f0fa3d8260
Remove midpoint integration, superseded by free-body gyroscopic derivatives.
...
The gyroscopic (bias) derivatives applied to standalone free bodies by the
implicitfast integrator provide comparable stability for spinning bodies,
with none of midpoint's restrictions: they apply under contacts, fluid
forces and constraints, and preserve the linear force-velocity relation
required by discrete-time inverse dynamics. The invdiscrete flag reverts to
its original single meaning and no longer affects forward dynamics.
Restore implicitfast coverage in the DiscreteInverseMatch test, removed
when midpoint made discrete inverse dynamics untestable.
Add implicit gyroscopic (bias) derivatives for free bodies in implicitfast.
The implicitfast integrator drops the RNE (bias) derivative to stay on the
symmetric Cholesky path, so fast-spinning free bodies integrate gyroscopic
forces explicitly and can gain energy. Symmetrizing the gyroscopic Jacobian
is not an option: its stabilizing content is the antisymmetric part, and
adding only the symmetric part is destabilizing.
Instead, exploit the fact that for a standalone free body the 6x6 block of
M - h*D is decoupled from the rest of the system (qDeriv sparsity is
tree-local): after the global solve, rebuild the block with the exact bias
derivative in closed form (mjd_freeBias_vel) and re-solve it with dense
unsymmetric LU, overwriting the block's rows of qacc. For lone spinning
bodies this makes implicitfast match implicit to rounding, at ~150ns per
eligible body: cheaper than the midpoint machinery it will replace.
Eligibility is structural only; contacts, fluid and constraints need no
gating. The same block is mirrored in discrete inverse dynamics
(mj_discreteAcc), making invdiscrete exact for spinning free bodies.
PiperOrigin-RevId: 948472495
Change-Id: I813ef3d98c7b399881bc8603b9f9208cfb02eb58
2026-07-15 12:07:44 -07:00
d507e92198
Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs).
...
An actuator now owns a block of consecutive controls
(actuator_ctrladr/ctrlnum, width defined by the actuator type) and a block
of consecutive force outputs (actuator_outadr/outnum, width defined by the
transmission type). Force outputs are the scalars of actuation space: one
force, length, velocity and moment row each. nout = dim(actuator_force) is
derived from transmission types; all current types have width 1, so all
three counts coincide for every existing model and behavior is bit-exact.
Array re-keying: ctrlrange/ctrllimited by nu; forcerange/forcelimited/gear/
acc0/length0/lengthrange and the moment row structure by nout; everything
else per actuator. The mjModel actuator block is re-sorted by size key.
Layout-breaking, not behavior-breaking: saved .mjb files are invalidated
(size list changed) and recompilation is required.
PiperOrigin-RevId: 948351772
Change-Id: Icbc196ffa083cb1eaa6f1a3710869c89d8f62540
2026-07-15 08:30:20 -07:00
c69ef03083
Add zero-iteration early exit to the primal solvers, certified by the duality gap.
...
The primal cost has curvature of at least M in every zone, making it strongly
convex in the M-norm and bounding the suboptimality of any point by the
Fenchel duality gap at its constraint forces:
cost(qacc) - cost* <= 0.5*grad'*M^-1*grad
Since M's factorization always exists, this certificate is evaluable before
the solver does any work: one triangular solve and one dot product. When the
warmstarted solution is already certified to satisfy the tolerance, CG and
Newton now return with zero iterations; for Newton this skips building and
factorizing the Hessian. If the certificate declines, Newton gets a second
exit after factorization: the Newton decrement, checked before the first
line search.
Because the gap bounds cost suboptimality, stiff constraints can convert it
into force errors of order sqrt(2*gap*stiffness). Newton solutions are
characteristically force-accurate, so Newton zero-iteration exits also
require the gradient criterion, preserving constraint-force accuracy at
rest; CG solutions are characteristically cost-accurate and exit on the gap
alone.
