Yuval Tassa 1cda1e7a8c Prevent degenerate body inverse weights in constraints. ...

Fixes #2472

PiperOrigin-RevId: 855223971
Change-Id: I646207f82353b7099aab9e220888fe11a4cd3d6d

2026-01-12 07:43:14 -08:00

..

benchmark

Refactor mju_cholUpdateSparse to use a dense accumulator, 1.5-2x function speedup.

2025-12-19 08:57:45 -08:00

engine

Prevent degenerate body inverse weights in constraints.

2026-01-12 07:43:14 -08:00

experimental

Move OpenUSD parsing to usd_decoder

2026-01-09 14:48:29 -08:00

plugin

Add VFS parameter to mjpDecoder decoding function.

2025-12-18 06:38:40 -08:00

sample

Implement sleeping in engine

2025-11-07 03:33:07 -08:00

testdata

Add additional data fields that can be reported by rangefinder sensors.

2025-12-23 15:33:00 -08:00

thread

Reduce cmake test boilerplate

2024-12-07 17:14:20 +01:00

user

Remove getdir from mjpResourceProvider.

2026-01-12 04:07:42 -08:00

xml

Refactor 'ParseXML' and 'ParseSpecFromString' to use a shared helper function.

2026-01-09 08:40:40 -08:00

CMakeLists.txt

Check mjs_getName return value in XML parser. Fixes #2898.

2025-10-14 12:40:28 -07:00

fixture_test.cc

Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.

2024-02-19 05:40:31 -08:00

fixture.cc

Remove getdir from mjpResourceProvider.

2026-01-12 04:07:42 -08:00

fixture.h

Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.

2025-05-30 17:17:14 -07:00

header_test.cc

Order fields in mjxmacro like in mjmodel and mjdata headers, add tests.

2025-08-24 11:17:30 -07:00

pipeline_test.cc

Improve warmstarting if island structure exists.

2025-04-29 15:18:14 -07:00