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  • 57faf5f63a Credit linear-memory island discovery teerthsharma 2026-07-20 09:25:27 +05:30
  • 7ae4f22693 Restore flex island invariants in comments teerthsharma 2026-07-20 09:19:33 +05:30
  • cdda847191 Restore static-constraint island diagnostic teerthsharma 2026-07-20 09:12:58 +05:30
  • 8d9f230514 Export disjoint-set island helpers directly teerthsharma 2026-07-20 08:59:54 +05:30
  • d9c8bcbc8f Remove temporary island benchmark teerthsharma 2026-07-20 08:43:20 +05:30
  • 5d91d878c2 Benchmark and expose disjoint-set islands teerthsharma 2026-07-18 16:59:24 +05:30
  • ba2782140f Revert unvalidated island topology cache teerthsharma 2026-07-11 19:13:30 +05:30
  • bc32db7f25 Cache island topology data teerthsharma 2026-07-11 19:08:15 +05:30
  • 03203e2f32 Update engine_island.c teerthsharma 2026-07-11 11:50:50 +05:30
  • 52ddcbc81a Build native islands directly from constraint incidence teerthsharma 2026-07-11 09:48:54 +05:30
  • 5ea4c3a58c Merge pull request #3406 from devshahofficial:agent/pr3157-attach-mjcwrap Copybara-Service 2026-07-20 09:39:43 -07:00
  • a264d0bc8b Add geom adhesion: contacts that pull, via translated friction cones. Yuval Tassa 2026-07-20 08:35:17 -07:00
  • b942c9f922 Update MuJoCo version to 3.11.0 in preparation for breaking changes release. Michael Moss 2026-07-20 07:25:40 -07:00
  • 8196ca17f8 studio: catch KeyboardInterrupt in samples and format imports. Matija Kecman 2026-07-20 07:19:26 -07:00
  • a62bf19e64 Re-enable ccache, which appears unrelated to the test failures. Michael Moss 2026-07-20 04:14:25 -07:00
  • 1a33ca4ae5 Release docs auto-generation scripts and test Yuval Tassa 2026-07-20 04:11:23 -07:00
  • 78946ca94e Adding type suppressions for pyrefly Hana Joo 2026-07-20 02:39:22 -07:00
  • 00abc5465f Function for converting mjvCamera to mjrCamera. Haroon Qureshi 2026-07-20 01:39:59 -07:00
  • 6f487086a5 Add MUJOCO_ENABLE_LTO CMake option to make LTO configurable. Fixes #3374, #2904 Yuval Tassa 2026-07-19 23:45:27 -07:00
  • 3990305373 Add docstrings to mjCPair. Kyle Bayes 2026-07-19 07:38:23 -07:00
  • 9bf03e6056 improve wording in changelog Yuval Tassa 2026-07-17 16:07:25 -07:00
  • a04b0c5b97 Add boolean flags for gravity compensation and surface velocity in mjModel. Yuval Tassa 2026-07-17 15:04:37 -07:00
  • ebd4abae03 Add model.xml fallback search path to mjz decoder Sam Haves 2026-07-17 12:02:03 -07:00
  • e3293a5f29 Add fields for flex collisions in threaded narrowphase. Kyle Bayes 2026-07-17 10:48:01 -07:00
  • 135b482c9d Copybara import of the project: Yuval Tassa 2026-07-17 10:01:47 -07:00
  • 56a93979e0 Interpret position and intvelocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle. The force uses the setpoint representative nearest the current length for smooth tracking beyond pi. Yuval Tassa 2026-07-17 07:48:46 -07:00
  • 9331c1cd9b Disable ccache to see if it fixes random test crash issues. Michael Moss 2026-07-17 05:58:19 -07:00
  • b75470a1e0 Merge pull request #3387 from bd-pmorais:pmorais/renderer-live-mat-texid Copybara-Service 2026-07-17 01:23:40 -07:00
  • 3e1dffc286 Fix attached tendon wrap model pointers devshahofficial 2026-07-16 15:00:57 -07:00
  • 54bf99f116 Remove Mac x86 from the build matrix. Michael Moss 2026-07-16 10:47:22 -07:00
  • cadf3bdedd Add changelog entry for effective metric flex elasticity. Alessio Quaglino 2026-07-16 07:34:20 -07:00
  • 03e484116d Reflect mjvgeom texture field changes in the filament renderer Pedro Morais 2026-07-16 10:29:00 -04:00
  • 0ce5e98916 Use mj_id2name in viewer code where appropriate. Yuval Tassa 2026-07-16 06:50:38 -07:00
