Commits included in published releases. Unpublished intermediate commits are private. Showing matches from the latest 100 commits ending at this release.
Merge pull request #3616 from ttktjmt:fix/wasm-mjtbool Copybara-Service · Sep 28, 2026, 3:54 PM UTC
46f925a79996Merge pull request #3069 from j-rivero:jrivero/strncpy_gridlayout Copybara-Service · Sep 28, 2026, 2:36 PM UTC
544c2c535f36Enable caller-provided buffer in Filament ReadPixelsRequest and Renderer. Sam Haves · Sep 28, 2026, 2:27 PM UTC
4ce369a4c023Remove flex internal collision option and flex_evpair structures Alessio Quaglino · Sep 28, 2026, 1:51 PM UTC
5023a4a50cbbRefactor multicontact signature. Kyle Bayes · Sep 28, 2026, 1:35 PM UTC
9b847b749ce9Add minor improvements to threadpool in mujoco engine. Kyle Bayes · Sep 28, 2026, 11:21 AM UTC
e80ec68e4977Merge pull request #3621 from smallquail:snh-3d Copybara-Service · Sep 28, 2026, 9:49 AM UTC
1b973add436aMove physics into a separate thread. Haroon Qureshi · Sep 28, 2026, 9:40 AM UTC
0f1fc1f02f95Reuse elongation buffer in flex damping to avoid shadowing Alessio · Sep 25, 2026, 5:32 PM UTC
2e66b2b94c57Use elastic3d as an integer material selector in mjSpec Alessio · Sep 25, 2026, 5:21 PM UTC
fc2c51e9a235Gate experimental SNH behind an mjSpec-only flex flag Alessio · Sep 25, 2026, 5:11 PM UTC
091c9cbef04eUse 24-number edge formulation and exact SNH derivatives Alessio · Sep 25, 2026, 4:47 PM UTC
d175a76a72beUse edge-based Stable Neo-Hookean elasticity for 3D flexes Alessio · Sep 25, 2026, 2:08 PM UTC
d2b7a7c8f5d4GitHub Pull Request: https://github.com/google-deepmind/mujoco/pull/3620 Alessio Quaglino · Sep 25, 2026, 2:31 PM UTC
a79d65c4e54dExclude Studio Python tests from Copybara export. Matija Kecman · Sep 25, 2026, 1:36 PM UTC
5e593c2904afIntroduce blocking `run` APIs and lifecycle improvements to Studio. Matija Kecman · Sep 25, 2026, 1:24 PM UTC
e0058508d8b4Merge pull request #3618 from smallquail:refactor-flex-attachment-mapping Copybara-Service · Sep 25, 2026, 12:47 PM UTC
a00404b3b706Remove unused buffer from mj_narrowphase signature. Kyle Bayes · Sep 25, 2026, 12:28 PM UTC
6b4454bf5ca5Use CLAMP_TO_EDGE texture wrap mode for UI materials in Filament renderer. Taylor Howell · Sep 25, 2026, 11:17 AM UTC
645a9d461a24Split rendering into sync and submit steps. Haroon Qureshi · Sep 25, 2026, 10:58 AM UTC
1ac6f430424dFix viewer/sim shutdown lifecycle and ensure plugins always receive ExitEvent. Matija Kecman · Sep 25, 2026, 10:56 AM UTC
5e43a444d9e3GitHub Pull Request: https://github.com/google-deepmind/mujoco/pull/3617 Alessio Quaglino · Sep 25, 2026, 10:41 AM UTC
2742de438faeMap flex elasticity through vertex attachment Jacobians Alessio · Sep 25, 2026, 10:06 AM UTC
eed0089050bbFix flex bending attachments and cached frame couplings Alessio · Sep 25, 2026, 9:25 AM UTC
a97aea70721fOptimize flex bending passive forces and derivatives by hoisting per-vertex frame rotations. Alessio Quaglino · Sep 25, 2026, 8:54 AM UTC
