Issues

• 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
  2

• 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

• 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

• Mesh SDF coefficients have wrong sign near sharp edges since 3.6.0 (spurious deep contacts)

  google-deepmind/mujoco#3686 · Filter by author fusuke-minagi-akari opened on Oct 13, 2026

• 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

• EGL backend: EGL_DISPLAY is left invalid after exit-time eglTerminate and after a failed init

  bug
  google-deepmind/mujoco#3675 · Filter by author cbirkhold opened on Oct 10, 2026

• [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

• 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
  2

• 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