On a settling pile of 50 boxes (300 dofs, ~200 contacts), end-to-end time
per step drops 13% over a settle-then-rest run and 27% in the quiescent
limit, with Newton iterations falling from 0.98 to 0.40 per step.
Tests: WarmstartZeroIterations sweeps solver/cone/jacobian on a settled box,
asserting zero iterations, forward/inverse consistency, and agreement with a
tolerance=0 control solve from the same state. WarmstartZeroIterationsIslands
checks per-island exits with a kicked box next to a settled one.
RefsiteConservesMomentum now requests an exact solve (tolerance=0), since it
asserts momentum conservation tighter than the solver tolerance contract.
PiperOrigin-RevId: 947993735
Change-Id: I2fd855774bff619709b2c386f1ba2714286e0821
2026-07-14 17:24:08 -07:00
1e66efd114
Add the Newton decrement as a termination criterion of the Newton solver.
...
After an accepted line-search step, the solver has already rebuilt the gradient
and Hessian and solved for the next search direction, so the Newton decrement
0.5*g'*H^-1*g -- the quadratic model's predicted cost improvement of the next
iteration -- costs one dot product. Terminating when it falls below tolerance
avoids running one more iteration only to observe a correspondingly small
actual improvement.
This is a C port of Alain's proposal in MJWarp:
https://github.com/google-deepmind/mujoco_warp/pull/1520
PiperOrigin-RevId: 947768034
Change-Id: I94e5c71a4e2b4a7775611edd1dad254bba2633b4
2026-07-14 10:30:18 -07:00
828052e6f4
CG solver: Replace PRP+ with Hager-Zhang update
...
Replace the Polak-Ribière-Plus (PRP+) conjugate direction update with the Hager-Zhang formula in `mj_solPrimal`.
While this change has negligible effect under float64, it leads to a significant 17.5% throughput speedup over PRP+ under float32 (measured via `engine_cg_convergence_test`). This performance gain is driven by:
* A 9.4% reduction in CG iterations per step.
* A 12.1% reduction in line search evaluations per step.
The full output of the comparison is
```
================================================================
1/4: HZ + float64
================================================================
CG Convergence: 2humanoid100.xml
1000 Newton steps, 100 evaluation points
nv = 654, nq = 756
metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||
Warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 3.8532e-01 | 1.4285e+00 | 5.00 | 22368
10 | 2.0809e-01 | 9.9315e-01 | 10.00 | 44591
20 | 6.4977e-02 | 2.3410e-01 | 20.00 | 89417
40 | 5.2839e-03 | 2.1916e-02 | 40.00 | 180984
80 | 3.9709e-05 | 3.0010e-04 | 80.00 | 364241
160 | 3.2498e-09 | 3.5480e-08 | 160.00 | 730131
-------+-------------+-------------+------------+---------
No warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 9.0740e-01 | 5.0045e+00 | 5.00 | 22123
10 | 3.9506e-01 | 2.1927e+00 | 10.00 | 44879
20 | 1.2496e-01 | 6.8911e-01 | 20.00 | 90341
40 | 1.2846e-02 | 6.9533e-02 | 40.00 | 182869
80 | 1.0288e-04 | 8.6457e-04 | 80.00 | 368312
160 | 5.9820e-09 | 5.0903e-08 | 160.00 | 738479
-------+-------------+-------------+------------+---------
Tolerance sweep (iterations = 100, warmstart):
Tol | Mean Err | Max Err | Mean Iters | Max Iters | Solver us | LS evals
-----------+-------------+-------------+------------+------------+-------------+---------
1e-04 | 1.1297e-02 | 8.9331e-02 | 34.88 | 51 | 131002.94 | 12052
1e-06 | 1.0907e-03 | 7.7468e-03 | 50.87 | 72 | 184172.44 | 16700
