Issues

• Short sphere-capsule contacts are missed because segment projection adds a fixed epsilon

  google-deepmind/mujoco_warp#1746 · Filter by author sylvesterkaczmarek opened on Oct 4, 2026

• camlight produces degenerate target camera and light frames

  google-deepmind/mujoco_warp#1743 · Filter by author kavyabhand opened on Oct 4, 2026

• GJK: in float32 the barycentric coordinates of a small or thin simplex do not sum to 1 (capsule depths on the sphere/capsule path off by up to 12.8 mm, penetrating contacts missed)

  google-deepmind/mujoco_warp#1740 · Filter by author M-Colley opened on Oct 3, 2026

• CCD, sphere/capsule vs convex: the contact normal is float32 rounding near zero penetration (sometimes an all-zero frame)

  google-deepmind/mujoco_warp#1739 · Filter by author M-Colley opened on Oct 3, 2026

• Performance: ~20% of step on a muscle model is work that does not affect dynamics

  google-deepmind/mujoco_warp#1733 · Filter by author Beanpow opened on Oct 2, 2026

• plane_convex: the float32 graph climb stops at near-duplicate hull vertices and misses a penetrating plane contact

  google-deepmind/mujoco_warp#1729 · Filter by author QuanyiLi opened on Oct 2, 2026

• Discrete 3D flex stiffness differs from MuJoCo 3.14.1 nightly

  google-deepmind/mujoco_warp#1723 · Filter by author shi-eric opened on Sep 30, 2026
  1

• Upstream issue draft: CUDA illegal memory access (kernel data race) under concurrent multi-process load on the same GPU

  google-deepmind/mujoco_warp#1711 · Filter by author starimpact opened on Sep 29, 2026
  1

  

• Flex-geom contacts: per-pair limit differs from MuJoCo C's mjMAXCONPAIR (parity data for the configurable cap in #1668)

  google-deepmind/mujoco_warp#1709 · Filter by author pulipakaa24 opened on Sep 27, 2026

• Volume flexes: interior elements collide with geoms; MuJoCo C only collides active (surface) layers

  google-deepmind/mujoco_warp#1708 · Filter by author pulipakaa24 opened on Sep 27, 2026

• 1D flexes (cables) collide as vertex spheres; MuJoCo C collides their segments as capsules

  google-deepmind/mujoco_warp#1707 · Filter by author pulipakaa24 opened on Sep 27, 2026

• Flex element contacts of any flex after the first store the global element id

  google-deepmind/mujoco_warp#1705 · Filter by author pulipakaa24 opened on Sep 27, 2026

• Elliptic cones off CUDA: the cone Hessian term is launched with one thread per contact slot (dim_block = naconmax)

  google-deepmind/mujoco_warp#1704 · Filter by author pulipakaa24 opened on Sep 27, 2026
  1

• Tangent rays miss bounded primitive geoms

  google-deepmind/mujoco_warp#1698 · Filter by author kavyabhand opened on Sep 25, 2026
  2

• Delayed limit-force sensors apply sensor delay twice

  google-deepmind/mujoco_warp#1688 · Filter by author dvasquezlopez opened on Sep 23, 2026

• reset_data leaves selected-world derived dynamics and island state stale

  google-deepmind/mujoco_warp#1671 · Filter by author peachtree0222 opened on Sep 14, 2026
  1

  

• Mesh-sdf large number of collision contacts and differences between base mujoco and warp

  google-deepmind/mujoco_warp#1455 · Filter by author puralink-bonnie opened on Jun 24, 2026
  2

• block_cholesky / tile_cholesky lack pivot floor, leads to NaNs

  google-deepmind/mujoco_warp#1415 · Filter by author jessicayin opened on Jun 5, 2026
  3

  

• Flex Feature Parity Tracker: MuJoCo → MuJoCo Warp

  google-deepmind/mujoco_warp#1362 · Filter by author quagla opened on May 18, 2026

• Connect constraint anchor computation does not account for joint reference positions. Affects MuJoCo CPU and MuJoCo Warp.

  google-deepmind/mujoco_warp#1270 · Filter by author gyeomannvidia opened on Mar 30, 2026
  2

• update constants for float

  google-deepmind/mujoco_warp#1000 · Filter by author thowell opened on Jan 9, 2026
  2

  

• Heterogeneous model setups support

  google-deepmind/mujoco_warp#749 · Filter by author omarrayyann opened on Oct 6, 2025
  3

  

• Determinism

  Feature

  google-deepmind/mujoco_warp#562 · Filter by author erikfrey opened on Jul 31, 2025
  8

• Differentiability

  enhancement
  Feature

  google-deepmind/mujoco_warp#500 · Filter by author thowell opened on Jul 13, 2025
  11