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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 Unpublished intermediate commits are private.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.

Make mjz decoder a shared libary.

haroonq · Jan 28, 2026, 4:18 PM UTC

25fe3c08f587

Add missing space after comma

Yuval Tassa · Jan 28, 2026, 3:52 PM UTC

510cbceda5f5

Update minimum CMake version for miniz.

Haroon Qureshi · Jan 28, 2026, 3:27 PM UTC

a050b6463596

Improve filament gui

Matija Kecman · Jan 28, 2026, 3:08 PM UTC

0eff7acf80d9

CMakeLists for mjz.

Haroon Qureshi · Jan 28, 2026, 2:52 PM UTC

40f2fe0977dc

Minor fix to changelog

Yuval Tassa · Jan 28, 2026, 2:47 PM UTC

1d44f7a0d024

Partial roll back VFS refactor due internal breakages

Haroon Qureshi · Jan 28, 2026, 2:39 PM UTC

2fd9b5e92f09

Refactor sensor computation into per-sensor functions.

Yuval Tassa · Jan 28, 2026, 1:04 PM UTC

19ff06155a69

Remove batching optimization from GEOM* sensors

Yuval Tassa · Jan 28, 2026, 12:42 AM UTC

1d2d0b1c37e6

Add mjData flags marking lazily evaluated pipeline stages

Yuval Tassa · Jan 27, 2026, 5:44 PM UTC

5fb47df19743

Move flex vertex-edge adjacency to mjModel.

Alessio Quaglino · Jan 27, 2026, 3:41 PM UTC

ba3256813809

Add an "offscreen" mode that allows users to render studio to a texture then uses SDL to blit the texture into the window.

Haroon Qureshi · Jan 27, 2026, 2:47 PM UTC

669e9b748414

Change not required, issue was addressed in e48da1e38cc656abc439ff0240fb5bc794186f2c

Yuval Tassa · Jan 27, 2026, 2:02 PM UTC

dce2ed00ead3

Change not required, issue was addressed in e48da1e38cc656abc439ff0240fb5bc794186f2c

Yuval Tassa · Jan 27, 2026, 2:00 PM UTC

e787f8717d3e

Update logic for dealing with file dialogs.

Haroon Qureshi · Jan 27, 2026, 1:30 PM UTC

75715ab966df

Add a headless OpenGL renderer target.

Haroon Qureshi · Jan 27, 2026, 12:06 PM UTC

ad482a57bb22

Add mjz support to studio.

Haroon Qureshi · Jan 27, 2026, 11:22 AM UTC

fe1625560293

First-pass implementation of a spec loader for zipped assets.

Haroon Qureshi · Jan 27, 2026, 11:17 AM UTC

32a4412e2b81

Allow GUI to be rendered to texture as well.

Haroon Qureshi · Jan 27, 2026, 11:11 AM UTC

e43ed60d295b

Refactor mjVFS and resource management.

Haroon Qureshi · Jan 27, 2026, 7:52 AM UTC

0ddbb46fa195

Fix GIL deadlock in Python viewer methods

Matija Kecman · Jan 26, 2026, 6:10 PM UTC

e977b0d6609b

Make XML schema dropdown titles clickable links.

Yuval Tassa · Jan 26, 2026, 3:25 PM UTC

5fc6ed4edad5

Rename XML reference icons to avoid anchor issues.

Yuval Tassa · Jan 26, 2026, 3:14 PM UTC

7f8084ae1d2b

Add convenient plugin assignment in Python bindings.

Alessio Quaglino · Jan 26, 2026, 2:36 PM UTC

54ace777c10e

Add a ModelPlugin that can be used to load and update models.

Haroon Qureshi · Jan 26, 2026, 9:23 AM UTC

bdb553ff8a55

Optimize flexvert Jacobian computation.

Alessio Quaglino · Jan 25, 2026, 1:22 PM UTC

e933081ff17a

Fix `__muloti4` linker error on Clang 13

Yuval Tassa · Jan 24, 2026, 4:15 PM UTC

e48da1e38cc6

Align flex_vert0 to the XY plane during model initialization if dim=2.

Alessio Quaglino · Jan 24, 2026, 8:48 AM UTC

e9c61694e1f5

Move flexvert_J and flexedge_J sparsity pattern to mjModel.

Alessio Quaglino · Jan 24, 2026, 5:59 AM UTC

769109630f45

Add vertex equality option.

Alessio Quaglino · Jan 24, 2026, 12:29 AM UTC

7da271c6879d

Replace mjtSize with size_t for size calculations in engine.

Yuval Tassa · Jan 23, 2026, 8:34 PM UTC

a5de40b400af

Replace mjtSize with size_t for size calculations.

Yuval Tassa · Jan 23, 2026, 6:50 PM UTC

68537e1e3273

Migrate `mjModel` size fields from `int` to `mjtSize`.

Yuval Tassa · Jan 23, 2026, 5:40 PM UTC

30b903b6c03e

Add documentation for MJX API

Taylor Howell · Jan 23, 2026, 3:52 PM UTC

4a64017a5f81

Replace printf with mju_error in WASM bindings.