3991e5459d28Delete mjVFS before removing temp files/dirs in mjz_encoder_test. Michael Moss · Sep 25, 2026, 8:45 AM UTC
bf37f43c0aedUse $GITHUB_ACTION_PATH in notify-chat action to fix Windows path bug Michael Moss · Sep 25, 2026, 7:52 AM UTC
f394d4946e64Fix asset path handling in .mjz archives. Sam Haves · Sep 24, 2026, 11:24 PM UTC
1aa68e1caa0dFix flex passive forces and derivatives for welded 0-DOF vertices and update bag.xml. Alessio Quaglino · Sep 24, 2026, 7:46 PM UTC
25340379f6f0Disallow joint damping on flex vertex and node bodies in mjCFlex::Compile. Alessio Quaglino · Sep 24, 2026, 5:37 PM UTC
bd7a48b9e3f9Fix wasm bindings for mjtBool array fields. ttktjmt · Sep 24, 2026, 5:05 PM UTC
55726fe3e6cdMerge pull request #3471 from robertomeroni:contrib/fitted-primitive-no-mesh-dataid Copybara-Service · Sep 24, 2026, 4:24 PM UTC
144b919023a0Minor cleanup. Haroon Qureshi · Sep 24, 2026, 9:41 AM UTC
c0d845b93c46Rename LoadModel to BuildModel and add support for recompilation. Haroon Qureshi · Sep 24, 2026, 9:37 AM UTC
27a5622fad9dBuild and run mjz encoder and decoder tests, and fix mjz sweep exclusions. Sam Haves · Sep 23, 2026, 11:07 PM UTC
b855fc01aa49Merge pull request #3373 from Ashutosh0x:fix/issue-3368 Copybara-Service · Sep 23, 2026, 3:28 PM UTC
72f93e07a949Fix polygon orientation for negative mesh scaling. Fixes #3604. Kyle Bayes · Sep 23, 2026, 2:43 PM UTC
b47e70849e9cEnable threading across mj_collideTree. Kyle Bayes · Sep 23, 2026, 1:47 PM UTC
0e563a9eadfcRender wrapped spatial tendons along sphere and cylinder geodesics. Yuval Tassa · Sep 23, 2026, 12:15 PM UTC
d8b1e90601baIntegrate flex collisions into threaded mj_narrowphase. Kyle Bayes · Sep 23, 2026, 11:50 AM UTC
f8da4cf79623Fix test runner failures and model-sweep path matching on macOS and Windows. Sam Haves · Sep 23, 2026, 2:11 AM UTC
73eeef4f419fEnable macOS keybindings and help text at runtime in WASM Studio Yuval Tassa · Sep 22, 2026, 7:09 PM UTC
2ca87041807fcheck object type when highlighting selected bodies. Yuval Tassa · Sep 22, 2026, 5:50 PM UTC
194a47192446Reset simulation history after post-compile step in Mujoco Studio. Saran Tunyasuvunakool · Sep 22, 2026, 5:48 PM UTC
ddb8742b65fcMake mjc_HFieldElem thread-safe. Kyle Bayes · Sep 22, 2026, 5:39 PM UTC
ea5aa23993b3Support flex internal collisions in mj_narrowphase. Kyle Bayes · Sep 22, 2026, 4:28 PM UTC
11dd5dc9f7cdSupport flex-geom collisions in mj_narrowphase. Kyle Bayes · Sep 22, 2026, 3:10 PM UTC
8532da2307afExclude fromto_body_body and helix from WriteReadCompareTest. Michael Moss · Sep 22, 2026, 2:41 PM UTC
cd779c8fcaf2Improve multicontact by picking best faces instead of first faces to pass mjFACE_TOL. Kyle Bayes · Sep 22, 2026, 10:21 AM UTC
7419720426d1MuJoCo Warp documentation: Fix links and references Taylor Howell · Sep 22, 2026, 9:23 AM UTC
458a31013688Update MuJoCo version to 3.14.1 following the 3.14.0 release Michael Moss · Sep 22, 2026, 8:37 AM UTC
