Yuval Tassa dddb2767c6 Include gap in body_margin, fixing mid-phase pruning of in-gap contacts. ...

The mid-phase BVH descent filter prunes body pairs using body_margin,
which was compiled as the max over geom margins, excluding gap. Broadphase
and the leaf-level test both use margin+gap, so any multi-geom body relying
on gap could silently lose its in-gap contacts when raw AABBs don't
overlap. Single-geom bodies take the leaf-leaf path and were unaffected.

PiperOrigin-RevId: 946967548
Change-Id: I6d92baa296f1a83be68b4dbfd64a96d1c7efd3c4

2026-07-13 05:04:55 -07:00

..

cgl

Add a close() method to mujoco.Renderer which explicitly frees the gl context.

2023-12-12 08:59:46 -08:00

codegen

Add pluggable resource writing to MuJoCo

2026-07-09 10:47:48 -07:00

egl

Fix the initialization of the EGL context in multiprocessing

2024-09-23 12:01:25 -07:00

experimental

Replace functionally opaque Viscous Pause with functionally transparent "Viscous posing mode" toggle.

2026-07-11 13:47:48 -07:00

glfw

Add a close() method to mujoco.Renderer which explicitly frees the gl context.

2023-12-12 08:59:46 -08:00

introspect

Include gap in body_margin, fixing mid-phase pruning of in-gap contacts.

2026-07-13 05:04:55 -07:00

mjpython

Update MuJoCo version to 3.10.1 following the 3.10.0 release

2026-06-22 07:25:02 -07:00

osmesa

Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

2022-03-15 14:04:44 +00:00

rendering/classic

Fix AttributeError in Renderer.__del__ on partial construction.

2026-04-15 12:15:24 -07:00

sysid

Copybara import of the project:

2026-06-20 15:10:54 -07:00

testdata

Add urdf file extension case to mj_parse.

2026-01-12 08:59:00 -08:00

usd

Update build_requirements_usd.txt.

2024-11-19 14:07:21 -08:00

util

Build Python bindings in build.yml.

2022-05-25 07:01:59 -07:00

__init__.py

Support float32 precision for mjtNum in Python bindings.

2026-05-28 13:56:58 -07:00

bindings_test.py

Migrate mjd_inverseFD mass Jacobian from qM to M

2026-07-03 15:35:52 -07:00

callbacks.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

CMakeLists.txt

Add a test to check that GIL remains disabled under free-threaded Python.

2026-07-03 12:11:58 -07:00

constants.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

enums.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

errors.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

errors.h

Fix GCC truncation warnings in Python bindings errors.h

2026-06-12 00:31:17 -07:00

functions.cc

Migrate mjd_inverseFD mass Jacobian from qM to M

2026-07-03 15:35:52 -07:00

functions.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

gil_test.py

Add a test to check that GIL remains disabled under free-threaded Python.

2026-07-03 12:11:58 -07:00

gil.h

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

gl_context.py

Move renderer.py and gl_context.py into a submodule.

2026-02-16 02:41:35 -08:00

indexer_xmacro.h

Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

2026-03-16 13:25:25 -07:00

indexers.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

indexers.h

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

memory_leak_test.py

Add pyink and isort config. Reformat.

2024-12-09 21:10:50 -08:00

minimize_test.py

Copybara import of the project:

2026-06-16 12:06:34 -07:00

minimize.py

Copybara import of the project:

2026-06-16 12:06:34 -07:00

msh2obj_test.py

Move OBJ handling to a mjpDecoder.

2026-03-03 11:22:02 -08:00

msh2obj.py

Add mesh conversion utilities.

2023-10-13 16:13:24 -07:00

private.h

Introduce new logging API, fixes #858

2026-06-11 14:36:57 -07:00

raw.h

Track authored flags for global attributes

2026-06-13 02:58:32 -07:00

render_test.py

Add pyink and isort config. Reformat.

2024-12-09 21:10:50 -08:00

render.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

renderer_test.py

Fix AttributeError in Renderer.__del__ on partial construction.

2026-04-15 12:15:24 -07:00

renderer.py

Move renderer.py and gl_context.py into a submodule.

2026-02-16 02:41:35 -08:00

rollout_test.py

Support float32 in mujoco.rollout Python wrapper and tests.

2026-06-08 06:59:22 -07:00

rollout.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

rollout.py

Support float32 in mujoco.rollout Python wrapper and tests.

2026-06-08 06:59:22 -07:00

serialization.h

Support float32 precision for mjtNum in Python bindings.

2026-05-28 13:56:58 -07:00

simulate.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

specs_test.py

Add policies for global attribute conflict resolution upon attach

2026-06-17 03:36:10 -07:00

specs_wrapper.cc

Add policies for global attribute conflict resolution upon attach

2026-06-17 03:36:10 -07:00

specs_wrapper.h

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

specs.cc

Migrate types in mjs structs.

2026-07-04 11:27:27 -07:00

structs_wrappers.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

structs.cc

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

structs.h

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

thread_safety_test.py

Make MuJoCo Python bindings compatible with free-threading.

2026-07-01 08:08:42 -07:00

threadpool.cc

Copybara import of the project:

2024-12-16 09:57:08 -08:00

threadpool.h

Copybara import of the project:

2024-12-16 09:57:08 -08:00

vfs_test.py

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

vfs.h

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

viewer_test.py

Add a naive test of mujoco.viewer.

2022-12-08 14:35:20 -08:00

viewer.py

Add option to only sync the state to improve sync performance in passive mode.

2025-06-27 02:49:58 -07:00