Google DeepMind · Jan 23, 2026, 3:25 PM UTC

c55c9a7bf140

Add equalityJointAPI to mjcPhysics.

Sam Haves · Jan 23, 2026, 2:27 PM UTC

2582a83ac3d8

Add `mj_loadBinary` binding to WASM.

Google DeepMind · Jan 22, 2026, 9:06 PM UTC

e1992e62d7d4

Add custom Emscripten binding for `mj_saveModel`.

Google DeepMind · Jan 22, 2026, 7:35 PM UTC

61f13cd8f1e4

Fix MjSpec.add_texture gridlayout argument to accept strings and character lists

Taylor Howell · Jan 22, 2026, 3:27 PM UTC

5ae6b5fe31c6

Display error message when requested file does not exist.

Haroon Qureshi · Jan 22, 2026, 2:33 PM UTC

bab468703cb2

Internal change

Matija Kecman · Jan 22, 2026, 2:19 PM UTC

98593259e790

Add vertex-based flex constraints (dim=2).

Alessio Quaglino · Jan 22, 2026, 12:54 PM UTC

54dd62365058

Refactor model loading APIs.

Haroon Qureshi · Jan 21, 2026, 1:24 PM UTC

2cc2e579f170

First-pass of a plugin system for GUI elements.

Haroon Qureshi · Jan 21, 2026, 10:46 AM UTC

e2180ff74412

Make quit button work.

Haroon Qureshi · Jan 20, 2026, 5:27 PM UTC

bf05bb1885bb

Fix camera select logic.

Haroon Qureshi · Jan 20, 2026, 4:17 PM UTC

a0accc493a88

mjSpec python bindings for add functions: accept `size` with 1, 2, or 3 parameters

Taylor Howell · Jan 20, 2026, 10:38 AM UTC

23c56ec4bb3e

Don't mipmap sRGB textures.

Haroon Qureshi · Jan 19, 2026, 1:25 PM UTC

de47cf0e6f7e

Add a boxing utility which can surround a bunch of UI and render it in a box.

Matija Kecman · Jan 19, 2026, 12:48 PM UTC

654b39306008

MuJoCo Warp documentation: option-ccd-iterations -> option-ccd_iterations

Taylor Howell · Jan 19, 2026, 10:41 AM UTC

d173ee5bee9d

Add parsing benchmark simulating many textures.

Sam Haves · Jan 18, 2026, 7:16 PM UTC

799f8a300eea

Import google-deepmind/mujoco_warp from GitHub.

Taylor Howell · Jan 16, 2026, 10:10 PM UTC

bb4df33adf84

MuJoCo Warp documentation: Memory.

Taylor Howell · Jan 16, 2026, 3:12 PM UTC

9ba545b8b04d

Fix scaling issues on HDPI monitors.

Haroon Qureshi · Jan 16, 2026, 9:16 AM UTC

77d1ac10feac

Add MjcEqualityAPI as a base class for MuJoCo constraints and MjcEqualityWeldAPI for representing weld constraints.

Sam Haves · Jan 15, 2026, 6:43 PM UTC

c08e1d9e6e10

MuJoCo Warp documentation: Warmstart.

Taylor Howell · Jan 15, 2026, 12:49 PM UTC

d86acd7e122b

Implement picture-in-picture mode.

Haroon Qureshi · Jan 15, 2026, 12:41 PM UTC

c92746641d5c

mjcPhysics MjcTendon path now has an indices attribute to allow repeated sites in tendon path.

Sam Haves · Jan 14, 2026, 9:23 PM UTC

d816b38f4c5b

Use a dedicated swap chain for offscreen rendering.

Haroon Qureshi · Jan 14, 2026, 8:30 PM UTC

42c565d860b5

Reduce flexedge_J size from nflexedge x nv to the effective sparse size.

Alessio Quaglino · Jan 14, 2026, 7:17 PM UTC

e56b31e98ff0

Roll back VFS refactor due internal breakages

Google DeepMind · Jan 14, 2026, 6:37 PM UTC

cbc113650240

Add code generation for mjModel named accessors.

Google DeepMind · Jan 14, 2026, 3:30 PM UTC

c996f288e15f

Improve wording in changelog.

Yuval Tassa · Jan 14, 2026, 3:28 PM UTC

cc4c2bc398dd

Set cleared memory back to nullptr.

Haroon Qureshi · Jan 14, 2026, 2:37 PM UTC

5a7abfe8a094

Fix body category check for mocap body descendants in visualization.

Yuval Tassa · Jan 14, 2026, 2:05 PM UTC

f3ad0eff2b30

Refactor mjVFS and resource management.

Haroon Qureshi · Jan 14, 2026, 1:18 PM UTC

d38757878399

Correct dimensions for constraint-related quantities in documentation.

Yuval Tassa · Jan 14, 2026, 12:53 PM UTC

e50e2e9691fe

Breaking change: Add surface normal output to MuJoCo raycast functions.

