Repository Issue Activity (beta)

#3551 mju_springDamper loses slow decay under strong overdamping

#3559 URDF inertial origin rotation is lost during compilation, changing rotational dynamics

#3553 Extend implicitfast gyroscopic stabilization to free bodies with fixed descendants

#3397 [Performance; Model editing] Batch adding of bodies/geoms/etc.

#3545 Inconsistent axis labels in `solimp` documentation

#3540 Sleeping doesn't work on static bodies unless at least one other body is sleeping

#3443 Make actuator kp implicit (∂τ/∂q) to lift the stiffness cap

#3524 Plane-mesh collision never produces 3 contacts for a flat triangular base; resting prism ratchet-slides away

#3401 MjSpec.to_xml changes joint/state-vector ordering after attach round-trip

#3535 Out-of-bounds read in sweep-and-prune collision broadphase with more than 32768 items

#3533 `mujoco_studio` crashes on Windows + AMD: `wglMakeCurrent` failed (error 2000)

#3426 MJX-Warp: Issue with varying-axis metadata in FFI calls under shard_map

#3527 URDF <mimic> is dropped silently, while <dynamics> and <limit effort> in the same parser are honoured

#3528 Torque-proportional loss in dcmotor

#3442 MuJoCo Live doesn't work on iPhones

#3328 Regularized friction never sticks: a pinched capsule at 20–95× Coulomb static margin creeps through the grip at 50–2300 µm/s

#2338 Programmatically change GUI size in mujoco_viewer / mujoco_viewer_passive

#3468 Add in-actuator backlash modeling

#3489 `Vmax` silently ignored for voltage-controlled dcmotors

#3487 LuGre model accepts invalid parameters

#3307 User sensor's dim does not change model's signature

#3289 touch_stress sensor not in plugins but in the README

#3521 mju_springDamper damping regime depends on time units

#3479 Hidden skin group leaves GL_ARRAY_BUFFER bound and breaks mjr_figure client arrays

#3476 Box-box collider returns a phantom deep contact (dist = -box_width) for boxes resting face-to-face at near-zero penetration