Yuval Tassa c931565fdc Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon. ...

Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2

2025-03-25 09:36:30 -07:00

..

actuation

Remove unused texture attribute in some models.

2024-07-01 15:05:02 -07:00

collision_box

Fix bug introduced in 7942fe957e

2023-12-14 13:30:38 -08:00

collision_convex

Support edge contacts with multiccd in nativeccd.

2025-02-24 09:48:43 -08:00

collision_driver

Remove the convexhull compiler option.

2024-10-27 04:31:10 -07:00

collision_primitive

Remove the particle composite (replaced by replicate).

2025-02-23 03:14:11 -08:00

core_constraint

Fix bug in implementation of torquescale

2023-10-28 08:25:25 -07:00

core_smooth

Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon.

2025-03-25 09:36:30 -07:00

derivative

Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.

2023-04-28 09:04:41 -07:00

hammock

Remove grid from composite types.

2025-02-23 01:31:41 -08:00

island

Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179

2024-10-28 10:44:04 -07:00

ray

Add bvhactive flag to visual/global. Fixes #1279.

2024-01-19 02:59:56 -08:00

sensor

Support edge contacts with multiccd in nativeccd.

2025-02-24 09:48:43 -08:00

vis_interact

Add model used for testing UI for stacking.

2023-03-24 07:23:29 -07:00

vis_visualize

Refactor frustum drawing to use a local makeTriangle function.

2024-08-27 15:42:31 -07:00

armature_equivalence.xml

Add test for armature, model will be used in upcoming improved documentation for armature.

2025-01-26 12:01:12 -08:00

catenary.xml

Add catenary visualisation to string-like tendons.

2022-08-19 06:25:07 -07:00

collisions.xml

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

connect.xml

Allow connect constraints to be specified using sites.

2024-08-29 07:10:51 -07:00

ellipsoidinertia.xml

Add equivalent inertia ellipsoid visualization.

2023-03-24 08:47:43 -07:00

equality_site_body_compare.xml

Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179

2024-10-28 10:44:04 -07:00

equality_site.xml

Add site semantics to weld constraint. Fixes #1896

2024-09-16 05:46:01 -07:00

frame.xml

Add frame element to MJCF.

2023-11-27 03:32:18 -08:00

inertia.xml

Fix bug in mj_mulM2.

2024-12-30 11:14:56 -08:00

rotations.xml

Adds rendering of ball and free joints actuators using an inflated joint geometry.

2022-06-09 09:10:03 -07:00

select.xml

Improved behaviour of mouse-spring interactions.

2023-02-20 08:40:33 -08:00

skingroup.xml

Remove grid from composite types.

2025-02-23 01:31:41 -08:00

spin_recoil.xml

Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.

2023-06-07 09:40:20 -07:00

tendon_springlength.xml

Allow tendon springlength attribute to take two values between which the spring produces no force (a deadband).

2022-10-28 05:57:37 -07:00

weld.xml

Add site semantics to weld constraint. Fixes #1896

2024-09-16 05:46:01 -07:00