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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 Unpublished intermediate commits are private.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.

Fix polygon orientation for negative mesh scaling. Fixes #3604.

Kyle Bayes · Sep 23, 2026, 2:43 PM UTC

b47e70849e9c

Enable threading across mj_collideTree.

Kyle Bayes · Sep 23, 2026, 1:47 PM UTC

0e563a9eadfc

Render wrapped spatial tendons along sphere and cylinder geodesics.

Yuval Tassa · Sep 23, 2026, 12:15 PM UTC

d8b1e90601ba

Integrate flex collisions into threaded mj_narrowphase.

Kyle Bayes · Sep 23, 2026, 11:50 AM UTC

f8da4cf79623

Fix test runner failures and model-sweep path matching on macOS and Windows.

Sam Haves · Sep 23, 2026, 2:11 AM UTC

73eeef4f419f

Enable macOS keybindings and help text at runtime in WASM Studio

Yuval Tassa · Sep 22, 2026, 7:09 PM UTC

2ca87041807f

check object type when highlighting selected bodies.

Yuval Tassa · Sep 22, 2026, 5:50 PM UTC

194a47192446

Reset simulation history after post-compile step in Mujoco Studio.

Saran Tunyasuvunakool · Sep 22, 2026, 5:48 PM UTC

ddb8742b65fc

Make mjc_HFieldElem thread-safe.

Kyle Bayes · Sep 22, 2026, 5:39 PM UTC

ea5aa23993b3

Support flex internal collisions in mj_narrowphase.

Kyle Bayes · Sep 22, 2026, 4:28 PM UTC

11dd5dc9f7cd

Support flex-geom collisions in mj_narrowphase.

Kyle Bayes · Sep 22, 2026, 3:10 PM UTC

8532da2307af

Exclude fromto_body_body and helix from WriteReadCompareTest.

Michael Moss · Sep 22, 2026, 2:41 PM UTC

cd779c8fcaf2

Improve multicontact by picking best faces instead of first faces to pass mjFACE_TOL.

Kyle Bayes · Sep 22, 2026, 10:21 AM UTC

7419720426d1

MuJoCo Warp documentation: Fix links and references

Taylor Howell · Sep 22, 2026, 9:23 AM UTC

458a31013688

Update MuJoCo version to 3.14.1 following the 3.14.0 release

Michael Moss · Sep 22, 2026, 8:37 AM UTC

17c8e2e64cbb

Update changelog for the 3.14.0 release.

Michael Moss · Sep 22, 2026, 8:21 AM UTC

9ecbb9d7b5ee

Preserve fallback light intensity and VSM blur width in ModelLights::Update.

Yuval Tassa · Sep 22, 2026, 8:07 AM UTC

22b888098dad

Fix broken path in MuJoCo Live JavaScript.

Saran Tunyasuvunakool · Sep 21, 2026, 9:36 PM UTC

8ae5aadbdb73

Merge pull request #3609 from sylvesterkaczmarek:fix/preserve-mesh-site-sensor-frame

Copybara-Service · Sep 21, 2026, 8:55 PM UTC

53197e6e4e2c

Apply the enclosing frame to inertial elements.

Yuval Tassa · Sep 21, 2026, 8:08 PM UTC

a28137941e25

Merge pull request #2924 from giusenso:fix/load-xml-error-handling

Copybara-Service · Sep 21, 2026, 7:37 PM UTC

de526db4bcdf

Use float32 relative tolerance (1e-7) for mesh inertia eigendecomposition.

Yuval Tassa · Sep 21, 2026, 6:55 PM UTC

4c33a83552c8

Clear mjSpec signature on edits and track element names in a set.

ukanwat · Sep 21, 2026, 5:39 PM UTC

2a3f1f5a4147

Merge pull request #3311 from davidhozic:fix/cameraid-check

Copybara-Service · Sep 21, 2026, 5:28 PM UTC

f49587429e0d

Preserve frames when saving and recompiling.