1e-08 | 1.1485e-04 | 1.0085e-03 | 66.82 | 91 | 232189.34 | 20194
1e-10 | 1.1357e-05 | 8.1547e-05 | 81.97 | 100 | 276114.42 | 23264
1e-12 | 3.7695e-06 | 2.8592e-05 | 90.47 | 100 | 299526.58 | 24964
0 | 3.5019e-06 | 2.8592e-05 | 100.00 | 100 | 2062208.36 | 456276
-----------+-------------+-------------+------------+------------+-------------+---------
Total solver time: 3185214.08 us, avg time per iter: 74.9445 us
Pipeline mode (consecutive mj_step, tolerance = 1e-8):
1000 steps, nv = 654
Steps/s : 380
us/step (total) : 2630.0
us/step (constr) : 2103.7 (80.0%)
CG iters/step : 63.28
LS evals/step : 190.75
us/iter : 33.24
================================================================
2/4: PRP+ + float64
================================================================
CG Convergence: 2humanoid100.xml
1000 Newton steps, 100 evaluation points
nv = 654, nq = 756
metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||
Warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 3.8533e-01 | 1.4285e+00 | 5.00 | 22228
10 | 2.0808e-01 | 9.9315e-01 | 10.00 | 44873
20 | 6.4978e-02 | 2.3410e-01 | 20.00 | 89349
40 | 5.2895e-03 | 2.1916e-02 | 40.00 | 179827
80 | 4.0188e-05 | 3.0010e-04 | 80.00 | 363740
160 | 3.2891e-09 | 3.5480e-08 | 160.00 | 733905
-------+-------------+-------------+------------+---------
No warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 9.0740e-01 | 5.0045e+00 | 5.00 | 22590
10 | 3.9506e-01 | 2.1927e+00 | 10.00 | 45093
20 | 1.2496e-01 | 6.8911e-01 | 20.00 | 90393
40 | 1.2846e-02 | 6.9533e-02 | 40.00 | 182422
80 | 1.0288e-04 | 8.6457e-04 | 80.00 | 367264
160 | 5.9811e-09 | 5.0903e-08 | 160.00 | 739556
-------+-------------+-------------+------------+---------
Tolerance sweep (iterations = 100, warmstart):
Tol | Mean Err | Max Err | Mean Iters | Max Iters | Solver us | LS evals
-----------+-------------+-------------+------------+------------+-------------+---------
1e-04 | 1.1325e-02 | 8.9941e-02 | 34.95 | 52 | 129456.81 | 12060
1e-06 | 1.0910e-03 | 7.7469e-03 | 50.85 | 72 | 181004.51 | 16687
1e-08 | 1.1488e-04 | 1.0085e-03 | 66.83 | 91 | 228183.13 | 20189
1e-10 | 1.1401e-05 | 8.1547e-05 | 81.98 | 100 | 269635.40 | 23259
1e-12 | 3.8040e-06 | 2.8592e-05 | 90.52 | 100 | 293811.25 | 24967
0 | 3.5543e-06 | 2.8592e-05 | 100.00 | 100 | 2051927.47 | 456000
-----------+-------------+-------------+------------+------------+-------------+---------
Total solver time: 3154018.57 us, avg time per iter: 74.1895 us
Pipeline mode (consecutive mj_step, tolerance = 1e-8):
1000 steps, nv = 654
Steps/s : 382
us/step (total) : 2616.6
us/step (constr) : 2091.8 (79.9%)
CG iters/step : 63.57
LS evals/step : 193.35
us/iter : 32.91
================================================================
3/4: HZ + float32
================================================================
CG Convergence: 2humanoid100.xml
1000 Newton steps, 100 evaluation points
nv = 654, nq = 756
metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||
Warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 3.6748e-01 | 1.2281e+00 | 5.00 | 19239
10 | 2.0034e-01 | 6.8689e-01 | 10.00 | 39001
20 | 6.1972e-02 | 1.9859e-01 | 20.00 | 80112
40 | 4.0704e-03 | 1.5797e-02 | 40.00 | 168211
80 | 2.4380e-05 | 1.5803e-04 | 79.45 | 347735
160 | 7.7413e-07 | 4.4732e-06 | 157.27 | 704210
-------+-------------+-------------+------------+---------
No warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 9.3385e-01 | 4.9648e+00 | 5.00 | 19272
10 | 3.6117e-01 | 1.9618e+00 | 10.00 | 37982
