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Pull requests: google-deepmind/mujoco_warp

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Pull requests list

Reduce deterministic-mode overhead: JTDAJ merge-intersection and parallel contact world boundaries
#1425 opened Jun 12, 2026 by johnnynunez • Draft
3
Store M as CSR and factor it per-block (dense / sparse / simple)
#1424 opened Jun 12, 2026 by adenzler-nvidia Collaborator Loading…
1
Differentiable stepping: reverse-mode autodiff through smooth dynamics, the constraint solver, and contacts
#1423 opened Jun 11, 2026 by johnnynunez Loading…
2
Deterministic simulation: stable contact ordering, constraint row allocation, and solver reductions
#1422 opened Jun 11, 2026 by johnnynunez Loading…
10
update flex collisions
#1421 opened Jun 11, 2026 by thowell Collaborator Loading…
Prune edge multicontacts to a max of two contacts
#1420 opened Jun 10, 2026 by kbayes Member Loading…
@thowell
5
render: refactor static
#1419 opened Jun 9, 2026 by thowell Collaborator Loading…
Add per-world material texture IDs
#1418 opened Jun 9, 2026 by tkelestemur Contributor Loading…
5
Block Jacobi preconditioner for CG
#1417 opened Jun 8, 2026 by quagla Collaborator Loading…
2
update aloha cloth benchmark
#1416 opened Jun 8, 2026 by thowell Collaborator Loading…
3
update solve convergence criteria
#1409 opened Jun 5, 2026 by thowell Collaborator • Draft
2
Experimental: compact static-size sleeping (active-DOF compaction)
#1396 opened Jun 1, 2026 by erikfrey Collaborator • Draft
1
Fix per-step CollisionContext allocation causing OOM in long runs
#1385 opened May 26, 2026 by gholmes829 Loading…
12
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 • Draft
6
bump MJ_MAX_EPAHORIZON from 24 to 30
#1323 opened May 1, 2026 by kbayes Member • Draft
2
Determinism support 2/N
#1300 opened Apr 19, 2026 by mar-yan24 Contributor • Draft
4
Determinism support 1/N
#1281 opened Apr 11, 2026 by mar-yan24 Contributor Loading…
1
23
Auto Differentiation Implementation 1/3
#1226 opened Mar 14, 2026 by mar-yan24 Contributor Loading…
1
15
Implement derivative of fluid forces
#1022 opened Jan 14, 2026 by SUZ-tsinghua Loading…
7
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
Add implementation of mjd_ellipsoidFluid derivative
#897 opened Dec 10, 2025 by Aaryan-549 Contributor Loading…
1
52
ProTip! Exclude everything labeled bug with -label:bug.