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V0.8.3

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• 583aa5ad4f Update dependencies ahead of the 3.9.0 release. Michael Moss 2026-05-26 09:29:02 -07:00
• d63a89f896 MJX documentation: update feature parity section Taylor Howell 2026-05-26 07:22:37 -07:00
• e03bf07134 Merge pull request #3230 from google-deepmind:dependabot/pip/mjx/pytest-9.0.3 Copybara-Service 2026-05-26 06:32:39 -07:00
• 998f9960f9 Revert indexer_xmacro.h change David Hozic 2026-05-26 14:51:48 +02:00
• 57e27f94f3 Fix compilation error David Hozic 2026-05-26 14:50:11 +02:00
• da0bf9af17 Fix incorrect type for Python view of MjModel/tex_adrr David Hozic 2026-02-21 14:53:35 +01:00
• 393c1e4217 Migrate mjtByte to mjtBool for boolean-valued fields. Yuval Tassa 2026-05-26 05:35:15 -07:00
• 3cabb2eb8e Merge pull request #3257 from google-deepmind:dependabot/pip/mjx/pip-26.1 Copybara-Service 2026-05-26 05:20:14 -07:00
• ddff7e3e2e MuJoCo Warp documentation: update feature parity section Taylor Howell 2026-05-26 02:36:12 -07:00
• 7667e7110e Introduce mjtBool for boolean types. Yuval Tassa 2026-05-23 09:13:21 -07:00
• 466d068089 MuJoCo Studio: Support Ctrl+Option+Left Click Drag for perturbation Baruch Tabanpour 2026-05-22 11:14:11 -07:00
• 5c21c8d28b Minor restyling of the loading screen. Saran Tunyasuvunakool 2026-05-22 10:25:23 -07:00
• ab0e0091d5 Standardize "DO NOT EDIT" comments in generated files. Yuval Tassa 2026-05-22 09:34:16 -07:00
• 8469198ba5 Remove multiccd enable flag from mjSpec Colab. Kyle Bayes 2026-05-22 09:28:54 -07:00
• 8ae51e104d Move DrawTextAt from imgui_bridge to imgui_widgets. Haroon Qureshi 2026-05-22 00:52:07 -07:00
• 3499adacae Store skin and flex meshes separately. Haroon Qureshi 2026-05-22 00:07:40 -07:00
• 88b8b58429 Add support for transparent PBR materials. Haroon Qureshi 2026-05-21 23:35:18 -07:00
• 5b73846a1e Upgrade MuJoCo Live loading screen Baruch Tabanpour 2026-05-21 10:03:08 -07:00
• 15d27b363f Compile-time size assertions for MuJoCo basic types Yuval Tassa 2026-05-21 09:54:33 -07:00
• 585be6cee5 Fix wireframe rendering Matija Kecman 2026-05-21 09:41:29 -07:00
• 88a293b5e4 Update docs to correctly reference mjtype.h Yuval Tassa 2026-05-21 08:43:24 -07:00
• 2810edd27a Rename mjtnum.h to mjtype.h, move enum types to mjtype.h Yuval Tassa 2026-05-21 06:42:56 -07:00
• ad96acfb16 Add internal mj_narrowphase for batch processing of potential geom pair collisions. Kyle Bayes 2026-05-21 05:15:50 -07:00
• 7c47a89cd0 Add asset file download indicator to the loading screen. Saran Tunyasuvunakool 2026-05-20 16:25:53 -07:00
• 7174d33f08 Introduce mjPreContact, a minimal struct passed into the collision functions. Kyle Bayes 2026-05-20 10:47:11 -07:00
• 53b3137a12 Separate Light management into a separate class. Haroon Qureshi 2026-05-20 10:00:30 -07:00
• fa8ac7a516 Implement mjz encoder. Sam Haves 2026-05-20 09:32:00 -07:00
• 57d2c49316 Track size/scale separately for renderables. Haroon Qureshi 2026-05-20 08:53:51 -07:00
• 6aa738e75b Add Expand/Collapse All buttons to XML schema documentation. Yuval Tassa 2026-05-20 08:05:32 -07:00
• 7b83f96e49 Prevent visited docs links from changing color. Yuval Tassa 2026-05-20 07:47:55 -07:00
• 0482bbcca8 Expose MJX light_active model field Tarik Kelestemur 2026-05-19 23:54:48 -04:00
• dd37ae16fc Fix studio python samples when running on CRD Matija Kecman 2026-05-19 14:27:26 -07:00
• bdf00966f9 Add compiler timing diagnostics to mjsCompiler, printed by compile.cc Yuval Tassa 2026-05-19 08:27:35 -07:00
