chenlin/Mujoco_WASM
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  • 9d3ee5a948 Improve ASAN poisoning logic in mj_freeStack. Yuval Tassa 2026-03-17 08:25:41 -07:00
  • c420a6e1ca Fix resizing the window when running single threaded Matija Kecman 2026-03-17 03:31:19 -07:00
  • 4be4a539c4 Fix "Selected backend not supported in this build" error when running using WASM Matija Kecman 2026-03-17 02:57:20 -07:00
  • 9a0dd7d32d Make planes semi-transparent from behind. Haroon Qureshi 2026-03-17 02:26:36 -07:00
  • 9d8004f60d mujoco warp documentation: update mjlab distributed training link Taylor Howell 2026-03-16 20:26:34 +00:00
  • efae9157a7 Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y Yuval Tassa 2026-03-16 13:24:44 -07:00
  • aec1b45dce Remove unnecessary const from grad parameter in strain Jacobian functions. Alessio Quaglino 2026-03-16 13:03:00 -07:00
  • ac2730ab80 Change flex strain constraints for trilinear to a more stable formulation. Alessio Quaglino 2026-03-16 12:04:46 -07:00
  • a5098a068a Update changelog for upcoming release. Sam Haves 2026-03-16 09:22:29 -07:00
  • 1f2587fe3e Make preprocessor checks for ADDRESS_SANITIZER compatible with GCC Yuval Tassa 2026-03-16 09:03:08 -07:00
  • bb38a34869 Skip shared dofs for contact constraints Taylor Howell 2026-03-16 08:36:14 -07:00
  • eca5758bf9 Define ADDRESS_SANITIZER portably using standard compiler macros Yuval Tassa 2026-03-16 08:17:27 -07:00
  • 63bab26536 MuJoCo Warp documentation: CCD margin Taylor Howell 2026-03-16 06:48:30 -07:00
  • c651a0daeb Merge friction and limit constraint counting into instantiation functions. Yuval Tassa 2026-03-16 05:22:35 -07:00
  • a47a18dd28 Rollback of 1cda1e7a8c, fixes #3163 Yuval Tassa 2026-03-16 05:16:59 -07:00
  • 55f5ac0a1d Remove mj_jacDifPairCount by incorporating the counting into mj_jacDifPair Yuval Tassa 2026-03-16 04:44:06 -07:00
  • 50dfc255b8 Fix pybind11 v3.0 compatibility in callbacks.cc Yuval Tassa 2026-03-15 12:45:44 -07:00
  • 7324864366 Add random seed to SensorTest to prevent flakiness. Baruch Tabanpour 2026-03-15 11:23:03 -07:00
  • 28def7d25d Internal changes. Haroon Qureshi 2026-03-15 03:37:48 -07:00
  • 88ba8ffdbc Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin. Kyle Bayes 2026-03-13 10:19:53 -07:00
  • 7ec4fe2c50 Refactor: Update MuJoCo WASM README structure Google DeepMind 2026-03-13 08:33:57 -07:00
  • b18657acde Remove unused flag. Haroon Qureshi 2026-03-13 05:37:06 -07:00
  • 910fbbb111 Merge pull request #3141 from ocadotechnology:recompile-release-gil Copybara-Service 2026-03-13 05:25:45 -07:00
  • 86aae0f5a5 Use user::ThreadPool for actuator lengthrange calculation in addition to mesh and texture compilation Matija Kecman 2026-03-13 04:54:17 -07:00
  • ce0356b78f Update relevant test for passive spring/damper settings Balint-H 2026-03-12 16:32:41 +00:00
  • 1704f51df6 Merge pull request #3174 from MatiasManevi:fix-wasm-package Copybara-Service 2026-03-12 09:14:51 -07:00
  • 7f437810fd Move MjrRect pybind11 definition to structs.cc. Haroon Qureshi 2026-03-12 09:00:06 -07:00
  • 035fb5acc7 Merge branch 'google-deepmind:main' into unity/passive-resubmit Balint Hodossy 2026-03-12 15:52:46 +00:00
  • a07763f13b Restore npm pack MatiasManevi 2026-03-12 11:42:29 -03:00
  • 8c3e70998d Fix npm publish command to work with OIDC MatiasManevi 2026-03-12 11:39:59 -03:00
  • b294d15558 Add from_xml_string to MuJoCo WASM bindings. Google DeepMind 2026-03-12 07:35:08 -07:00
  • df0bc58578 Add aliases for MjModel loading functions and expose string constants as properties. Google DeepMind 2026-03-12 06:58:20 -07:00
