chenlin/Mujoco_WASM
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  • 84682a46b0 Refactor spec editing logic into its own class. Haroon Qureshi 2026-03-04 04:01:22 -08:00
  • 73f73d94f7 Merge renderer+offscreen mode into unified graphics mode. Haroon Qureshi 2026-03-04 03:19:20 -08:00
  • 77ce80bc63 Fix swapped vertical frustum bounds for cameras with principal point offset. Kevin Zakka 2026-03-04 01:03:55 -08:00
  • 8ab791fdf7 Don't produce mesh polygon data unless graph data is present. This fixes some nondeterminism in the compiler. Kyle Bayes 2026-03-04 00:36:22 -08:00
  • a8d6b0c848 Fix extra dim for depth, matches rgb output shape. Baruch Tabanpour 2026-03-03 13:26:00 -08:00
  • b1908c475c Call ParseMjcPhysicsMeshCollisionAPI() on visual prims that have an inertia attribute Lou Rohan 2026-03-03 15:13:23 -06:00
  • 490c1f4126 Refactor mj_collideGeoms. Kyle Bayes 2026-03-03 13:10:21 -08:00
  • 91d3565cd5 Move OBJ handling to a mjpDecoder. Sam Haves 2026-03-03 11:21:00 -08:00
  • 0974612338 Reformat README.md for better readability. Google DeepMind 2026-03-03 09:20:14 -08:00
  • c94a5f3bad Merge pull request #3117 from MatiasManevi:wasm-npm-package Copybara-Service 2026-03-03 05:35:35 -08:00
  • ace8e52407 MuJoCo Warp documentation: Physics callbacks Taylor Howell 2026-03-03 02:37:56 -08:00
  • 327f05a567 Fix macOS crash on viewer close (NSScreen main-thread assertion) Kevin Zakka 2026-03-02 12:48:38 -08:00
  • 6f52631a2a Fix process hang on viewer close in launch_passive Kevin Zakka 2026-03-02 12:21:34 -08:00
  • 07fdf1f465 Cleanup wasm package script MatiasManevi 2026-03-02 15:20:44 -03:00
  • a06c091157 Fix repeated call to restrict pointer. Kyle Bayes 2026-03-02 10:02:24 -08:00
  • d00ddea269 Merge mjc_ccdIteration into mjc_penetration. Kyle Bayes 2026-03-02 09:17:22 -08:00
  • bf74d01d93 Add collisions between flexes and SDF geoms. Alessio Quaglino 2026-02-27 14:34:25 -08:00
  • c2e67ab507 Refactor Mesh-SDF collision to use farthest point sampling and mjMAXCONPAIR. Alessio Quaglino 2026-02-27 09:41:51 -08:00
  • 67b6ab0589 Update mjx-warp docs. Baruch Tabanpour 2026-02-26 17:25:48 -08:00
  • 07cda5a3c4 Refactor MJX warp RenderContext, get rid of brittle pytree owner pattern. Baruch Tabanpour 2026-02-26 14:48:56 -08:00
  • 07d7bc95e3 Expose vsm blur width parameter. Haroon Qureshi 2026-02-26 08:22:54 -08:00
  • b71cdfb4ec Fix documentation describing relpose for weld equality. Sam Haves 2026-02-26 07:53:22 -08:00
  • 47a750d4a6 Restore mesh-SDF collisions. Alessio Quaglino 2026-02-26 07:39:06 -08:00
  • 0ec836b281 Rollback of Move OBJ handling to a mjpDecoder. Sam Haves 2026-02-26 07:03:57 -08:00
  • 55d7226b06 Improve error handling of spec editor compilation. Haroon Qureshi 2026-02-26 06:58:06 -08:00
  • 19b583a421 Merge pull request #3134 from kevinzakka:sensoracc-rnepost Copybara-Service 2026-02-26 06:58:48 -08:00
  • 137a504625 Add imgui stdlib target. Haroon Qureshi 2026-02-26 06:12:51 -08:00
  • a9675fbaa6 Add an Editor panel. Haroon Qureshi 2026-02-26 04:50:31 -08:00
  • 7232ec3b47 Refactor constraint tree iteration and island assignment. Yuval Tassa 2026-02-25 18:48:06 -08:00
  • b7e192e514 Expose VSM EL options. Haroon Qureshi 2026-02-25 15:36:00 -08:00
  • 43cde9716c Fix mj_sensorAcc returning zero after mj_step1 by clearing flg_rnepost in mj_step2. Kevin Zakka 2026-02-25 13:59:33 -08:00
  • 42d843a0fd Separate mjModel/mjData ImGui table helper from mjSpec ImGui table helper. Haroon Qureshi 2026-02-25 12:36:27 -08:00
