chenlin/Mujoco_WASM
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  • c996f288e1 Add code generation for mjModel named accessors. Google DeepMind 2026-01-14 07:30:43 -08:00
  • cc4c2bc398 Improve wording in changelog. Yuval Tassa 2026-01-14 07:28:30 -08:00
  • 5a7abfe8a0 Set cleared memory back to nullptr. Haroon Qureshi 2026-01-14 06:37:58 -08:00
  • f3ad0eff2b Fix body category check for mocap body descendants in visualization. Yuval Tassa 2026-01-14 06:05:55 -08:00
  • d387578783 Refactor mjVFS and resource management. Haroon Qureshi 2026-01-14 05:18:49 -08:00
  • e50e2e9691 Correct dimensions for constraint-related quantities in documentation. Yuval Tassa 2026-01-14 04:53:32 -08:00
  • 218226fc95 Breaking change: Add surface normal output to MuJoCo raycast functions. Yuval Tassa 2026-01-13 10:21:31 -08:00
  • 37762e3f70 Add support for vfs assets in mj_compile function to MuJoCo WASM. Google DeepMind 2026-01-13 08:35:51 -08:00
  • 7e21f18fd3 Document compiler/usethread fix. Yuval Tassa 2026-01-13 08:20:56 -08:00
  • a49576e469 Move flexedge sparse Jacobian indices to mjModel. Alessio Quaglino 2026-01-13 07:32:31 -08:00
  • 09a6fb7d4d #mjspec Enforce that material textures array is always of length mjNTEXROLE. Google DeepMind 2026-01-13 05:54:06 -08:00
  • a93db89d43 Merge pull request #2945 from hartikainen:instsance-typo Copybara-Service 2026-01-13 05:34:00 -08:00
  • 1f83bbf69d Import NVIDIA/warp from GitHub. Baruch Tabanpour 2026-01-12 17:07:05 -08:00
  • 071cb83fe7 Strip the prefix correctly. Haroon Qureshi 2026-01-12 10:58:27 -08:00
  • 7e45bbb51c Add urdf file extension case to mj_parse. Sam Haves 2026-01-12 08:57:57 -08:00
  • 013268c283 Documentation: Pair-wise colliders. Taylor Howell 2026-01-12 08:46:35 -08:00
  • 1cda1e7a8c Prevent degenerate body inverse weights in constraints. Yuval Tassa 2026-01-12 07:42:18 -08:00
  • f0e1d8ce2c Fix typo in XML reference: damping -> damper. Yuval Tassa 2026-01-12 06:12:22 -08:00
  • a6a9a85007 Implement get_data_into_cpp and make_data_cpp. Google DeepMind 2026-01-12 05:53:23 -08:00
  • 5979c5aa03 Fix link in changelog. Yuval Tassa 2026-01-12 05:21:18 -08:00
  • cb9a9c159c Remove getdir from mjpResourceProvider. Haroon Qureshi 2026-01-12 04:06:33 -08:00
  • d7e4038be8 Expose mj_copyData in Python bindings. Yuval Tassa 2026-01-12 03:20:08 -08:00
  • 1d482047d1 MuJoCo Warp documentation: How to fix simulation runtime warnings? Taylor Howell 2026-01-12 03:16:07 -08:00
  • a26f09accf Standardize function docstring style in MuJoCo API. Yuval Tassa 2026-01-11 08:59:30 -08:00
  • 8abedf263e Add checks for nullptr content_type and extension in mjpDecoder registration. Sam Haves 2026-01-09 15:31:27 -08:00
  • a5dc57c0c3 Move OpenUSD parsing to usd_decoder Sam Haves 2026-01-09 14:47:37 -08:00
  • 64a2345c07 Fix usethread check to enable multithreaded mesh compilation. Sam Haves 2026-01-09 10:59:01 -08:00
  • 9e9314a4a4 Ensure parsing always has a valid VFS. Haroon Qureshi 2026-01-09 10:44:53 -08:00
  • e37c2268a6 Release gil when compiling spec. Sam Haves 2026-01-09 09:49:24 -08:00
  • 45e164bf8f Refactor 'ParseXML' and 'ParseSpecFromString' to use a shared helper function. Haroon Qureshi 2026-01-09 08:39:35 -08:00
  • 398e3dcf15 Use mj_parseXMLString instead of a test-specific LoadFromModelString. Haroon Qureshi 2026-01-09 06:33:08 -08:00
  • 2c4f710cf4 Ensure resource providers are correctly initialized. Haroon Qureshi 2026-01-09 02:06:21 -08:00
  • ce74475c39 Delete VFS created from assets dict before throwing error. Sam Haves 2026-01-08 12:13:01 -08:00
  • 310ac0c5ac MuJoCo Warp documentation: When To Use MJWarp? Taylor Howell 2026-01-08 11:53:44 -08:00
