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Commits on Dec 19, 2025

• When building with USD enabled, add functionality that automatically registers the mujoco USD plugins.

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• Fix rpath for usd target shared libs.

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• Refactor `mju_cholUpdateSparse` to use a dense accumulator, 1.5-2x function speedup.

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• Add MJAPI to Get/SetUsdPrimPathUserValue declarations.

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• Add separate build step for OpenUSD to third_party_deps.

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• Use two-step sparse Cholesky in Newton solver.

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• Refactor sparse Cholesky factorization into symbolic and numeric phases.

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• Refactor SaveScreenshot into a more useful RenderToTexture function.

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Commits on Dec 18, 2025

• Allow ImGui uploaded images to be resized or destroyed.

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• Correctly handle segmentation and ID_COLOR flag in filament.

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• Add VFS parameter to mjpDecoder decoding function.

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• Allow studio to search for models in predetermined search paths.

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• Add flag for depth rendering.

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Commits on Dec 17, 2025

• Add a test for equivalence of different solvers.

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Commits on Dec 16, 2025

• MuJoCo Warp documentation: sparse Jacobians.

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• Add tests for mju_cholUpdate and mju_cholUpdateSparse.

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• Add private function `mju_fillInt`

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Commits on Dec 15, 2025

• Add WASM binding for `mj_compile`.

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• Remove usage of usdImaging tokens to avoid needing to build imaging.

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• Decoder `decode` function should take a non-const pointer to mjResource.

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• MuJoCo Warp documentation: Collision sensors.

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• Import google-deepmind/mujoco_warp from GitHub.

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Commits on Dec 14, 2025

• Improve line search initialization logic and first Newton step acceptance.

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Commits on Dec 13, 2025

• Fix testspeed argument count check

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Commits on Dec 12, 2025

• Update function signatures in engine_util_spatial.h to appease fussy GCC

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• MuJoCo Warp documentation: update flex feature parity.

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• Load last saved GUI configuration on first load.

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• Fix aliasing issues in engine_core_smooth.c

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• First-pass implementation of web-based studio app.

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• Fix aliasing issues in engine_collision_primitive.c

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• Fix aliasing violations in engine_collision_box.c

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• Introduce private header `engine_inline.h` exploiting `restrict` and avoiding loops and copies in some commonly used utility functions.

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• Use hex values instead of u8 string literals.

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Commits on Dec 11, 2025

• Update themes to differentiate from default dear_imgui themes and add a classic theme that's similar to simulate.

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• Refactor texture.data to be handled using py::bytes

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