Yuval Tassa · Sep 21, 2026, 4:51 PM UTC

e312ce82d319

Support collision pair grouping and pre-contact filtering in narrowphase. This is a no-op.

Kyle Bayes · Sep 21, 2026, 4:26 PM UTC

6107eacfeb55

Update dependencies ahead of the 3.14.0 release.

Michael Moss · Sep 21, 2026, 3:28 PM UTC

336b72e63cf4

Update MuJoCo version to 3.14.0 in preparation for breaking changes release.

Michael Moss · Sep 21, 2026, 3:06 PM UTC

6cdd53b0526a

Rebuild the bounding volume hierarchy of a body on every compilation.

Yuval Tassa · Sep 21, 2026, 2:41 PM UTC

c20335061886

Converge 3x3 eigensolvers to machine precision and fix broadphase SAP frame.

Yuval Tassa · Sep 21, 2026, 2:28 PM UTC

3ae1553ec18c

Fix discrete integrator stiffness operators and assembly for pinned vertices.

Alessio Quaglino · Sep 21, 2026, 12:23 PM UTC

1d6332316873

Do not treat strain-equality flexes as elastic.

Alessio Quaglino · Sep 21, 2026, 9:56 AM UTC

4a9f16818c22

Make the headlight a render request option.

Yuval Tassa · Sep 21, 2026, 9:28 AM UTC

101a044fba58

Preserve full integration state and control blocks in mj_recompile

Yuval Tassa · Sep 21, 2026, 9:27 AM UTC

c7967ce161f6

Refactor C++ Studio history helpers and export pybind11 bindings.

Matija Kecman · Sep 21, 2026, 9:24 AM UTC

248204d06c2f

Reclaim deleted mjSpec elements automatically via reference counting

Yuval Tassa · Sep 21, 2026, 8:38 AM UTC

e38573c64112

Enable multiple directional lights in the Filament renderer.

Yuval Tassa · Sep 21, 2026, 7:49 AM UTC

1f519a182e12

Fix heap-buffer-overflow and edge cases when parsing GMSH files.

Yuval Tassa · Sep 21, 2026, 7:32 AM UTC

65ea54c3c03a

Support multi-input (MIMO) actuators in control history buffers and mj_readCtrl.

Yuval Tassa · Sep 20, 2026, 7:01 PM UTC

dc8bb13649fa

mjx: isolate touch sensor evaluation from solver divergence in test_touch_sensor_nested_vmap

Yuval Tassa · Sep 20, 2026, 5:49 PM UTC

451e66a8dc6b

Normalize velocity and semi-axes in ellipsoid fluid forces and derivatives.

Yuval Tassa · Sep 20, 2026, 10:04 AM UTC

b9ff593b7114

Preserve authored frames for mesh sites

Sylvester Kaczmarek · Sep 19, 2026, 8:00 PM UTC

1fc7d0b722f7

Merge pull request #3571 from rishabhsai:doc-fix-dead-links

Copybara-Service · Sep 19, 2026, 9:00 AM UTC

5ceb72b1bbe8

Stop guessing the repository in the doc generators

Yuval Tassa · Sep 19, 2026, 8:39 AM UTC

ab9434aa872c

MuJoCo Studio: Support keyframe loading in Studio Web and Python viewer.

Taylor Howell · Sep 19, 2026, 8:29 AM UTC

c23049729bd6

Merge pull request #2469 from c-rizz:mesh_reimport_fix

Copybara-Service · Sep 18, 2026, 11:37 PM UTC

1fb91483f045

Revert picking best normals in alignedFaces.

Kyle Bayes · Sep 18, 2026, 11:00 PM UTC

066092b4b8e9

Merge pull request #3529 from Vedangalle:fix/mujoco-live-ios-memory

Copybara-Service · Sep 18, 2026, 10:42 PM UTC

5af15334da7b

Merge pull request #3549 from ukanwat:fix/signature-first-equality

Copybara-Service · Sep 18, 2026, 10:23 PM UTC

99023d23d4df

MJX: Implement rotational setpoint wrapping for servos on 3D rotational transmissions.