  • a77dff84a4 Apply unsymmetrized fluid derivatives to standalone free bodies in implicitfast. Yuval Tassa 2026-07-16 04:47:07 -07:00
  • eeda4d0984 Use body center-of-mass (subtree_com) instead of lookat point for tracking cameras. Haroon Qureshi 2026-07-16 02:39:13 -07:00
  • 3b63fbc6ba Correctly apply visibility state from mjvOption. Haroon Qureshi 2026-07-16 00:23:15 -07:00
  • f841b67c17 Fix some changelog links Yuval Tassa 2026-07-15 18:05:14 -07:00
  • 4787c8094c Add geom surfacevel: zero-dof conveyors, treadmills and turntables. Yuval Tassa 2026-07-15 17:57:28 -07:00
  • 97eb1e5d0c Merge pull request #3403 from rkothari3:docs-simulate-shortcuts Copybara-Service 2026-07-15 15:14:29 -07:00
  • ea230a950c Implicit flex elasticity in the CG constraint solver via an effective metric Alessio Quaglino 2026-07-15 14:56:57 -07:00
  • f0fa3d8260 Remove midpoint integration, superseded by free-body gyroscopic derivatives. Yuval Tassa 2026-07-15 12:07:10 -07:00
  • 0a6b631d4b Make change non-breaking per haroonq's feedback Pedro Morais 2026-07-15 11:53:22 -04:00
  • b2106db52f Update studio to use mjv_moveCamera. Haroon Qureshi 2026-07-15 08:50:43 -07:00
  • d507e92198 Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs). Yuval Tassa 2026-07-15 08:29:38 -07:00
  • 06f12a9372 Set max in hill climbing support. When imax is the optimal index then this reduces from three iterations down to one. Kyle Bayes 2026-07-15 07:50:16 -07:00
  • 52317058ba Add pan/tilt motions to mjv_moveCamera. Haroon Qureshi 2026-07-15 06:49:46 -07:00
  • 1e85ce176f Migrate filament header documentation to docs. Haroon Qureshi 2026-07-15 06:14:09 -07:00
  • b60609d2a1 Add links to numbered changelog entries. Yuval Tassa 2026-07-15 04:34:00 -07:00
  • 64d4b3bdb2 Fix changlelog item numbering Yuval Tassa 2026-07-15 03:24:49 -07:00
  • fa36015bae Remove unneeded mjvScene argument from mjv_moveCamera. Haroon Qureshi 2026-07-15 02:25:31 -07:00
  • 6c78c8664e Merge pull request #3340 from devshahofficial:devshahofficial/mjr-renderer-info Copybara-Service 2026-07-15 01:37:11 -07:00
  • c69ef03083 Add zero-iteration early exit to the primal solvers, certified by the duality gap. Yuval Tassa 2026-07-14 17:23:26 -07:00
  • 2fe87a4833 docs: add full keyboard and mouse shortcut reference for simulate rkothari3 2026-07-14 14:01:25 -04:00
  • 1e66efd114 Add the Newton decrement as a termination criterion of the Newton solver. Yuval Tassa 2026-07-14 10:29:30 -07:00
  • 2444defc63 Support arbitrary large meshes in multiccd by reusing EPA memory. Kyle Bayes 2026-07-14 08:47:52 -07:00
  • 0afafacfc5 Add fixed-size 6x6 dense LU factorization with benchmark. Yuval Tassa 2026-07-14 08:37:32 -07:00
  • b7af32ac87 Merge pull request #3363 from ebms03:fix-resolve-plugin-segfault Copybara-Service 2026-07-14 05:47:35 -07:00
  • 23cc383372 internal change Yuval Tassa 2026-07-14 03:59:06 -07:00
  • 0ce8f7b06b Replace functionally opaque Viscous Pause with functionally transparent "Viscous posing mode" toggle. Yuval Tassa 2026-07-14 01:49:40 -07:00
  • 3c6080b1c0 Add a CMake deps cache to improve build reliability and speed. Michael Moss 2026-07-14 01:37:37 -07:00
  • 796b803ecf Calibrate float32 tolerances for several engine tests. Yuval Tassa 2026-07-14 00:51:07 -07:00
  • 6afe13573b Fix single-precision (mjUSESINGLE) CMake builds. Yuval Tassa 2026-07-13 19:01:38 -07:00
  • 07c14a7c1a Update user_model_test.cc ebms03 2026-07-13 20:46:07 +02:00
  • fc5ed199a6 Update user_model_test.cc ebms03 2026-07-13 17:03:51 +02:00
  • fb4686d049 Update CMakeLists.txt ebms03 2026-07-13 16:58:55 +02:00
  • 9b053d68e9 Merge pull request #3395 from google-deepmind:dependabot/pip/mjx/pip-26.1.2 Copybara-Service 2026-07-13 06:13:22 -07:00