20 | 9.7490e-02 | 5.1451e-01 | 20.00 | 76502
40 | 9.5924e-03 | 5.5088e-02 | 40.00 | 162782
80 | 6.7689e-05 | 5.1113e-04 | 79.91 | 344281
160 | 1.5541e-06 | 7.6955e-06 | 157.30 | 697076
-------+-------------+-------------+------------+---------
Tolerance sweep (iterations = 100, warmstart):
Tol | Mean Err | Max Err | Mean Iters | Max Iters | Solver us | LS evals
-----------+-------------+-------------+------------+------------+-------------+---------
1e-04 | 1.5891e-02 | 1.2929e-01 | 32.56 | 50 | 136254.00 | 10980
1e-06 | 1.5719e-03 | 1.0990e-02 | 47.42 | 68 | 193566.00 | 15418
1e-08 | 1.6260e-04 | 1.0680e-03 | 62.70 | 86 | 252661.00 | 20162
1e-10 | 1.5664e-05 | 1.0999e-04 | 78.10 | 100 | 311535.00 | 24509
1e-12 | 2.8152e-06 | 1.5236e-05 | 90.39 | 100 | 356814.00 | 27902
0 | 2.4989e-06 | 1.5025e-05 | 99.05 | 100 | 1980580.00 | 436825
-----------+-------------+-------------+------------+------------+-------------+---------
Total solver time: 3231410.00 us, avg time per iter: 78.7726 us
Pipeline mode (consecutive mj_step, tolerance = 1e-8):
1000 steps, nv = 654
Steps/s : 349
us/step (total) : 2862.7
us/step (constr) : 2379.3 (83.1%)
CG iters/step : 61.97
LS evals/step : 199.01
us/iter : 38.39
================================================================
4/4: PRP+ + float32
================================================================
CG Convergence: 2humanoid100.xml
1000 Newton steps, 100 evaluation points
nv = 654, nq = 756
metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||
Warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 3.6753e-01 | 1.2281e+00 | 5.00 | 19052
10 | 2.0028e-01 | 6.8689e-01 | 10.00 | 38761
20 | 6.1737e-02 | 1.9863e-01 | 20.00 | 79937
40 | 4.0915e-03 | 1.5821e-02 | 39.99 | 168159
80 | 2.4360e-05 | 1.5808e-04 | 79.59 | 348385
160 | 7.8367e-07 | 4.1549e-06 | 157.04 | 700760
-------+-------------+-------------+------------+---------
No warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 9.3385e-01 | 4.9648e+00 | 5.00 | 19494
10 | 3.6117e-01 | 1.9618e+00 | 10.00 | 38480
20 | 9.7485e-02 | 5.1451e-01 | 20.00 | 77213
40 | 9.5904e-03 | 5.5078e-02 | 40.00 | 162472
80 | 6.7647e-05 | 5.1087e-04 | 79.87 | 342990
160 | 1.4979e-06 | 7.2291e-06 | 157.92 | 699052
-------+-------------+-------------+------------+---------
Tolerance sweep (iterations = 100, warmstart):
Tol | Mean Err | Max Err | Mean Iters | Max Iters | Solver us | LS evals
-----------+-------------+-------------+------------+------------+-------------+---------
1e-04 | 1.5998e-02 | 1.3172e-01 | 32.49 | 50 | 135111.00 | 10953
1e-06 | 1.5878e-03 | 1.1052e-02 | 47.33 | 67 | 190914.00 | 15418
1e-08 | 1.5901e-04 | 1.0680e-03 | 62.65 | 84 | 250609.00 | 20215
1e-10 | 1.5953e-05 | 1.1116e-04 | 78.01 | 100 | 307067.00 | 24562
1e-12 | 2.8520e-06 | 1.5174e-05 | 90.27 | 100 | 353010.00 | 27931
0 | 2.5161e-06 | 1.5129e-05 | 99.39 | 100 | 1999478.00 | 438790
-----------+-------------+-------------+------------+------------+-------------+---------
Total solver time: 3236189.00 us, avg time per iter: 78.9045 us
Pipeline mode (consecutive mj_step, tolerance = 1e-8):
1000 steps, nv = 654
Steps/s : 298
us/step (total) : 3352.8
us/step (constr) : 2832.0 (84.5%)
CG iters/step : 68.43
LS evals/step : 226.33
us/iter : 41.39
```
PiperOrigin-RevId: 928590104
Change-Id: I1a96730f50f444d6141d8978feb3519009daf320
2026-06-08 08:54:07 -07:00
71d1014e70
Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472
...