• f712eed4ce Allow flex sleeping Yuval Tassa 2026-05-19 07:14:45 -07:00
• ddc4c54d16 Update CMakeLists.txt Haroon Qureshi 2026-05-19 05:23:31 -07:00
• a205b7afdb Move ImguiBridge from filament compat library to platform ux. Haroon Qureshi 2026-05-19 04:17:12 -07:00
• 303c1bd0aa Make MjrFilamentRenderer an internal detail of compat library. Haroon Qureshi 2026-05-19 03:25:21 -07:00
• a1056676a0 Merge pull request #3276 from dparikh79:fix/3275-boxqp-symmetric-lower-matvec Copybara-Service 2026-05-18 09:36:01 -07:00
• 71d1014e70 Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472 Yuval Tassa 2026-05-17 16:47:20 -07:00
• 66d764a116 Scale flex warp constraint by thickness^3. Alessio Quaglino 2026-05-17 14:32:43 -07:00
• 8a20ce24d3 Refactor shell stiffness computation to use pure membrane modes plus an explicit warp mode. Alessio Quaglino 2026-05-17 12:59:34 -07:00
• a897805683 Improve test comparing forward and inverse dynamics mismatch Yuval Tassa 2026-05-17 12:02:52 -07:00
• 04042d8bf3 Move square root of Delassus matrix from stack to arena Yuval Tassa 2026-05-17 11:21:07 -07:00
• 71072c025d Honor lower-triangle contract for H in mju_boxQP. Dhruvil 2026-05-17 13:54:47 -04:00
• 2345663efb Change title to "MuJoCo Live" and respect system colour scheme. Saran Tunyasuvunakool 2026-05-15 14:26:00 -07:00
• b540909f18 Ensure swap chains are resized appropriately. Haroon Qureshi 2026-05-15 10:43:16 -07:00
• 71ddeb3efc Add fast path for flex derivative computation in centered flexes. Alessio Quaglino 2026-05-15 10:12:31 -07:00
• d5872acec8 Use RGB8 for segmentation colors. Haroon Qureshi 2026-05-15 10:08:35 -07:00
• a03191b9e8 Add a github: resource provider scheme to MuJoCo Live. Saran Tunyasuvunakool 2026-05-15 09:47:38 -07:00
• 99b01b9f87 Make wireframe rendering a draw mode. Haroon Qureshi 2026-05-15 09:30:22 -07:00
• 093b92acc1 Add bounds check for cached node indices in passive mesh. Alessio Quaglino 2026-05-15 08:48:38 -07:00
• a0c4c62654 Update thread_performance_test.cc. Kyle Bayes 2026-05-15 08:47:18 -07:00
• 9fb548cadb Optimize flex bending edge computation by caching face states. Alessio Quaglino 2026-05-15 03:31:14 -07:00
• 766f519576 Move some scene settings into render request struct. Haroon Qureshi 2026-05-15 03:22:47 -07:00
• 0ad77f1ddf Optimize flexedge velocity computation. Alessio Quaglino 2026-05-15 03:15:27 -07:00
• 7ca1bc6a56 Precompute rotated stiffness matrix before CG in implicit flex integrator. Alessio Quaglino 2026-05-15 02:57:18 -07:00
• 85bf2b9660 Move GetMaterialType into material module. Haroon Qureshi 2026-05-15 02:44:38 -07:00
• 072125c49c MJX (impl='warp'): nconmax -> naconmax Taylor Howell 2026-05-14 06:51:53 -07:00
• 9c372fbbea Minor cleanup to scene_geom_util. Haroon Qureshi 2026-05-14 04:54:00 -07:00
• c587cea0f7 Add flex to shapes test scene. Haroon Qureshi 2026-05-14 04:39:32 -07:00
• e47809d50d Refactor MuJoCo Live to separate out HTML, CSS, and JS components. Saran Tunyasuvunakool 2026-05-14 03:39:04 -07:00
• c56d662d27 Update link to Newton physics engine in changelog. Yuval Tassa 2026-05-14 00:00:29 -07:00
• f7e00d041e Add commit hash and remove "Upload File" button from MuJoCo Live. Saran Tunyasuvunakool 2026-05-13 09:34:15 -07:00
• 9230b34fed Exclude CMake install steps for Emscripten. Saran Tunyasuvunakool 2026-05-13 08:54:57 -07:00
• e1f5534b5f Fix tactile sensor body validation. Taylor Howell 2026-05-13 08:11:04 -07:00
• 17fbc0aeef Update colors and legend in margin/gap figure. Yuval Tassa 2026-05-13 07:42:56 -07:00
