Yuval Tassa 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

..

_static

Changes to dcmotor:

2026-04-09 06:52:45 -07:00

APIreference

Modify mj_PLUGIN_LIB_INIT to support multiple plugins in the same compilation unit.

2026-04-08 11:35:16 -07:00

computation

Add Jdot correction for connect and weld constaints

2026-04-13 12:48:03 -07:00

css

Documentation: Pair-wise colliders.

2026-01-12 08:47:45 -08:00

dcmotor

Changes to dcmotor:

2026-04-09 06:52:45 -07:00

ext

Tag nullable arguments in main header. Fixes #309

2025-07-31 08:39:16 -07:00

images

Add actuator and sensor delays. Fixes #1004

2026-02-06 08:47:36 -08:00

includes

Changes to dcmotor:

2026-04-09 06:52:45 -07:00

js

Add source code links in docs for remaining API functions.

2024-11-03 11:09:56 -08:00

mjwarp

Merge pull request #3165 from thowell:mjwarp_per_world_meshes_doc

2026-04-03 02:35:45 -07:00

OpenUSD

Move OpenUSD parsing to usd_decoder

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

programming

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

templates

Fix documentation typos.

2025-01-27 10:58:22 -08:00

changelog.rst

Add Jdot correction for connect and weld constaints

2026-04-13 12:48:03 -07:00

conf.py

Add documentation for MJX API

2026-01-23 07:53:17 -08:00

docutils.conf

Updates for documentation.

2025-07-03 06:35:11 -07:00

index.rst

MuJoCo Warp documentation.

2025-09-16 07:56:41 -07:00

Makefile

build(makefile): .PHONY targets are cumulative

2022-09-26 10:48:00 -04:00

mjx_api.rst

MJX API documentation: add Any to exclude-members

2026-02-23 02:24:06 -08:00

mjx.rst

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

modeling.rst

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

models.rst

Add WidowX 250 6-DoF. Closes #28.

2024-06-04 12:09:34 -07:00

overview.rst

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

python.rst

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

references.bib

Cite Vaxenburg et al. in fluid force documentation.

2024-03-15 06:57:49 -07:00

requirements.txt

Improve XML schema usability

2026-01-06 09:51:36 -08:00

unity.rst

Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release

2026-03-11 07:09:24 -07:00

XMLreference.rst

Implement midpoint integrator for free bodies.

2026-04-13 10:58:49 -07:00

XMLschema.rst

Add <dcmotor> actuator and related docs and tests.

2026-04-01 07:50:23 -07:00