All pull requests

Pull requests

• 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, 2026·

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• Stop the mass matrix walk at the row start

  #1830·adenzler-nvidia opened Oct 22, 2026Collaborator·

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• Keep the JTDAJ block contract in put_data and reset_data

  #1829·almightychang opened Oct 22, 2026·

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• Make cross-thread reductions explicit atomics

  #1828·adenzler-nvidia opened Oct 22, 2026Collaborator·

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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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• Bump warp-lang to 1.18.0 in uv.lock

  #1823·adenzler-nvidia opened Oct 22, 2026Collaborator·

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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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  6

• Add znear clipping to warp renderer

  #1820·mhasek opened Oct 21, 2026Contributor·

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• GJK: read the stopping tests along the tuned support direction

  #1818·QuanyiLi opened Oct 21, 2026Contributor·

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  1

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

  #1815·JasonYeYuhe opened Oct 21, 2026·

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• Support linvel and angvel in contact sensors

  #1813·dundysm opened Oct 20, 2026·

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• batch wrap_prm

  #1812·thowell opened Oct 20, 2026Collaborator·

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• Clear derived dynamics and island state in reset_data

  #1810·princemittalr opened Oct 20, 2026Contributor·

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• keep start of step sensors in rk4

  #1809·dundysm opened Oct 20, 2026·

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• support opt.disableactuator (actuatorgroupdisable)

  #1808·dundysm opened Oct 20, 2026·

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• zero acceleration sensors on static and mocap bodies

  #1805·dundysm opened Oct 20, 2026·

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• Zero qfrc_constraint in constraint-free worlds of the compact solve of a sparse model

  #1802·Codnay opened Oct 19, 2026·

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• Add opt.newton_hessian_float64: float64 Newton Hessian for stiff contacts on light bodies

  #1801·Codnay opened Oct 19, 2026·

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• Batch set_const_fixed outputs with their sources

  #1800·Lynn-hh opened Oct 18, 2026·

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• Scatter J' per constraint row with a capped launch

  #1797·almightychang opened Oct 18, 2026·

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• Never select EPA sliver faces from near-repeated support points

  #1796·Codnay opened Oct 17, 2026·

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• Allocate flex edge equality rows per flex

  #1794·adenzler-nvidia opened Oct 16, 2026Collaborator·

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• Reserve sparse Jacobian storage before allocating constraint rows

  #1793·adenzler-nvidia opened Oct 16, 2026Collaborator·

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  4