All pull requests

Pull requests

• sync main and deepmind

  #1874·thowell opened Oct 30, 2026Collaborator·

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• skip unused gravcomp and tendon armature work; parallelize tendon wrap path

  #1873·dundysm opened Oct 30, 2026Contributor·

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• Accumulate subtree quantities with range sums

  #1872·adenzler-nvidia opened Oct 30, 2026Collaborator·

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• Adjust CG determinism force tolerances

  #1871·shi-eric opened Oct 30, 2026Collaborator·

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• Store body, inertia, geom and site orientations as quaternions

  #1868·adenzler-nvidia opened Oct 29, 2026Collaborator·

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  2

• Factor Hessians up to 64 DOFs as one tile

  #1867·adenzler-nvidia opened Oct 29, 2026Collaborator·

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• GJK: report penetration when a discrete simplex ends not separated

  #1866·maharshi-coding opened Oct 29, 2026·

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• Reproduce flex contact attribution to rigid sensors

  #1861·johnnynunez opened Oct 28, 2026·

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• Initialize adhesion material for emitted flex contacts

  #1860·johnnynunez opened Oct 28, 2026·

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• match mj_RungeKutta stage time, dcmotor stage activations and act_dot

  #1852·dundysm opened Oct 28, 2026Contributor·

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• Preserve flex contact deduplication after scene translation

  #1849·cola1917 opened Oct 26, 2026Contributor·

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• Fix height field contacts by measuring them against the surface and writing all of them

  #1848·almightychang opened Oct 25, 2026Contributor·

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• Return the contact normal from the CCD stage that found the distance

  #1846·almightychang opened Oct 25, 2026Contributor·

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• Replace EPA's degenerate-case guards with one rule for dropping CCD pairs

  #1845·almightychang opened Oct 25, 2026Contributor·

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• Add heterogeneous robot cube-lift benchmarks

  #1842·StafaH opened Oct 24, 2026Collaborator·

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• Fix crash and extra rows for tendons with an empty Jacobian

  #1838·Nas01010101 opened Oct 24, 2026Contributor·

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• Fix Newton Hessian cancellation when stiff constraints deactivate

  #1836·CosmosMount opened Oct 23, 2026·

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• Add 2D flex collisions with static heightfields

  #1833·cola1917 opened Oct 22, 2026Contributor·

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• Keep the JTDAJ block contract in put_data and reset_data

  #1829·almightychang opened Oct 22, 2026Contributor·

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• Use equivalent plane contacts for constant heightfield patches

  #1827·huster-wgm opened Oct 22, 2026·

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• Preserve geometric witnesses for heightfield-box edge contacts

  #1825·huster-wgm opened Oct 22, 2026·

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• Update discrete integrator and passive flex collision to match MuJoCo C

  #1821·thowell opened Oct 21, 2026Collaborator·

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• Add znear clipping to warp renderer

  #1820·mhasek opened Oct 21, 2026Contributor·

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• docs: add Simplified Chinese translation (README.zh.md)

  #1815·JasonYeYuhe opened Oct 21, 2026·

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• batch wrap_prm

  #1812·thowell opened Oct 20, 2026Collaborator·

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