PiperOrigin-RevId: 916932908
Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
2026-05-17 16:47:54 -07:00
a4e49f2dff
Margin and gap redesign (breaking change)
...
PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
2026-05-12 09:43:43 -07:00
910b3336ed
Restrict midpoint integration to unconstrained free bodies in implicitfast
...
PiperOrigin-RevId: 908750768
Change-Id: I9a45a160ac757cc82bfe54871609956769988369
2026-05-01 08:41:47 -07:00
647af382c1
Add per-island PGS solver dispatch.
...
Total testspeed runtime for `2humanoids100.xml` reduced by 27.6% (63.4 -> 49.5s) due to early termination on small islands
PiperOrigin-RevId: 906910915
Change-Id: If55ad468c3680ef44eda7000455a77f8003b3122
2026-04-28 05:13:54 -07:00
3325971840
Add mj_maxContact API function.
...
PiperOrigin-RevId: 903135055
Change-Id: I5f103c7d51f97e327c923bc567002ace835f5517
2026-04-21 04:03:22 -07:00
bc5883e82f
Update multiccd documentation.
...
PiperOrigin-RevId: 902779253
Change-Id: I767cd0a230b78efe2a71f83e5f2f134268997dcb
2026-04-20 12:53:17 -07:00
412cee2059
Add Jdot correction for connect and weld constaints
...
Measured reduction in constraint violations before/after this change:
| Model | Correction ON (Avg Viol) | Correction OFF (Avg Viol) | Reduction |
| :--- | :--- | :--- | :--- |
| `jdotv_connect_2d.xml` | 3.959e-4 | 1.699e-3 | **76.7%** |
| `jdotv_connect_3d.xml` | 1.399e-3 | 5.493e-3 | **74.5%** |
| `jdotv_weld_3d.xml` | 9.472e-3 | 1.148e-2 | **17.5%** |
PiperOrigin-RevId: 899137525
Change-Id: Ic3e33764ebd64239bab916289c23d80c3da0b51b
2026-04-13 12:48:03 -07:00
0c337799bd
Implement midpoint integrator for free bodies.
...
PiperOrigin-RevId: 899043541
Change-Id: I0bb38f6ad94e189b45ab16777a04ad6fefc6adf7
2026-04-13 10:58:49 -07:00
239aa1f856
Minor updates to documentation across multiple sections.
...
PiperOrigin-RevId: 898652783
Change-Id: Idb671910c18ed3406722b8a1307f97ae9a194139
2026-04-13 10:54:28 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
...
PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
0c66585e39
Fix typos and minor corrections in MuJoCo documentation and comments.
...
PiperOrigin-RevId: 875163889
Change-Id: Ic604d6235bf9cb999058f191e3ee41e47ec1a567
2026-02-25 07:56:31 -08:00
40e0007849
Restructure numeric constants table in API docs
...