• 955ae3f3c0 Fix sign error in flex interp implicit integration. Alessio Quaglino 2026-05-13 07:14:36 -07:00
• fc2237dad8 Merge branch 'main' into newton-schemas Sam Haves 2026-05-13 09:57:59 -04:00
• 69a1087e9e Disable window resizing on load as it breaks on some platforms. Haroon Qureshi 2026-05-13 03:59:17 -07:00
• 35cdc779e6 Add implicit bending stiffness for standard flex. Alessio Quaglino 2026-05-13 03:57:41 -07:00
• 7bfdbad80b Make PGS solver constraint visitation order time-independent. Yuval Tassa 2026-05-13 02:33:50 -07:00
• 99e626096f Fix miniz include. Saran Tunyasuvunakool 2026-05-12 15:50:48 -07:00
• a4e49f2dff Margin and gap redesign (breaking change) Yuval Tassa 2026-05-12 09:43:07 -07:00
• 7f5be412a0 Put miniz in MujocoDependencies.cmake. Saran Tunyasuvunakool 2026-05-12 09:26:26 -07:00
• 58abf3d4ae Fix dependency between FilamentContext and SceneView. Haroon Qureshi 2026-05-12 06:37:09 -07:00
• 3f3ff85a59 Enable backface culling by default. Haroon Qureshi 2026-05-12 04:40:39 -07:00
• 5339d9154e Ensure faces for meshes are correctly oriented. Haroon Qureshi 2026-05-12 01:26:50 -07:00
• f9f1db1e0a Replace the banded Cholesky solver for implicit flex interpolation with a preconditioned Conjugate Gradient (CG) solver that operates on the full system matrix. Alessio Quaglino 2026-05-11 10:09:37 -07:00
• 5d818306ef Save/restore window size in UX settings. Haroon Qureshi 2026-05-11 07:43:29 -07:00
• 465e574c42 Test scene for shape generators. Haroon Qureshi 2026-05-11 07:42:14 -07:00
• ff4a5673f8 Delete testspeed_test.sh Yuval Tassa 2026-05-11 05:25:09 -07:00
• 044f294c7c Merge pull request #3243 from thowell:readthedocs Copybara-Service 2026-05-11 03:54:33 -07:00
• 28548ce51c Update MuJoCo version to 3.9.0 following the 3.8.1 release Michael Moss 2026-05-11 02:58:23 -07:00
• df59e7d0f1 Fix mj_makeConstraint error for flex trilinear vs trilinear contacts. Alessio Quaglino 2026-05-11 02:44:50 -07:00
• 688209574d Update changelog for the 3.8.1 release. Michael Moss 2026-05-11 02:14:17 -07:00
• 5ee8bd7b9c Rotate undeformed normals before using them in the bending passive forces. Alessio Quaglino 2026-05-10 02:59:22 -07:00
• cb5a9caa5c Update dependencies ahead of the 3.8.1 release. Michael Moss 2026-05-10 00:50:58 -07:00
• 4e2064b26f Fix skin/flex rendering by setting size to 1 (not 0). Haroon Qureshi 2026-05-09 08:38:41 -07:00
• b9a1fad99b Fix segmentation/depth rendering. Haroon Qureshi 2026-05-08 13:39:56 -07:00
• fefbc2c407 mujoco introspect Taylor Howell 2026-04-24 16:08:09 +01:00
• fa912dffa0 Add flex arrays to CompareModel check. Alessio Quaglino 2026-05-08 08:47:10 -07:00
• 8cef5bb978 Add configurable octree max depth for meshes. Alessio Quaglino 2026-05-08 06:35:07 -07:00
• 531a571dda studio: replace separate Solver and Performance charts with a unified Profiler, bound to F3 Yuval Tassa 2026-05-08 06:24:53 -07:00
• 395a002801 Small usability fixes. Haroon Qureshi 2026-05-08 04:49:44 -07:00
• 2ad01960c6 Studio UI tweaks Yuval Tassa 2026-05-08 03:32:13 -07:00
• 3ef083eecc Allow the Studio build script to be run outside the git checkout. Michael Moss 2026-05-08 02:51:24 -07:00
• b7b96d2acc Remove explicit mjz linking from studio. Sam Haves 2026-05-07 14:34:43 -07:00
• f4ab9aa93d Make miniz a PRIVATE dependency of mujoco in CMake. Sam Haves 2026-05-07 11:32:48 -07:00
• 3e960ba3d3 Fix mjcPhysics doc link in changelog. Sam Haves 2026-05-07 11:06:37 -07:00
• eddfbcfc50 Move mjz_decoder out of experimental to xml/mjz. Sam Haves 2026-05-07 10:51:28 -07:00