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Pull requests: google-deepmind/mujoco_warp

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21 Open 1,138 Closed
21 Open 1,138 Closed
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Pull requests list

Add dual-arm cloth lifting trajectory for aloha_cloth
#1468 opened Jun 26, 2026 by erikfrey Collaborator Loading…
Fix viewer to handle runs without replay file
#1467 opened Jun 26, 2026 by erikfrey Collaborator Loading…
_is_batched
#1465 opened Jun 26, 2026 by thowell Collaborator Loading…
5
Bound convex CCD kernel with grid-stride and launch_bounds
#1464 opened Jun 26, 2026 by adenzler-nvidia Collaborator Loading…
1
Use tigher bounds for multicontact
#1463 opened Jun 26, 2026 by kbayes Member • Draft
update mesh-sdf collisions
#1457 opened Jun 24, 2026 by thowell Collaborator • Draft
studio
#1454 opened Jun 23, 2026 by thowell Collaborator • Draft
updates for ray
#1453 opened Jun 23, 2026 by thowell Collaborator • Draft
Make numerical improvements to CCD
#1452 opened Jun 23, 2026 by kbayes Member • Draft
forward energy
#1451 opened Jun 23, 2026 by thowell Collaborator Loading…
Reduce deterministic-mode overhead: JTDAJ merge-intersection and parallel contact world boundaries
#1425 opened Jun 12, 2026 by johnnynunez Loading…
5
Differentiable stepping: reverse-mode autodiff through smooth dynamics, the constraint solver, and contacts
#1423 opened Jun 11, 2026 by johnnynunez • Draft
12
Deterministic simulation: stable contact ordering, constraint row allocation, and solver reductions
#1422 opened Jun 11, 2026 by johnnynunez Loading…
13
Block Jacobi preconditioner for CG
#1417 opened Jun 8, 2026 by quagla Collaborator Loading…
7
update solve convergence criteria
#1409 opened Jun 5, 2026 by thowell Collaborator • Draft
2
Fix per-step CollisionContext allocation causing OOM in long runs
#1385 opened May 26, 2026 by gholmes829 Loading…
14
testspeed benchmarking with multiple functions
#1375 opened May 22, 2026 by thowell Collaborator Loading…
flex trilinear strain
#1329 opened May 5, 2026 by thowell Collaborator Loading…
12
bump MJ_MAX_EPAHORIZON from 24 to 30
#1323 opened May 1, 2026 by kbayes Member • Draft
2
Remove epa_pr
#1014 opened Jan 13, 2026 by kbayes Member • Draft
6
Optimization: replace mat33 with wp.quat, move to quaternion math
#902 opened Dec 10, 2025 by adenzler-nvidia Collaborator • Draft
27
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