Yuval Tassa · Jan 13, 2026, 6:21 PM UTC

218226fc956d

Add support for `vfs` assets in `mj_compile` function to MuJoCo WASM.

Google DeepMind · Jan 13, 2026, 4:35 PM UTC

37762e3f7008

Document `compiler/usethread` fix.

Yuval Tassa · Jan 13, 2026, 4:20 PM UTC

7e21f18fd307

Move flexedge sparse Jacobian indices to mjModel.

Alessio Quaglino · Jan 13, 2026, 3:32 PM UTC

a49576e469c8

#mjspec Enforce that material textures array is always of length mjNTEXROLE.

Google DeepMind · Jan 13, 2026, 1:54 PM UTC

09a6fb7d4dea

Merge pull request #2945 from hartikainen:instsance-typo

Copybara-Service · Jan 13, 2026, 1:34 PM UTC

a93db89d432b

Import NVIDIA/warp from GitHub.

Baruch Tabanpour · Jan 13, 2026, 1:07 AM UTC

1f83bbf69d03

Strip the prefix correctly.

Haroon Qureshi · Jan 12, 2026, 6:58 PM UTC

071cb83fe737

Add urdf file extension case to mj_parse.

Sam Haves · Jan 12, 2026, 4:57 PM UTC

7e45bbb51cf7

Documentation: Pair-wise colliders.

Taylor Howell · Jan 12, 2026, 4:46 PM UTC

013268c28328

Prevent degenerate body inverse weights in constraints.

Yuval Tassa · Jan 12, 2026, 3:42 PM UTC

1cda1e7a8c20

Fix typo in XML reference: damping -> damper.

Yuval Tassa · Jan 12, 2026, 2:12 PM UTC

f0e1d8ce2c73

Implement get_data_into_cpp and make_data_cpp.

Google DeepMind · Jan 12, 2026, 1:53 PM UTC

a6a9a850076e

Fix link in changelog.

Yuval Tassa · Jan 12, 2026, 1:21 PM UTC

5979c5aa0348

Remove `getdir` from `mjpResourceProvider`.

Haroon Qureshi · Jan 12, 2026, 12:06 PM UTC

cb9a9c159c80

Expose mj_copyData in Python bindings.

Yuval Tassa · Jan 12, 2026, 11:20 AM UTC

d7e4038be844

MuJoCo Warp documentation: How to fix simulation runtime warnings?

Taylor Howell · Jan 12, 2026, 11:16 AM UTC

1d482047d1a7

Standardize function docstring style in MuJoCo API.

Yuval Tassa · Jan 11, 2026, 4:59 PM UTC

a26f09accfdb

Add checks for nullptr content_type and extension in mjpDecoder registration.

Sam Haves · Jan 9, 2026, 11:31 PM UTC

8abedf263e95

Move OpenUSD parsing to usd_decoder

Sam Haves · Jan 9, 2026, 10:47 PM UTC

a5dc57c0c36a

Fix usethread check to enable multithreaded mesh compilation.

Sam Haves · Jan 9, 2026, 6:59 PM UTC

64a2345c07e2

Ensure parsing always has a valid VFS.

Haroon Qureshi · Jan 9, 2026, 6:44 PM UTC

9e9314a4a41e

Release gil when compiling spec.

Sam Haves · Jan 9, 2026, 5:49 PM UTC

e37c2268a69e

Refactor 'ParseXML' and 'ParseSpecFromString' to use a shared helper function.

Haroon Qureshi · Jan 9, 2026, 4:39 PM UTC

45e164bf8f13

Use mj_parseXMLString instead of a test-specific LoadFromModelString.

Haroon Qureshi · Jan 9, 2026, 2:33 PM UTC

398e3dcf15de

Ensure resource providers are correctly initialized.

Haroon Qureshi · Jan 9, 2026, 10:06 AM UTC

2c4f710cf46d

Delete VFS created from assets dict before throwing error.

Sam Haves · Jan 8, 2026, 8:13 PM UTC

ce74475c39b6

MuJoCo Warp documentation: When To Use MJWarp?

Taylor Howell · Jan 8, 2026, 7:53 PM UTC

310ac0c5ac0c

MuJoCo Warp documentation: inertia matrix automatic sparsity.

Taylor Howell · Jan 8, 2026, 6:46 PM UTC

166fa17a1c39

When loading models use mj_parse instead of mj_parseXML, and allow non-xml file types.

Sam Haves · Jan 8, 2026, 3:22 PM UTC

2f2f9a30bae5

Fix typo in comment.

Yuval Tassa · Jan 8, 2026, 1:55 PM UTC

1f4bb39b538d

MuJoCo Warp documentation: Why are numerical results from MJWarp and MuJoCo different?.

Taylor Howell · Jan 8, 2026, 1:33 PM UTC

ab939683bc2c

Move GlobalModel class and functionality into its own file.

Haroon Qureshi · Jan 8, 2026, 11:07 AM UTC

765bd54c7cd3