Yuval Tassa · Sep 18, 2026, 9:38 PM UTC

857e15aec960

Merge pull request #3566 from yurekami:codex/bound-finite-difference-probes

Copybara-Service · Sep 18, 2026, 6:43 PM UTC

cdae52780ef0

Merge pull request #3574 from sylvesterkaczmarek:fix/mjx-nested-vmap-touch

Copybara-Service · Sep 18, 2026, 6:35 PM UTC

6467ebabe782

Index ctrllimited/ctrlrange by control slot in actuator derivatives

Yuval Tassa · Sep 18, 2026, 6:19 PM UTC

3466741c11ee

Correct the passive flex contact requirements in the XML reference.

Alessio Quaglino · Sep 18, 2026, 5:48 PM UTC

6ef0df238248

Merge pull request #3570 from rishabhsai:doc-ccd-iterations-default

Copybara-Service · Sep 18, 2026, 4:32 PM UTC

5e804a493640

Switch to PCSS shadows for better performance.

Haroon Qureshi · Sep 18, 2026, 4:11 PM UTC

bae73a04853f

Remove the dead IPC contact-row condition from the constraint stage.

Alessio Quaglino · Sep 18, 2026, 4:02 PM UTC

65cf633a1fdd

Pick the best faces in multicontact.

Kyle Bayes · Sep 18, 2026, 3:41 PM UTC

73e96b9dfaa7

Honor the spring and damper disable flags in flex stretch forces and the discrete metric.

Alessio Quaglino · Sep 18, 2026, 3:05 PM UTC

35b8d7c8658c

Merge pull request #3543 from nico-bohlinger:codex/fix-filament-geom-visibility

Copybara-Service · Sep 18, 2026, 2:40 PM UTC

8be5fa36b2f7

Route flex routines through mj_narrowphase. This is a no-op.

Kyle Bayes · Sep 18, 2026, 2:18 PM UTC

cd7e075601fb

Use spot lights instead of point lights (for improved performance).

Haroon Qureshi · Sep 18, 2026, 1:06 PM UTC

15ad5d4922ac

Remove legacy message types from viewer_protocol.

Matija Kecman · Sep 18, 2026, 10:44 AM UTC

a36d137079a0

Raise an error in mjd_transitionFD and mjd_inverseFD when sleeping is enabled.

Yuval Tassa · Sep 18, 2026, 10:42 AM UTC

54be9cce6a9b

Fix MuJoCo Live on iOS

Vedang · Aug 27, 2026, 9:46 PM UTC

9c4fbe825a09

Introduce archive resource providers.

Sam Haves · Sep 18, 2026, 12:16 AM UTC

2fec922375a5

Honor the spring and damper disable flags in the discrete metric's fluid and passive contact terms.

Alessio Quaglino · Sep 17, 2026, 9:07 PM UTC

6297987978ab

Compute flex stretch forces from edge tensions.

Alessio Quaglino · Sep 17, 2026, 9:02 PM UTC

9c6dd2bfb87a

Release the GIL in filament renderer.

Sam Haves · Sep 17, 2026, 8:13 PM UTC

af2c2ba0a9e1

Factor the flex stretch damping term to avoid cancellation.

Alessio Quaglino · Sep 17, 2026, 4:45 PM UTC

0452d71b0d61

Use the CG solver in the trilinear gripper model.

Alessio Quaglino · Sep 17, 2026, 4:08 PM UTC

22557a0aac07

Use the discrete integrator in the multi-cell bunny model.

Alessio Quaglino · Sep 17, 2026, 4:07 PM UTC

dcbbb628e595

Refactor model loading functions to use a single shared function.

Haroon Qureshi · Sep 17, 2026, 2:36 PM UTC

b9a727131f0d

Refactor logic that triggers a load/reload into the "ProcessPendingLoads" functions.

