Issues

• 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

• Derivative checks accept NaN and infinite Jacobians as matching finite differences

  google-deepmind/mujoco#3630 · Filter by author sylvesterkaczmarek opened on Sep 28, 2026

• 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
  1

• Rejected mjs_delete on a foreign element corrupts both specifications and causes use-after-free

  bug
  google-deepmind/mujoco#3623 · Filter by author peachtree0222 opened on Sep 26, 2026

• Unity 6.6 support

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

  

• Make mjs_setDefault copy the default/class values instead of just setting name

  enhancement
  google-deepmind/mujoco#3612 · Filter by author davidhozic opened on Sep 21, 2026
  1

• Add a maximum ray-casting distance for rangefinder sensors

  enhancement
  google-deepmind/mujoco#3599 · Filter by author ethanmusser opened on Sep 15, 2026
  2

• [Model editing] Failed allocations raise C++ exceptions through the C API

  bug
  google-deepmind/mujoco#3584 · Filter by author davidhozic opened on Sep 15, 2026
  3

• Studio: an exception in one plugin handler terminates the viewer

  bug
  google-deepmind/mujoco#3581 · Filter by author larrygao001 opened on Sep 14, 2026
  

• Studio web viewer is unusable: studio.web.headless_ui is missing from the wheel

  bug
  google-deepmind/mujoco#3580 · Filter by author larrygao001 opened on Sep 14, 2026
  

• Studio native viewer cannot start on macOS: NSWindow created off the main thread

  bug
  google-deepmind/mujoco#3579 · Filter by author larrygao001 opened on Sep 14, 2026
  

• smoothnormal="false" is silently ignored for meshes loaded via a decoder plugin (e.g. STL)

  bug
  google-deepmind/mujoco#3578 · Filter by author bd-gpasternak opened on Sep 14, 2026
  

• [MuJoCo Warp] Selective reset_data corrupts packed contact membership across worlds

  bugWARP
  google-deepmind/mujoco#3572 · Filter by author peachtree0222 opened on Sep 12, 2026
  3

  

• Loading MJCF in python that contains an actuator subclass default overwrites other subclass params

  enhancement
  google-deepmind/mujoco#3561 · Filter by author Balint-H opened on Sep 8, 2026
  5

• mujoco_studio crashes on Windows + AMD: wglMakeCurrent failed (error 2000)

  bug
  google-deepmind/mujoco#3533 · Filter by author liangjs opened on Aug 30, 2026
  

• Torque-proportional loss in dcmotor

  enhancement
  google-deepmind/mujoco#3528 · Filter by author andyabateagility opened on Aug 27, 2026
  7

  

• URDF <mimic> is dropped silently, while <dynamics> and <limit effort> in the same parser are honoured

  google-deepmind/mujoco#3527 · Filter by author omnilink-tech opened on Aug 27, 2026
  6

• USD: four defects in the Newton schemas v0.4.0 adoption (units, semantics, unread attribute)

  google-deepmind/mujoco#3472 · Filter by author andrewkaufman opened on Aug 12, 2026
  1

  

• mjcPhysics USD schema missing sleep and body gravcomp attributes

  google-deepmind/mujoco#3457 · Filter by author andrewkaufman opened on Aug 5, 2026
  

• USD decoder can change inferred mass/inertia for explicit body inertials and visual-only geoms

  bug
  google-deepmind/mujoco#3399 · Filter by author LouRohanNV opened on Jul 13, 2026
  

• [Performance; Model editing] Batch adding of bodies/geoms/etc.

  enhancement
  google-deepmind/mujoco#3397 · Filter by author davidhozic opened on Jul 12, 2026
  10

  

• USD decoder misses physics-purpose material bindings on colliders

  bug
  google-deepmind/mujoco#3393 · Filter by author LouRohanNV opened on Jul 10, 2026
  1

  

• USD decoder does not preserve sites, model names, unlimited joints, and disabled-collider metadata

  bug
  google-deepmind/mujoco#3391 · Filter by author LouRohanNV opened on Jul 10, 2026
  

• sample/compile cannot load USD decoder plugins without manual plugin registration

  enhancement
  google-deepmind/mujoco#3389 · Filter by author LouRohanNV opened on Jul 10, 2026
  

• Allow running Simulate app with plugin libraries from any folder

  enhancement
  google-deepmind/mujoco#3357 · Filter by author scastro-nasa opened on Jun 23, 2026
  3