  • a62501f305 Merge pull request #3168 from MatiasManevi:npm-workflow-dispatch Copybara-Service 2026-03-12 06:43:37 -07:00
  • b62aed86f9 Recreate swap chain when the window size changes. Haroon Qureshi 2026-03-12 04:56:10 -07:00
  • 4d0c4666db Merge pull request #3169 from MatiasManevi:npm-pkg-name Copybara-Service 2026-03-12 04:07:12 -07:00
  • 16d618e7b9 Ensure we have a valid vfs when loading a spec. Haroon Qureshi 2026-03-12 04:05:29 -07:00
  • 99af6fb9a5 Merge pull request #3167 from MatiasManevi:npm-auth-mechanism Copybara-Service 2026-03-12 03:59:43 -07:00
  • 3601b063dc Modify mjCMesh vert_ field to be vector<float> instead of vector<double>. Sam Haves 2026-03-11 13:14:35 -07:00
  • c1586cc86f Change package name to scoped MatiasManevi 2026-03-11 15:22:36 -03:00
  • bf51c3389a Configure publish npm manual dispatch MatiasManevi 2026-03-11 15:17:02 -03:00
  • de3b9d3426 Merge pull request #3166 from MatiasManevi:npm-package-repo Copybara-Service 2026-03-11 10:43:13 -07:00
  • eda9bbbbd4 Remove workflow dispatch MatiasManevi 2026-03-11 14:29:12 -03:00
  • ad57721e2c Add missing state. Haroon Qureshi 2026-03-11 10:06:03 -07:00
  • f6434110bb Add the required OIDC permissions for trusted published MatiasManevi 2026-03-11 13:36:09 -03:00
  • ecc22667fa Correct polygon winding order for all meshes not only when loaded from a file. Sam Haves 2026-03-11 09:24:44 -07:00
  • 44848de05b chore: run npm pkg fix to normalize repository URL MatiasManevi 2026-03-11 13:24:06 -03:00
  • db9ab94555 Refactor parts of the toolbar GUI into the GUI library. Haroon Qureshi 2026-03-11 08:22:32 -07:00
  • 6d70e66810 Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release Michael Moss 2026-03-11 07:08:02 -07:00
  • ed2f34baa0 Fix logic for looking up root model within an archive. Haroon Qureshi 2026-03-11 06:17:35 -07:00
  • 00707ddb89 mujoco warp documentation: per-world meshes Taylor Howell 2026-03-11 13:15:08 +00:00
  • df02fe4bc0 BodyAddChild PopupContext needs to happen immediately upon triggering it. Haroon Qureshi 2026-03-11 05:19:28 -07:00
  • acf7f030a6 Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations. Kyle Bayes 2026-03-11 04:54:58 -07:00
  • 64ee2d041f Merge pull request #3105 from NandiniDhanrale:fix/vfs-move-3098 Copybara-Service 2026-03-11 04:53:57 -07:00
  • 6d1c3343af Update MJX documentation reference to MJWarp viewer Taylor Howell 2026-03-11 04:42:06 -07:00
  • 87ebe69c00 Remove stale comment Bálint Hodossy 2026-03-11 09:59:54 +00:00
  • 6e6655ee19 Reapply removal of the passive option Bálint Hodossy 2026-03-11 09:56:25 +00:00
  • 3cada28be7 Update changelog for 3.6.0 release. Michael Moss 2026-03-10 16:19:15 -07:00
  • 6890e133c0 Add mjs_getCompiler C API and compiler property to Python spec elements. Sam Haves 2026-03-10 09:56:50 -07:00
  • 0c9083723c fix: release the gil when calling compile in spec.recompile robin.moss 2026-02-23 13:29:15 +00:00
  • d6aac2041e Make filament-opengl the default graphics mode for studio. Haroon Qureshi 2026-03-10 04:58:22 -07:00
  • f1b305632c Allow mesh with octrees in mjc_distance. Alessio Quaglino 2026-03-10 04:40:54 -07:00
  • 955d6c0b02 Update MuJoCo version from 3.5.1 to 3.6.0 prior to next release. Michael Moss 2026-03-10 04:29:38 -07:00
  • 713b5524bc Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp. Alessio Quaglino 2026-03-10 04:25:19 -07:00
  • fe6c81ed93 Internal changes. Haroon Qureshi 2026-03-10 01:55:23 -07:00
  • dade2d8c3e MJX: Use content-hash for np.ndarray pytree metadata fields Sam Haves 2026-03-09 12:34:33 -07:00
  • 84f09f3fa6 Add mesh_normalnum to MJX API. Alessio Quaglino 2026-03-09 11:33:41 -07:00