  • 53fadd9d63 Improve nJmom by counting number of dofs for slidercrank and site transmissions Taylor Howell 2026-02-25 10:40:52 -08:00
  • b907ffedaa Move OBJ handling to a mjpDecoder. Sam Haves 2026-02-25 09:11:54 -08:00
  • abdea379af Allow the shadow type and map size to be configured in data. Haroon Qureshi 2026-02-25 08:33:59 -08:00
  • 0c66585e39 Fix typos and minor corrections in MuJoCo documentation and comments. Yuval Tassa 2026-02-25 07:56:01 -08:00
  • 7dd76bcbd7 Merge branch 'main' into wasm-npm-package MatiasManevi 2026-02-25 12:05:20 -03:00
  • 940cab2508 Rename MuJoCo WASM output artifacts to mujoco.*. Google DeepMind 2026-02-25 06:50:08 -08:00
  • 757758dd2e Rename all filament mjr_ functions to mjrf_. Haroon Qureshi 2026-02-25 05:43:22 -08:00
  • 22e3217fc0 Replace TriangleMeshDistance with custom BVH-based SDF computation. Alessio Quaglino 2026-02-25 04:46:49 -08:00
  • 52ed96bc3a Move tendon sparsity fields from mjData to mjModel Taylor Howell 2026-02-25 04:31:37 -08:00
  • 253494739a Read the clear color from the model if available Matija Kecman 2026-02-25 04:08:31 -08:00
  • 84205f7dd0 Isolate libccd logic in mjc_penetration. Kyle Bayes 2026-02-25 03:52:48 -08:00
  • cd8bfb90c3 Improve polygon creation logic in compiler. Kyle Bayes 2026-02-25 03:39:37 -08:00
  • d0fc1c2c83 MuJoCo Warp documentation: SDF plugins Taylor Howell 2026-02-25 03:16:02 -08:00
  • ae7efead09 Show MuJoCo version in the help menu. Haroon Qureshi 2026-02-25 03:10:42 -08:00
  • 27dc92b056 Fix typo in modeling.rst. Yuval Tassa 2026-02-25 02:50:53 -08:00
  • 40e0007849 Restructure numeric constants table in API docs Yuval Tassa 2026-02-25 00:53:38 -08:00
  • a83fa7299d Add support for loading XML models with VFS in WASM bindings. Google DeepMind 2026-02-24 13:08:14 -08:00
  • bad7e29d3b Cleanup readme and publish step MatiasManevi 2026-02-24 17:10:06 -03:00
  • c17eb431cb Move publish step to sh file MatiasManevi 2026-02-24 16:58:32 -03:00
  • 09c7633a76 Add caching for flex stiffness computation. Alessio Quaglino 2026-02-24 10:44:41 -08:00
  • 1db1dfe6a0 Remove empty lines MatiasManevi 2026-02-24 15:08:57 -03:00
  • 3bbb548991 Add memory management section to readme MatiasManevi 2026-02-24 15:04:18 -03:00
  • f383e60721 Merge pull request #3130 from MatiasManevi:fix-wasm-demo Copybara-Service 2026-02-24 09:04:11 -08:00
  • 94acdb33bd Fix Impl.CPP memory leaks due to mjModel/mjData not clearing from pytree. Google DeepMind 2026-02-24 08:16:39 -08:00
  • 1d6ff2cece Display Bodies as a tree in Spec Explorer. Haroon Qureshi 2026-02-24 07:57:01 -08:00
  • 5fc580a8ba Refactor SDF coefficient computation into mjCOctree. Alessio Quaglino 2026-02-24 06:03:24 -08:00
  • c791f950cb Enable COOP/COEP headers for wasm Vite dev servers MatiasManevi 2026-02-23 18:41:47 -03:00
  • f27b8d3d70 Move notes into example application section MatiasManevi 2026-02-23 18:13:44 -03:00
  • f989d40d89 Merge wasm readme for package MatiasManevi 2026-02-23 17:55:15 -03:00
  • 12c2e98a61 Modify npm package keywords MatiasManevi 2026-02-23 17:42:44 -03:00
  • c6564b1f79 Change package name and artefacts MatiasManevi 2026-02-23 17:32:44 -03:00
  • 82e92cbcaa Remove PluginTest and make MujocoTest load plugins. Sam Haves 2026-02-23 12:14:37 -08:00
  • e895820e24 Check for the UsdPhysicsFilteredPairsAPI in the body parsing function Lou Rohan 2026-02-23 12:51:02 -06:00
  • 4fe8f73e44 Add USD parsing for contact excludes Lou Rohan 2026-02-23 12:44:22 -06:00