17c8e2e64cbbUpdate changelog for the 3.14.0 release. Michael Moss · Sep 22, 2026, 8:21 AM UTC
9ecbb9d7b5eePreserve fallback light intensity and VSM blur width in ModelLights::Update. Yuval Tassa · Sep 22, 2026, 8:07 AM UTC
22b888098dadFix broken path in MuJoCo Live JavaScript. Saran Tunyasuvunakool · Sep 21, 2026, 9:36 PM UTC
8ae5aadbdb73Merge pull request #3609 from sylvesterkaczmarek:fix/preserve-mesh-site-sensor-frame Copybara-Service · Sep 21, 2026, 8:55 PM UTC
53197e6e4e2cApply the enclosing frame to inertial elements. Yuval Tassa · Sep 21, 2026, 8:08 PM UTC
a28137941e25Merge pull request #2924 from giusenso:fix/load-xml-error-handling Copybara-Service · Sep 21, 2026, 7:37 PM UTC
de526db4bcdfUse float32 relative tolerance (1e-7) for mesh inertia eigendecomposition. Yuval Tassa · Sep 21, 2026, 6:55 PM UTC
4c33a83552c8Clear mjSpec signature on edits and track element names in a set. ukanwat · Sep 21, 2026, 5:39 PM UTC
2a3f1f5a4147Merge pull request #3311 from davidhozic:fix/cameraid-check Copybara-Service · Sep 21, 2026, 5:28 PM UTC
f49587429e0dPreserve frames when saving and recompiling. Yuval Tassa · Sep 21, 2026, 4:51 PM UTC
e312ce82d319Support collision pair grouping and pre-contact filtering in narrowphase. This is a no-op. Kyle Bayes · Sep 21, 2026, 4:26 PM UTC
6107eacfeb55Update dependencies ahead of the 3.14.0 release. Michael Moss · Sep 21, 2026, 3:28 PM UTC
336b72e63cf4Update MuJoCo version to 3.14.0 in preparation for breaking changes release. Michael Moss · Sep 21, 2026, 3:06 PM UTC
6cdd53b0526aRebuild the bounding volume hierarchy of a body on every compilation. Yuval Tassa · Sep 21, 2026, 2:41 PM UTC
c20335061886Converge 3x3 eigensolvers to machine precision and fix broadphase SAP frame. Yuval Tassa · Sep 21, 2026, 2:28 PM UTC
3ae1553ec18cFix discrete integrator stiffness operators and assembly for pinned vertices. Alessio Quaglino · Sep 21, 2026, 12:23 PM UTC
1d6332316873Do not treat strain-equality flexes as elastic. Alessio Quaglino · Sep 21, 2026, 9:56 AM UTC
4a9f16818c22Make the headlight a render request option. Yuval Tassa · Sep 21, 2026, 9:28 AM UTC
101a044fba58Preserve full integration state and control blocks in mj_recompile Yuval Tassa · Sep 21, 2026, 9:27 AM UTC
c7967ce161f6Refactor C++ Studio history helpers and export pybind11 bindings. Matija Kecman · Sep 21, 2026, 9:24 AM UTC
248204d06c2fReclaim deleted mjSpec elements automatically via reference counting Yuval Tassa · Sep 21, 2026, 8:38 AM UTC
e38573c64112Enable multiple directional lights in the Filament renderer. Yuval Tassa · Sep 21, 2026, 7:49 AM UTC
1f519a182e12Fix heap-buffer-overflow and edge cases when parsing GMSH files. Yuval Tassa · Sep 21, 2026, 7:32 AM UTC
65ea54c3c03aSupport multi-input (MIMO) actuators in control history buffers and mj_readCtrl. Yuval Tassa · Sep 20, 2026, 7:01 PM UTC
dc8bb13649famjx: isolate touch sensor evaluation from solver divergence in test_touch_sensor_nested_vmap Yuval Tassa · Sep 20, 2026, 5:49 PM UTC
