026, 8:55 PM UTC

f989d40d8943

Modify npm package keywords

MatiasManevi · Feb 23, 2026, 8:42 PM UTC

12c2e98a6114

Change package name and artefacts

MatiasManevi · Feb 23, 2026, 8:32 PM UTC

c6564b1f7924

Remove PluginTest and make MujocoTest load plugins.

Sam Haves · Feb 23, 2026, 8:14 PM UTC

82e92cbcaae5

Fix attach for spatial tendon. Fixes #3119.

Taylor Howell · Feb 23, 2026, 3:38 PM UTC

6ec808e2ce3a

Update supported Python versions and remove obsolete 3.9 references.

Michael Moss · Feb 23, 2026, 3:28 PM UTC

a043df6bdf5c

Improve upper bound for `nJmom` by computing maximum number of dofs for tendon transmissions

Taylor Howell · Feb 23, 2026, 3:10 PM UTC

37e993f67e3d

MJX put_data with impl='warp'

Taylor Howell · Feb 23, 2026, 1:19 PM UTC

2bf9539234e0

Fix section underline length in MJWarp docs

Yuval Tassa · Feb 23, 2026, 10:23 AM UTC

ba0a5fe4db43

MJX API documentation: add `Any` to exclude-members

Taylor Howell · Feb 23, 2026, 10:23 AM UTC

6b9e0b9e15bf

Improve solver parameter documentation, in particular for frictional constraints.

Yuval Tassa · Feb 21, 2026, 5:14 PM UTC

9d6d9089e54e

MuJoCo Warp documentation: Update installation instructions

Taylor Howell · Feb 20, 2026, 8:44 PM UTC

c428f675e73e

Import NVIDIA/warp from GitHub.

Baruch Tabanpour · Feb 20, 2026, 6:28 PM UTC

0f36b0fc2e6a

Add has_side_effect for pmap bvh refit in mjx-warp.

Baruch Tabanpour · Feb 20, 2026, 5:20 PM UTC

e5a236774d38

Use correct WIN32 define, not WINDOWS.

Haroon Qureshi · Feb 20, 2026, 2:09 PM UTC

7d4b615edb74

Fix: Include ancestor DOFs in flex interpolation factorization.

Alessio Quaglino · Feb 20, 2026, 1:30 PM UTC

f9a39413cf19

Disable plugin on windows.

Haroon Qureshi · Feb 20, 2026, 12:59 PM UTC

8c9ba9bcf553

Include missing header.

Haroon Qureshi · Feb 20, 2026, 12:23 PM UTC

f71e215c9a10

Refactor the projectile launcher into a plugin.

Haroon Qureshi · Feb 20, 2026, 11:18 AM UTC

0083cf7fa81d

Use templates and macros to reduce boilerplate.

Haroon Qureshi · Feb 20, 2026, 10:42 AM UTC

28ad603f6be7

Merge pull request #3116 from StafaH:render_doc_fix

Copybara-Service · Feb 20, 2026, 10:22 AM UTC

a79747334b65

Add a delete button to the highlighted element.

Haroon Qureshi · Feb 20, 2026, 10:08 AM UTC

f0bf4032544e

Re-apply changes that were accidentally deleted.

Haroon Qureshi · Feb 20, 2026, 9:27 AM UTC

82694b520b03

Minor style fixes

Matija Kecman · Feb 20, 2026, 3:15 AM UTC

8f56d5eefa00

Cleanup Studio toolbar

Matija Kecman · Feb 20, 2026, 12:33 AM UTC

ca0552c83b1f

Limit the number of flex contacts per collision pair.

Alessio Quaglino · Feb 19, 2026, 11:31 PM UTC

8ba68cee3e28