  • 6ec808e2ce Fix attach for spatial tendon. Fixes #3119. Taylor Howell 2026-02-23 07:38:02 -08:00
  • a043df6bdf Update supported Python versions and remove obsolete 3.9 references. Michael Moss 2026-02-23 07:28:45 -08:00
  • 37e993f67e Improve upper bound for nJmom by computing maximum number of dofs for tendon transmissions Taylor Howell 2026-02-23 07:10:49 -08:00
  • 2bf9539234 MJX put_data with impl='warp' Taylor Howell 2026-02-23 05:19:13 -08:00
  • ba0a5fe4db Fix section underline length in MJWarp docs Yuval Tassa 2026-02-23 02:23:31 -08:00
  • 6b9e0b9e15 MJX API documentation: add Any to exclude-members Taylor Howell 2026-02-23 02:23:07 -08:00
  • 9d6d9089e5 Improve solver parameter documentation, in particular for frictional constraints. Yuval Tassa 2026-02-21 09:14:24 -08:00
  • c428f675e7 MuJoCo Warp documentation: Update installation instructions Taylor Howell 2026-02-20 12:44:39 -08:00
  • 0f36b0fc2e Import NVIDIA/warp from GitHub. Baruch Tabanpour 2026-02-20 10:28:15 -08:00
  • e5a236774d Add has_side_effect for pmap bvh refit in mjx-warp. Baruch Tabanpour 2026-02-20 09:20:38 -08:00
  • 7d4b615edb Use correct WIN32 define, not WINDOWS. Haroon Qureshi 2026-02-20 06:09:15 -08:00
  • f9a39413cf Fix: Include ancestor DOFs in flex interpolation factorization. Alessio Quaglino 2026-02-20 05:30:12 -08:00
  • 8c9ba9bcf5 Disable plugin on windows. Haroon Qureshi 2026-02-20 04:59:04 -08:00
  • f71e215c9a Include missing header. Haroon Qureshi 2026-02-20 04:23:16 -08:00
  • 0083cf7fa8 Refactor the projectile launcher into a plugin. Haroon Qureshi 2026-02-20 03:18:55 -08:00
  • 28ad603f6b Use templates and macros to reduce boilerplate. Haroon Qureshi 2026-02-20 02:42:13 -08:00
  • a79747334b Merge pull request #3116 from StafaH:render_doc_fix Copybara-Service 2026-02-20 02:22:32 -08:00
  • f0bf403254 Add a delete button to the highlighted element. Haroon Qureshi 2026-02-20 02:08:16 -08:00
  • 82694b520b Re-apply changes that were accidentally deleted. Haroon Qureshi 2026-02-20 01:27:20 -08:00
  • 8f56d5eefa Minor style fixes Matija Kecman 2026-02-19 19:15:44 -08:00
  • ca0552c83b Cleanup Studio toolbar Matija Kecman 2026-02-19 16:33:52 -08:00
  • 8ba68cee3e Limit the number of flex contacts per collision pair. Alessio Quaglino 2026-02-19 15:31:32 -08:00
  • fe50efd41a Sparse tendon Jacobian update for MuJoCo Warp Taylor Howell 2026-02-19 13:51:54 -08:00
  • 86bca81d18 Update mjx docs and changelog. Baruch Tabanpour 2026-02-19 13:17:23 -08:00
  • 62a32386d6 Add pmap support for mjx-warp render. Baruch Tabanpour 2026-02-19 13:13:41 -08:00
  • 84431fbf7e Improved upper bound for nJten Taylor Howell 2026-02-19 11:07:41 -08:00
  • 9efe41c0c1 Remove dense code path for tendon Jacobian Taylor Howell 2026-02-19 09:53:11 -08:00
  • 10524c28dd Track and restore viscous pause state every frame. Haroon Qureshi 2026-02-19 07:05:56 -08:00
  • a9edc5dd89 Add publish workflow and minimal npm package for WASM MatiasManevi 2026-02-19 09:40:29 -03:00
  • cdc1f266c6 Merge pull request #3114 from thowell:lint Copybara-Service 2026-02-19 04:31:19 -08:00
  • 3c5986fe50 Minor edit to MJWarp batch rendering documentation Mustafa Haiderbhai 2026-02-19 07:20:31 -05:00
  • ab80bd0916 Allow model holder to release ownership of mujoco structs. Haroon Qureshi 2026-02-19 00:05:21 -08:00
  • ccd282b036 Update MJX docs with MJX-Warp. Baruch Tabanpour 2026-02-18 16:01:48 -08:00
  • 3c858f871b Keep render_util arg order consistent between mujoco_warp and mjx-warp. Baruch Tabanpour 2026-02-18 14:56:04 -08:00