Issues

• import mujoco.mjx fails with TypeError when warp-lang is too old

  bug
  google-deepmind/mujoco#3738 · Filter by author YannBerthelot opened on Oct 28, 2026

• mj_multiRay: the 3.5.0 angular margin also widens azimuth bounds, making planar scans among tall geoms ~1.7x slower

  google-deepmind/mujoco#3736 · Filter by author zxkane opened on Oct 27, 2026
  1

• [API] Explicit enumerated (unionized) error types

  enhancement
  google-deepmind/mujoco#3734 · Filter by author davidhozic opened on Oct 26, 2026

• multiccd returns a phantom cylinder-box contact as deep as the box is wide at near-zero penetration

  google-deepmind/mujoco#3733 · Filter by author matinmoezzi opened on Oct 26, 2026

• mj_multiRay misses hits on bodies whose inertial frame is rotated

  google-deepmind/mujoco#3731 · Filter by author zxkane opened on Oct 26, 2026
  1

• Broadphase cost of geoms in static child bodies regressed in 3.8.0 and again in 3.17.0

  google-deepmind/mujoco#3730 · Filter by author zxkane opened on Oct 26, 2026
  1

• Importing filament renderer crashes on python 3.11

  bug
  google-deepmind/mujoco#3726 · Filter by author wpumacay opened on Oct 24, 2026

• [MJX] accelerometer, framelinacc and frameangacc report -gravity on static and mocap bodies

  google-deepmind/mujoco#3716 · Filter by author dundysm opened on Oct 20, 2026

• USD: mjc:inertia is deprecated, but legacy and exact mesh inertia have no replacement

  google-deepmind/mujoco#3715 · Filter by author andrewkaufman opened on Oct 19, 2026

• GJK (nativeccd) returns a wrong contact distance at small ccd_tolerance, after a step onto a degenerate simplex

  google-deepmind/mujoco#3714 · Filter by author son-engr-kr opened on Oct 19, 2026
  1

• A triangle-shaped mesh polygon merged from several hull triangles can get a reversed outline, so mesh_polynormal points inward

  bug
  google-deepmind/mujoco#3701 · Filter by author Cylrx opened on Oct 17, 2026

• mj_ray misses a ray that passes exactly through a shared edge of a mesh (non-watertight ray-triangle test)

  google-deepmind/mujoco#3698 · Filter by author gal-echo-labs opened on Oct 16, 2026
  2

• [MJX] jax.grad returns NaN through a spatial tendon with an inside-sidesite geom wrap: wrap_inside's Newton iterate leaves arcsin's domain and the NaN survives the jp.where

  bug
  google-deepmind/mujoco#3696 · Filter by author adam-hartshorne opened on Oct 15, 2026
  3

• MUJOCO_WITH_USD=ON: usd_decoder_test fails to compile, and USD tests fail from the build tree

  google-deepmind/mujoco#3695 · Filter by author andrewkaufman opened on Oct 14, 2026

• mjcPhysics USD schema missing discrete integrator, ipc and diagexact flags

  google-deepmind/mujoco#3693 · Filter by author andrewkaufman opened on Oct 14, 2026
  1

• Feature request: Native GPU-accelerated LiDAR point cloud generation similar to Gazebo

  enhancement
  google-deepmind/mujoco#3688 · Filter by author xiexiexie0315 opened on Oct 13, 2026
  1

• Introduce a configurable 6D equality constraint

  enhancement
  google-deepmind/mujoco#3685 · Filter by author v-r-a opened on Oct 12, 2026
  2

• Filament renderer: expose RGBA16F color render targets

  enhancement
  google-deepmind/mujoco#3683 · Filter by author hujunhan opened on Oct 12, 2026

• [MJX] Tendon wrapping: grazing wraps take the far side in float32, and inside wraps fall back to the midpoint

  google-deepmind/mujoco#3679 · Filter by author son-engr-kr opened on Oct 10, 2026
  1

• [MJX] Contacts with ellipsoids (sphere, capsule, ellipsoid) are off by centimeters and often missed

  google-deepmind/mujoco#3670 · Filter by author son-engr-kr opened on Oct 7, 2026

• Why doens't unity plugin support Mujoco baked components?

  enhancement
  google-deepmind/mujoco#3662 · Filter by author sebas77 opened on Oct 6, 2026

• Missing aarch64 wheel for python 3.11 in mujoco version 3.15

  bug
  google-deepmind/mujoco#3659 · Filter by author aditya-neuraco opened on Oct 6, 2026

• mjSpec: deleting or renaming a default leaves a stale def_map entry (use-after-free in mjs_getDefault / mjs_addGeom / mj_saveXMLString)

  google-deepmind/mujoco#3644 · Filter by author Zhuoxi2000 opened on Oct 1, 2026
  1

• Newton solver: with elliptic cones at impratio 10 and ls_iterations 20, an exhausted line search ends the solve at a non-converged qacc

  google-deepmind/mujoco#3628 · Filter by author pulipakaa24 opened on Sep 27, 2026
  2

• Unity 6.6 support

  enhancement
  google-deepmind/mujoco#3615 · Filter by author sebas77 opened on Sep 23, 2026
  1