71d1014e70
Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472
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PiperOrigin-RevId: 916932908
Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
2026-05-17 16:47:54 -07:00
a897805683
Improve test comparing forward and inverse dynamics mismatch
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PiperOrigin-RevId: 916864072
Change-Id: I9952c7dd1bde2033dfe1380552f2c4b6b7344b26
2026-05-17 12:03:20 -07:00
0c337799bd
Implement midpoint integrator for free bodies.
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PiperOrigin-RevId: 899043541
Change-Id: I0bb38f6ad94e189b45ab16777a04ad6fefc6adf7
2026-04-13 10:58:49 -07:00
9fa3f6f77e
Enable float32 testing for most MuJoCo engine and user tests.
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PiperOrigin-RevId: 886697701
Change-Id: I4a96fae03ea18494c3fcef8eb17b3b6f0863e9b7
2026-03-20 04:05:06 -07:00
5a24eb2d34
Add error reporting to model loading in engine tests, where missing
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PiperOrigin-RevId: 795844607
Change-Id: I4163c53c05796c2e3036af28a98f58c15bb1c99c
2025-08-16 08:11:49 -07:00
2b192cebb6
PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1.
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This makes mj_forward calls idempotent if warmstart is disabled and quats in qpos are normalized.
PiperOrigin-RevId: 564442666
Change-Id: I9c43add82bcfb4101c19fbfbfc8c30091b8906d5
2023-09-11 11:09:53 -07:00
819b5cb982
Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.
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PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
2023-08-25 12:08:37 -07:00
Yuval Tassa