  • 166fa17a1c MuJoCo Warp documentation: inertia matrix automatic sparsity. Taylor Howell 2026-01-08 10:46:29 -08:00
  • 2f2f9a30ba When loading models use mj_parse instead of mj_parseXML, and allow non-xml file types. Sam Haves 2026-01-08 07:22:08 -08:00
  • 1f4bb39b53 Fix typo in comment. Yuval Tassa 2026-01-08 05:55:20 -08:00
  • ab939683bc MuJoCo Warp documentation: Why are numerical results from MJWarp and MuJoCo different?. Taylor Howell 2026-01-08 05:33:25 -08:00
  • 765bd54c7c Move GlobalModel class and functionality into its own file. Haroon Qureshi 2026-01-08 03:07:15 -08:00
  • 8f5eb1e4f4 Improve bounds checking in engine_util_solve.c. Yuval Tassa 2026-01-08 02:42:05 -08:00
  • a92574837e Fix XML loading in wasm demo app. Fixes #2960 ShanningZhuang 2026-01-08 02:17:41 -08:00
  • 07deca990a Merge pull request #3006 from thowell:mujoco_warp_docs_modifying_fields Copybara-Service 2026-01-08 01:32:50 -08:00
  • f4beb95212 Merge pull request #2990 from google-deepmind:mjwarp_doc_batched_model_field_warning Copybara-Service 2026-01-07 14:46:36 -08:00
  • f703a0e023 Import google-deepmind/mujoco_warp from GitHub. Taylor Howell 2026-01-07 11:41:02 -08:00
  • 608115ab95 Add output attribute to camera elements. Yuval Tassa 2026-01-07 10:19:35 -08:00
  • 3c93d6b979 Move cache creation into lambda initializer to avoid data race. Sam Haves 2026-01-07 09:29:06 -08:00
  • e1261ba5f1 Fix perturbation rendering in webdemo Matija Kecman 2026-01-07 09:17:32 -08:00
  • 775c0698c3 MJCF schema: use responsive grids for attributes Yuval Tassa 2026-01-07 07:59:17 -08:00
  • 5febca9eeb Remove gainprm trailing dimension in test_actuator_shortname. Alessio Quaglino 2026-01-07 06:58:51 -08:00
  • 5be6f262b2 Fix legend call in MuJoCo tutorial notebook. Fixes #2447 Yuval Tassa 2026-01-07 05:41:45 -08:00
  • 9743c2d385 Use mjResourceProvider instead of custom LoadAsset callbacks. Haroon Qureshi 2026-01-07 03:02:06 -08:00
  • 4830f5a79e Add missing documentation for the asset cache. Yuval Tassa 2026-01-06 11:06:28 -08:00
  • 4a21b0ee01 Merge pull request #2831 from DavidPL1:fix-sample-compile-exitcodes Copybara-Service 2026-01-06 10:18:43 -08:00
  • 3868ed0382 Improve XML schema usability Yuval Tassa 2026-01-06 09:50:45 -08:00
  • fa044fe0e5 Use the word "primal" for things that relate to both Newton and CG. Yuval Tassa 2026-01-05 23:55:45 -08:00
  • fa70f73691 fix generate_spec_bindings.py Taylor Howell 2026-01-05 12:41:14 -08:00
  • 90449f7521 Update codegen for mjSpec add functions to add typed arguments and docstring. Taylor Howell 2026-01-05 10:13:39 -08:00
  • 47ea0e76ae mujoco warp documentation: update modifying fields Taylor Howell 2026-01-04 14:00:53 +00:00
  • fba2021091 MuJoCo Warp documentation: Modifying fields. Taylor Howell 2026-01-03 10:48:05 -08:00
  • 28f14b3258 MuJoCo Warp documentation: Update Batched Model Fields code example. Taylor Howell 2026-01-03 09:56:24 -08:00
  • e3ddb126f5 Fix target name; should be PLATFORM not STUDIO. Haroon Qureshi 2026-01-02 06:02:21 -08:00
  • b9fa8ee6e9 Move all specialized rendering logic into Renderer class. Haroon Qureshi 2026-01-02 04:22:34 -08:00
  • 14e90f3897 MuJoCo Warp documentation: Array shapes. Taylor Howell 2026-01-01 02:45:41 -08:00
  • 451f40fa87 Link to Rust bindings in README. Yuval Tassa 2025-12-29 03:56:36 -08:00
  • 9f674b04a9 Fix ground plane rendering when using filament backend Matija Kecman 2025-12-24 01:24:56 -08:00
  • 70bc7be4bc Add additional data fields that can be reported by rangefinder sensors. Yuval Tassa 2025-12-23 15:31:53 -08:00