  • dddb2767c6 Include gap in body_margin, fixing mid-phase pruning of in-gap contacts. Yuval Tassa 2026-07-13 05:04:08 -07:00
  • f5f9d9efb7 Fix bug in mesh normal scaling for nonuniform mesh scales. Yuval Tassa 2026-07-13 03:56:14 -07:00
  • fbf031a7d5 Replace functionally opaque Viscous Pause with functionally transparent "Viscous posing mode" toggle. Google DeepMind 2026-07-11 13:47:08 -07:00
  • 94132c75c7 Remove dead code. Haroon Qureshi 2026-07-11 13:12:50 -07:00
  • 724a6c6623 Replace functionally opaque Viscous Pause with functionally transparent "Viscous posing mode" toggle. Yuval Tassa 2026-07-11 13:00:13 -07:00
  • 892d889793 Fix numerical instability in elliptic contact line search. Yuval Tassa 2026-07-11 03:03:53 -07:00
  • 4a03a61734 Fix engine_util_sparse_test on MSVC Yuval Tassa 2026-07-10 18:27:52 -07:00
  • bc3f17107e Bump pip from 26.1 to 26.1.2 in /mjx dependabot[bot] 2026-07-10 20:38:40 +00:00
  • d6650f84e5 Remove engine_util_container and its test. Yuval Tassa 2026-07-10 07:25:22 -07:00
  • 0cb3fad654 Add missing tests to cmake Yuval Tassa 2026-07-10 07:24:20 -07:00
  • e6452e2c88 Rename testspeed argument npoolthread to nenginethread. Yuval Tassa 2026-07-10 07:18:55 -07:00
  • ff629889da Increase default sleep_tolerance from 1e-4 to 1e-3. Yuval Tassa 2026-07-10 07:14:06 -07:00
  • 40feb498a1 Clear material instance assignments at start of frame. Haroon Qureshi 2026-07-10 03:56:05 -07:00
  • f6f80cd0a0 Import google-deepmind/mujoco_warp from GitHub. Taylor Howell 2026-07-10 02:37:15 -07:00
  • cb28d0c7d1 Merge pull request #3381 from tkelestemur:tarik/mjx-warp-put-model-nworld Copybara-Service 2026-07-10 02:02:02 -07:00
  • 2f650a7beb Studio: extract TimelineScrubberGui and add it to the toolbar. Yuval Tassa 2026-07-10 01:26:04 -07:00
  • dc7581acfa Add pluggable resource writing to MuJoCo Sam Haves 2026-07-09 10:47:01 -07:00
  • d43c3ed426 Move texture block copy out of render context so it can be modified online via mjmodel Pedro Morais 2026-07-09 11:08:43 -04:00
  • bdeb7e7c4d Revert addition of Clang-19 and 20 from Linux Compilers matrix. Michael Moss 2026-07-09 07:12:02 -07:00
  • faf0dabc32 Fix damper kv inheritance from default classes in XML native reader Google DeepMind 2026-07-09 06:43:38 -07:00
  • ac29b596fb Autogenerate src files for doc line numbers. Kyle Bayes 2026-07-09 05:50:10 -07:00
  • f04b0fcd3d Update the GitHub Linux Compilers matrix. Michael Moss 2026-07-09 02:59:45 -07:00
  • ce3fc0ccfb Replace history slider with a custom timeline scrubber. Saran Tunyasuvunakool 2026-07-08 13:34:28 -07:00
  • 040872fd65 Copybara import of the project: Omar Rayyan 2026-07-08 10:30:15 -07:00
  • 18147c50c8 Studio: Only show PAUSE overlay when info overlay is active. Yuval Tassa 2026-07-08 04:47:41 -07:00
  • fb6d1cf18f Support pinned flex vertices with bending Alessio Quaglino 2026-07-08 04:01:51 -07:00
  • 4e5778433b Add batch_sizes model batching for MJX Warp Tarik Kelestemur 2026-07-07 01:15:57 -04:00
  • d23ff84c59 Add renderer info query API devshahofficial 2026-06-13 15:58:30 -07:00
  • c4c2cad503 Implement SceneDecorator class. Haroon Qureshi 2026-07-07 08:40:16 -07:00
  • 4ab8617429 Get mjrfContext from the ModelObjects. Haroon Qureshi 2026-07-07 07:44:11 -07:00
  • 6608f1affa MJX Data.where. Fixes #3377 Taylor Howell 2026-07-07 07:13:40 -07:00
  • 6d02ee4756 Merge GetRenderable and GetSelectedRenderable Haroon Qureshi 2026-07-07 05:54:08 -07:00
  • 641c1cf11b update MJX with nvmax Taylor Howell 2026-07-07 05:31:57 -07:00
  • 8df03f860c Remove latent bugs in GJK code. Kyle Bayes 2026-07-07 05:19:15 -07:00