  • 3a99f6110e Merge pull request #3084 from Ashutosh0x:fix/mingw-stat-localtime Copybara-Service 2026-03-09 09:54:10 -07:00
  • 1e1eb48261 No-op refactor of flex interpolation factorization and solve in mj_implicitSkip. Yuval Tassa 2026-03-09 08:19:40 -07:00
  • 79d14035f9 Merge pull request #3158 from mar-yan24:mark-flexcompFix Copybara-Service 2026-03-09 07:57:21 -07:00
  • 3510537bcb Merge pull request #3027 from Adityakk9031:#2982 Copybara-Service 2026-03-09 07:26:58 -07:00
  • 9362031644 Merge pull request #3112 from LouRohanNV:fixUsdEqualities Copybara-Service 2026-03-09 07:19:09 -07:00
  • cc9a474ed8 Merge pull request #3148 from LouRohanNV:usd-visual-prim-mesh-inertia Copybara-Service 2026-03-09 06:22:17 -07:00
  • ed0d7ba29f Move STL handling to a mjpDecoder. Sam Haves 2026-03-09 06:14:23 -07:00
  • 330c36c99b Fix issue in GJK where the tolerance for x_norm was set too low. Kyle Bayes 2026-03-09 02:14:15 -07:00
  • 1370a54007 Update changelog with tendon Jacobian changes and memory improvements for tendon Jacobian and actuator moment fields Taylor Howell 2026-03-08 03:05:06 -07:00
  • 32ace6d303 MuJoCo Warp documentation: box-box collisions Taylor Howell 2026-03-08 01:54:47 -08:00
  • 95724d1ec2 Fix vfs load for mesh gmeshs type Mark Yang 2026-03-07 21:45:12 -05:00
  • 6bc6c11c49 Add naccdmax to mjx io. Baruch Tabanpour 2026-03-06 13:02:16 -08:00
  • a1bc4f219f Parse UsdPhysicsJoint enabled attr to set equality->active Lou Rohan 2026-03-05 15:45:30 -06:00
  • 42ee943ec5 Fix USD equality decoding Lou Rohan 2026-02-17 16:55:50 -06:00
  • 6a0ebac4b1 Update MJX feature parity documentation Taylor Howell 2026-03-05 09:06:12 -08:00
  • 8dc5cc4c70 Skip tangential components in tactile sensor if mesh has only normals. Alessio Quaglino 2026-03-05 06:35:02 -08:00
  • fce504beea Merge pull request #3129 from LouRohanNV:UsdContactExcludes Copybara-Service 2026-03-05 06:15:59 -08:00
  • 45c7376ab4 Set actuator limits correctly. Haroon Qureshi 2026-03-05 05:33:54 -08:00
  • 35c0a25cf4 No-op implementation for mjr_ functions. Haroon Qureshi 2026-03-05 05:33:43 -08:00
  • f1bcac2952 Merge pull request #2893 from joanllobera:fix/passive-attribute-droped Copybara-Service 2026-03-05 03:18:10 -08:00
  • aef44210cb Rename render to render/classic. Haroon Qureshi 2026-03-05 01:42:54 -08:00
  • 5506fbf506 Rename member history_ to sim_history_. Haroon Qureshi 2026-03-05 01:23:12 -08:00
  • 870f9fea24 Merge pull request #3150 from kevinzakka:fix/principal-point-frustum-sign Copybara-Service 2026-03-04 12:22:39 -08:00
  • b129248be4 Merge pull request #3142 from kevinzakka:simulate-fix Copybara-Service 2026-03-04 11:09:19 -08:00
  • df3c8a2c28 Update MJX documentation headers Taylor Howell 2026-03-04 10:53:17 -08:00
  • b25f8433fe Refactor USD connect and weld equality decoding to align with MuJoCo's relpose semantics. Sam Haves 2026-03-04 08:33:13 -08:00
  • 8ddb5ff97b Re-add ${CMAKE_ARGS} to script which was removed by mistake. Haroon Qureshi 2026-03-04 07:56:18 -08:00
  • 1378ab6d58 Fix indentation Lou Rohan 2026-03-04 09:55:59 -06:00
  • 64597f45d3 Move function that parses the graphics mode from a string into graphics_mode.cc. Haroon Qureshi 2026-03-04 07:29:59 -08:00
  • c70b05e037 Make Renderer more self-contained. Haroon Qureshi 2026-03-04 07:25:51 -08:00
  • 15d8fc13b9 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 2026-03-04 07:06:15 -08:00
  • 4e83e813d7 Update tactile sensor docs. Alessio Quaglino 2026-03-04 06:52:18 -08:00
  • 20efb8ee8d Add missing files. Haroon Qureshi 2026-03-04 05:50:59 -08:00
  • 13d164063c Remove separate targets for classic and filament renderer. Haroon Qureshi 2026-03-04 04:55:22 -08:00