  • f2e9097ed6 Change mjsCamera.resolution type from float to int. Yuval Tassa 2025-12-23 13:13:38 -08:00
  • 9d646e6548 Extend rangefinder sensor to support cameras. Yuval Tassa 2025-12-23 12:03:37 -08:00
  • 4a871990e9 Fix mismatched signature in engine_ray.c Yuval Tassa 2025-12-22 11:40:20 -08:00
  • b28b5db680 Add mj_multiRayNormal for multi-ray casting with normal computation (not exposed in public header) Yuval Tassa 2025-12-22 11:01:53 -08:00
  • 7fddeeaff6 Minor fixes to mj_multiRay Yuval Tassa 2025-12-22 08:51:33 -08:00
  • a3e66cd5df Combine performance charts; add fullscreen mode. Haroon Qureshi 2025-12-22 07:07:28 -08:00
  • 223ba99ec2 Add mju_rayFlexNormal (not exposed in public header) Yuval Tassa 2025-12-22 06:48:06 -08:00
  • c7f5766345 Add frustum visualization for orthographic cameras. Yuval Tassa 2025-12-22 03:42:46 -08:00
  • 158525269b Refactor camera intrinsic parameter handling. Yuval Tassa 2025-12-22 03:06:36 -08:00
  • b77977a962 Update Programming/simulation chapter. Yuval Tassa 2025-12-21 08:15:49 -08:00
  • b8a4ac5d48 Refactor camera orthographic attribute to projection enum. Yuval Tassa 2025-12-20 03:27:42 -08:00
  • 44c8ef890d When building with USD enabled, add functionality that automatically registers the mujoco USD plugins. Sam Haves 2025-12-19 09:38:03 -08:00
  • 3d9c195e3c Fix rpath for usd target shared libs. Sam Haves 2025-12-19 09:13:37 -08:00
  • 849a650143 Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup. Yuval Tassa 2025-12-19 08:56:43 -08:00
  • 2935af23f0 Add MJAPI to Get/SetUsdPrimPathUserValue declarations. Sam Haves 2025-12-19 08:30:20 -08:00
  • 9e150fe82c Add separate build step for OpenUSD to third_party_deps. Sam Haves 2025-12-19 07:59:17 -08:00
  • 76e0a78b32 Use two-step sparse Cholesky in Newton solver. Yuval Tassa 2025-12-19 07:19:01 -08:00
  • 45b0153067 Refactor sparse Cholesky factorization into symbolic and numeric phases. Yuval Tassa 2025-12-19 06:11:02 -08:00
  • d1fd11bccd Refactor SaveScreenshot into a more useful RenderToTexture function. Haroon Qureshi 2025-12-19 03:33:07 -08:00
  • 522ff1cd80 Allow ImGui uploaded images to be resized or destroyed. Haroon Qureshi 2025-12-18 11:41:04 -08:00
  • b5b654f00c Correctly handle segmentation and ID_COLOR flag in filament. Sam Haves 2025-12-18 10:12:19 -08:00
  • 05e1c452c7 Add VFS parameter to mjpDecoder decoding function. Sam Haves 2025-12-18 06:37:36 -08:00
  • bebdd62943 Allow studio to search for models in predetermined search paths. Haroon Qureshi 2025-12-18 06:31:34 -08:00
  • 7190bd4912 Add flag for depth rendering. Haroon Qureshi 2025-12-18 04:35:28 -08:00
  • 47e35e632f Add a test for equivalence of different solvers. Yuval Tassa 2025-12-17 08:20:43 -08:00
  • e95f46f84a MuJoCo Warp documentation: sparse Jacobians. Taylor Howell 2025-12-16 10:41:55 -08:00
  • 08b4b4144d Add tests for mju_cholUpdate and mju_cholUpdateSparse. Yuval Tassa 2025-12-16 05:58:50 -08:00
  • 2b9940bc67 Add private function mju_fillInt Yuval Tassa 2025-12-16 05:15:57 -08:00
  • 477a14dcb2 Add WASM binding for mj_compile. Google DeepMind 2025-12-15 11:56:41 -08:00
  • eef71832db Remove usage of usdImaging tokens to avoid needing to build imaging. Sam Haves 2025-12-15 07:43:27 -08:00
  • 8e39d50496 mujoco warp documentation: batched model fields graph capture warning Taylor Howell 2025-12-15 15:34:02 +00:00
  • 52ca07e210 Decoder decode function should take a non-const pointer to mjResource. Haroon Qureshi 2025-12-15 06:03:03 -08:00
  • f0572c735a MuJoCo Warp documentation: Collision sensors. Taylor Howell 2025-12-15 03:36:19 -08:00
  • b64b527e13 Import google-deepmind/mujoco_warp from GitHub. Taylor Howell 2025-12-15 02:29:15 -08:00