Break the monolithic numeric constants table into 6 sub-grouped tables:
Version, Engine constants, Array sizes, Visualization, Rendering, UI constants.
Fix stale values: mjMAXUITEXT (500->300), mjMAXUIMULTI (20->35),
mjMAXUIEDIT (5->7), mjMAXUIRECT (15->25).
Add missing constants: mjMAXLIGHT, mjMAXMATERIAL.
Fix placeholder description for mjMAXFLEXNODES.
PiperOrigin-RevId: 875010581
Change-Id: Id47846de4d98b62cb96087b72ecd28358d5db9c7
2026-02-25 00:54:35 -08:00
9d6d9089e5
Improve solver parameter documentation, in particular for frictional constraints.
...
PiperOrigin-RevId: 873364458
Change-Id: Ie4da21abc2ee54d9eaaefc81b3d2624a520ad96e
2026-02-21 09:14:56 -08:00
e50e2e9691
Correct dimensions for constraint-related quantities in documentation.
...
PiperOrigin-RevId: 856159539
Change-Id: I83f0414a78239cae9c91bb51b16f5e2549891517
2026-01-14 04:54:03 -08:00
013268c283
Documentation: Pair-wise colliders.
...
PiperOrigin-RevId: 855245724
Change-Id: Iffad5dc426350040f730dc1a7b9766f079ef949e
2026-01-12 08:47:45 -08:00
b77977a962
Update Programming/simulation chapter.
...
PiperOrigin-RevId: 847424298
Change-Id: Icc6efb05dee5e67a5813ed04caa15a5703e59aee
2025-12-21 08:16:39 -08:00
e095bb6d41
Improve rendering of dynamics pipeline schematic
...
PiperOrigin-RevId: 838865159
Change-Id: I225e94508be7edb8f8217ec5abb2f609cbb39ae5
2025-12-01 11:36:01 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
...
PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
8734cab366
Add sleeping documentation
...
https://youtu.be/vct493lGQ8Q
PiperOrigin-RevId: 829390353
Change-Id: I92f85a03be0bb585d2d8e29de1ed1a2e848f247f
2025-11-07 05:12:42 -08:00
ec94bb49aa
Make constraint island discovery on by default.
...
Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
7479312218
Use LaTeX macros for prettier uppercase subscripts in documentation.
...
PiperOrigin-RevId: 798547203
Change-Id: I039886fd15ee022de780a19d0ad6e17d01c306f4
2025-08-23 05:39:36 -07:00
fde479736e
Finalize built-in mesh example model and documentation
...
PiperOrigin-RevId: 791227350
Change-Id: Ibdcdb8a4ee5b3f78c9ae93e1db2a9a2f9d55a80c
2025-08-05 08:32:51 -07:00
bb1d313780
Update docs reflecting MJX now has good support for implicitfast.
...
PiperOrigin-RevId: 772660862
Change-Id: I2ba27b39bb6885b48f65ca1afdc6b83ec027a26d
2025-06-17 16:08:12 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
...
PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
6c8cf82f27
Docs: fix mixed-up forward dynamics stages.
...
PiperOrigin-RevId: 732465925
Change-Id: I8d350e398d749076cc5f24cd33fa1ee87876e426
2025-03-01 09:34:23 -08:00
7fdee13874
Fix typo.
...
PiperOrigin-RevId: 731484375
Change-Id: I63859249dc60ca065a94996b52530b57fd975d0b
2025-02-26 15:50:47 -08:00
ed16f2daf2
Set nativeccd as default.
...
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
cf1784bb79
Fix typo.
...
PiperOrigin-RevId: 730410150
Change-Id: I0b2de4aea15cb630585f8c15dc29f368729adc3e
2025-02-24 05:25:25 -08:00
b90ff3f0b1
Improve integrator documentation.