Haroon Qureshi · Sep 17, 2026, 2:27 PM UTC

d230680be718

Account for spatial tendon forces in mj_rnePostConstraint.

Yuval Tassa · Sep 17, 2026, 1:37 PM UTC

263c638c0223

Remove unused variable.

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

2477c349843c

Tweak welcome.xml visuals.

Haroon Qureshi · Sep 17, 2026, 10:43 AM UTC

08e559277d06

Move functionality from Render to Update.

Haroon Qureshi · Sep 17, 2026, 9:44 AM UTC

039030774635

Expose basic vignette settings.

Haroon Qureshi · Sep 17, 2026, 9:36 AM UTC

accaef408b75

Load settings in constructor.

Haroon Qureshi · Sep 17, 2026, 8:32 AM UTC

547ea329a3e9

Import google-deepmind/mujoco_warp from GitHub.

Google DeepMind · Sep 16, 2026, 8:13 PM UTC

71d430c71f85

Redirect to new welcome scene.

Haroon Qureshi · Sep 16, 2026, 2:21 PM UTC

cae7f285b0c9

Replace custom humanoid in welcome.xml with unaltered standard humanoid model. Replace letter meshes with logo font.

Google DeepMind · Sep 16, 2026, 2:13 PM UTC

a7b833becc7b

Support deadband range for tendon springlength.

Google DeepMind · Sep 16, 2026, 1:30 PM UTC

92e2ca9c502d

Fix the torque of weld constraints in mj_rnePostConstraint.

Yuval Tassa · Sep 16, 2026, 1:15 PM UTC

ac329bd17456

Change keyframe widget from slider to combo box and accept `keyframe` as URL param.

Saran Tunyasuvunakool · Sep 16, 2026, 12:28 PM UTC

aaef22b13be8

Merge pull request #3523 from sibocw:fix-python-ortho-cam-depth

Copybara-Service · Sep 16, 2026, 11:34 AM UTC

88f1070a719c

Remove classic renderer support from Studio.

Haroon Qureshi · Sep 16, 2026, 10:56 AM UTC

95eb3057a9ee

Added default studio base scene.

Google DeepMind · Sep 16, 2026, 9:59 AM UTC

f64147785e3d

Document a developer workflow for shareable and stable web viewer URLs

Matija Kecman · Sep 16, 2026, 9:44 AM UTC

5173a98a5ba1

Merge pull request #3593 from smallquail:bag-sleeve

Copybara-Service · Sep 16, 2026, 6:48 AM UTC

25f0ac2b57ed

Fix default model URI scheme in MuJoCo Live.

Saran Tunyasuvunakool · Sep 15, 2026, 10:50 PM UTC

feedbe537e73

Validate required CMake targets instead of static libs.

Michael Moss · Sep 15, 2026, 10:37 PM UTC

f8db529e4c69

Standardize View menu toggles and configure UI visibility in Studio.

Matija Kecman · Sep 15, 2026, 10:20 PM UTC

aeb346b03569

Merge pull request #3507 from sylvesterkaczmarek:fix/macos-cgl-glfw-fallback

Copybara-Service · Sep 15, 2026, 9:54 PM UTC

960da999ba94

Assign trimmed path in RegisterAsset to fix nodiscard warning.

Google DeepMind · Sep 15, 2026, 6:24 PM UTC

4d7d9e049d8a

Add pair-wise colliders table to MuJoCo Warp documentation.

Taylor Howell · Sep 15, 2026, 4:42 PM UTC

8e98fb4cf0fb

Honor --island in the render sample's Filament backend.

Yuval Tassa · Sep 15, 2026, 2:26 PM UTC

721413509b57

Replace the trash bag's tendon drawstring with a ribbon in a sleeve

Alessio · Sep 15, 2026, 7:27 AM UTC

9c3f5acd7140

Clamp and decouple a Hessian pivot lost to rounding instead of aborting Newton.

Yuval Tassa · Sep 15, 2026, 1:32 PM UTC

35c0631dea40