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Alessio Quaglino e57d95e68f Remove vertcollide attribute from flex contact. 
The `vertcollide` attribute in flex and flexcomp contact specifications has been removed since the next mjWarp release will support flex collisions. This attribute was previously used to enable vertex-based collisions by adding sphere geoms at flex vertices. The functionality associated with this attribute has been deprecated and removed from the XML parser, documentation, and internal data structures. Affected example XML files have also been updated.

PiperOrigin-RevId: 885595503
Change-Id: I6a78975f1bc540c09ea8b5306ff3be0962b7ab24
2026-03-18 07:59:57 -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
Replace autowrap C# binding generator with introspect-based codegen.
2026-03-17 14:19:49 -07:00
egl
Fix the initialization of the EGL context in multiprocessing
2024-09-23 12:01:25 -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
Remove vertcollide attribute from flex contact.
2026-03-18 07:59:57 -07:00
mjpython
Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release
2026-03-11 07:09:24 -07:00
osmesa
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
2022-03-15 14:04:44 +00:00
rendering/classic
Move renderer.py and gl_context.py into a submodule.
2026-02-16 02:41:35 -08:00
sysid
Add Colab link for System Identification toolbox.
2026-02-12 01:41:40 -08:00
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
Internal changes.
2026-03-10 01:56:10 -07:00
bindings_test.py
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
2026-03-16 13:25:25 -07:00
callbacks.cc
Fix pybind11 v3.0 compatibility in callbacks.cc
2026-03-15 12:46:11 -07:00
CMakeLists.txt
Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release
2026-03-11 07:09:24 -07:00
constants.cc
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
2026-03-16 13:25:25 -07:00
enums.cc
Add missing includes necessary after changes in libc++ headers.
2024-10-01 11:08:01 -07:00
errors.cc
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
2022-03-15 14:04:44 +00:00
errors.h
Add ASAN and MSAN instrumentation for arena and mjData stack.
2023-05-26 09:17:26 -07:00
functions.cc
Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.
2026-03-11 04:55:44 -07:00
functions.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -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
Migrate mjModel size fields from int to mjtSize.
2026-01-23 09:41:49 -08:00
indexers.h
Python bindings: Store a reference to MjModel in MjDataWrapper.
2023-10-31 09:16:40 -07:00
memory_leak_test.py
Add pyink and isort config. Reformat.
2024-12-09 21:10:50 -08:00
minimize_test.py
In minimize.least_squares, compute values at the solution at full verbosity.
2025-04-08 14:55:53 -07:00
minimize.py
In minimize.least_squares, compute values at the solution at full verbosity.
2025-04-08 14:55:53 -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
Rename mj_stackAlloc to mj_stackAllocByte.
2023-09-18 10:53:35 -07:00
raw.h
Remember compiler options during attach.
2024-10-24 08:31:15 -07:00
render_test.py
Add pyink and isort config. Reformat.
2024-12-09 21:10:50 -08:00
render.cc
Move MjrRect pybind11 definition to structs.cc.
2026-03-12 09:00:39 -07:00
renderer_test.py
Add pyink and isort config. Reformat.
2024-12-09 21:10:50 -08:00
renderer.py
Move renderer.py and gl_context.py into a submodule.
2026-02-16 02:41:35 -08:00
rollout_test.py
rollout fix cosmetics
2025-02-21 08:44:17 -05:00
rollout.cc
rollout fix cosmetics
2025-02-21 08:44:17 -05:00
rollout.py
Rename rollout variable nroll to nbatch.
2025-01-21 21:04:15 -08:00
serialization.h
Move Newton Hessian memory allocation from stack to arena.
2024-10-09 08:54:54 -07:00
simulate.cc
Fix process hang on viewer close in launch_passive
2026-03-02 12:21:34 -08:00
specs_test.py
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
2026-03-16 13:25:25 -07:00
specs_wrapper.cc
Release gil when compiling spec.
2026-01-09 09:50:15 -08:00
specs_wrapper.h
Split MjSpec out into header to allow use by other pybind modules.
2025-04-09 07:31:23 -07:00
specs.cc
Refactor texture.data to be handled using py::bytes
2025-12-11 08:06:12 -08:00
structs_wrappers.cc
fix: release the gil when calling compile in spec.recompile
2026-03-10 15:44:01 +00:00
structs.cc
Merge pull request #3141 from ocadotechnology:recompile-release-gil
2026-03-13 05:25:45 -07:00
structs.h
Clean up X macros and usages for mjOption, mjStatistic, and mjVisual.
2026-02-13 09:10:36 -08:00
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
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