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PiperOrigin-RevId: 729710349
Change-Id: I8bf1727b8cd3ea45bb16e3607c9d8f58e4a69007
2025-02-21 17:30:55 -08:00
8c22181156
Fix documentation typos.
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PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
2025-01-27 10:58:22 -08:00
69c66aa1bb
Fix typo.
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PiperOrigin-RevId: 716820809
Change-Id: I51f8608f0c01f4fc8016b4be779d98c8972bc913
2025-01-17 15:39:56 -08:00
cf721def3a
Missing renames of mpr_ -> ccd_
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PiperOrigin-RevId: 673330801
Change-Id: I1cd67454660aaea6dd41eb50a12638358676b8d0
2024-09-11 04:09:57 -07:00
2cb601c98d
Improve documentation w.r.t smoothness, differentiability and finite-differencing.
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PiperOrigin-RevId: 662848709
Change-Id: Icb7dc03a2c53d43d0d3a9e4ac95d963e5bc6853c
2024-08-14 03:11:38 -07:00
70d70bc3b7
Fix typos in MuJoCo documentation.
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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
2024-07-25 13:31:13 -07:00
70f86617f8
Fix typos in documentation.
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PiperOrigin-RevId: 650191926
Change-Id: I84d098782c6e4585a31e1de6bb1a7af3b3698f94
2024-07-08 03:49:12 -07:00
0d1c92b20a
Add documentation on pipeline stages and mjData self-consistency. Fixes #1667
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PiperOrigin-RevId: 638619787
Change-Id: Ic8dd0fbd178c4946757a07d74fca3b2c905f9080
2024-05-30 05:38:05 -07:00
3e35eebbb9
Documentation updates:
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- Added a section on preventing slip in the modeling chapter.
- Added more intuitive descriptions of friction coefficients in the Computation chapter.
- Fixed some en-dashes and em-dashes.
PiperOrigin-RevId: 630856003
Change-Id: I8e767e6c5a95affdeb72ef9bc424bdd18f58e4df
2024-05-05 12:10:06 -07:00
bcee4e9954
Add more details to reproducibility section.
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PiperOrigin-RevId: 624186625
Change-Id: Ibceace5b2b3d84c9cf0a179adfb6638450f9cb9f
2024-04-12 08:27:30 -07:00
feccf7ec96
Document mj_fwdPosition in pipeline docs, fix ordering error.
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PiperOrigin-RevId: 622829902
Change-Id: I2f1da9939aac38e4a662757f5c4bccf38a51e3da
2024-04-08 06:49:20 -07:00
31d48d3e44
Update fluid.rst
2024-03-22 16:07:57 +01:00
a23cb4d22c
Cite Vaxenburg et al. in fluid force documentation.
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PiperOrigin-RevId: 616114884
Change-Id: I0e7db61820c6ece118dee6871b8a526fdb79fb02
2024-03-15 06:57:49 -07:00
58e9fb0baa
Docs: fix link to slider-crank example model.
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PiperOrigin-RevId: 603400948
Change-Id: I49e4a58ba0cd450950a35cccb749f04d34190cfc
2024-02-01 09:56:37 -08:00
b643c08c0d
Recommend CoACD for convex mesh decomposition in the docs.
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PiperOrigin-RevId: 596917392
Change-Id: I3fa6d22b879bf6b4d16e037bb2b8896df8d682a2
2024-01-09 06:45:37 -08:00
c79e1e5d01
Add documentation image variants compatible with dark mode. Fixes #587
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PiperOrigin-RevId: 596265596
Change-Id: Iedd076fbb7a6dca77a91e52e538be1c764d1f8fb
2024-01-06 14:02:34 -08:00
da211ddf29
Improve description of the collision detection pipeline.
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PiperOrigin-RevId: 590742091
Change-Id: Idfcc37cece21dcf46401a147a43aa8ec4eeb05aa
2023-12-13 16:06:30 -08:00
Yuval Tassa