451e66a8dc6bNormalize velocity and semi-axes in ellipsoid fluid forces and derivatives. Yuval Tassa · Sep 20, 2026, 10:04 AM UTC
b9ff593b7114Preserve authored frames for mesh sites Sylvester Kaczmarek · Sep 19, 2026, 8:00 PM UTC
1fc7d0b722f7Merge pull request #3571 from rishabhsai:doc-fix-dead-links Copybara-Service · Sep 19, 2026, 9:00 AM UTC
5ceb72b1bbe8Stop guessing the repository in the doc generators Yuval Tassa · Sep 19, 2026, 8:39 AM UTC
ab9434aa872cMuJoCo Studio: Support keyframe loading in Studio Web and Python viewer. Taylor Howell · Sep 19, 2026, 8:29 AM UTC
c23049729bd6Merge pull request #2469 from c-rizz:mesh_reimport_fix Copybara-Service · Sep 18, 2026, 11:37 PM UTC
1fb91483f045Revert picking best normals in alignedFaces. Kyle Bayes · Sep 18, 2026, 11:00 PM UTC
066092b4b8e9Merge pull request #3529 from Vedangalle:fix/mujoco-live-ios-memory Copybara-Service · Sep 18, 2026, 10:42 PM UTC
5af15334da7bMerge pull request #3549 from ukanwat:fix/signature-first-equality Copybara-Service · Sep 18, 2026, 10:23 PM UTC
99023d23d4dfMJX: Implement rotational setpoint wrapping for servos on 3D rotational transmissions. Yuval Tassa · Sep 18, 2026, 9:38 PM UTC
857e15aec960Merge pull request #3566 from yurekami:codex/bound-finite-difference-probes Copybara-Service · Sep 18, 2026, 6:43 PM UTC
cdae52780ef0Merge pull request #3574 from sylvesterkaczmarek:fix/mjx-nested-vmap-touch Copybara-Service · Sep 18, 2026, 6:35 PM UTC
6467ebabe782Index ctrllimited/ctrlrange by control slot in actuator derivatives Yuval Tassa · Sep 18, 2026, 6:19 PM UTC
3466741c11eeCorrect the passive flex contact requirements in the XML reference. Alessio Quaglino · Sep 18, 2026, 5:48 PM UTC
6ef0df238248Merge pull request #3570 from rishabhsai:doc-ccd-iterations-default Copybara-Service · Sep 18, 2026, 4:32 PM UTC
5e804a493640Switch to PCSS shadows for better performance. Haroon Qureshi · Sep 18, 2026, 4:11 PM UTC
bae73a04853fRemove the dead IPC contact-row condition from the constraint stage. Alessio Quaglino · Sep 18, 2026, 4:02 PM UTC
65cf633a1fddPick the best faces in multicontact. Kyle Bayes · Sep 18, 2026, 3:41 PM UTC
73e96b9dfaa7Honor the spring and damper disable flags in flex stretch forces and the discrete metric. Alessio Quaglino · Sep 18, 2026, 3:05 PM UTC
35b8d7c8658cMerge pull request #3543 from nico-bohlinger:codex/fix-filament-geom-visibility Copybara-Service · Sep 18, 2026, 2:40 PM UTC
8be5fa36b2f7Route flex routines through mj_narrowphase. This is a no-op. Kyle Bayes · Sep 18, 2026, 2:18 PM UTC
cd7e075601fbUse spot lights instead of point lights (for improved performance). Haroon Qureshi · Sep 18, 2026, 1:06 PM UTC
15ad5d4922acRemove legacy message types from viewer_protocol. Matija Kecman · Sep 18, 2026, 10:44 AM UTC
a36d137079a0Raise an error in mjd_transitionFD and mjd_inverseFD when sleeping is enabled. Yuval Tassa · Sep 18, 2026, 10:42 AM UTC
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