Yuval Tassa 14c0b0c92b Recompute sameframe flags in mj_setConst. ...

The `body_sameframe`, `geom_sameframe`, and `site_sameframe` flags are now recomputed within `mj_setConst` based on the current model geometry. This allows these flags to be updated if the model's body/geom/site frames are modified after the initial compilation. Tests are added to verify the correct recomputation and its effect on forward kinematics. The compiler also checks that its initial computation matches the result of `mj_setConst`.

Fixes #3029, #1628.

PiperOrigin-RevId: 941758649
Change-Id: I7b995f8c67ad305bca5b52732436ba578c905d73

2026-07-02 10:49:00 -07:00

..

_static

Add backlinks from tech note to dcmotor docs.

2026-05-05 02:38:38 -07:00

APIreference

Add special case support for MJB and TXT files to mj_encode.

2026-06-29 09:32:50 -07:00

computation

CG solver: Replace PRP+ with Hager-Zhang update

2026-06-08 08:54:07 -07:00

css

Prevent visited docs links from changing color.

2026-05-20 07:48:24 -07:00

dcmotor

Add backlinks from tech note to dcmotor docs.

2026-05-05 02:38:38 -07:00

ext

Tag nullable arguments in main header. Fixes #309

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

images

Update colors and legend in margin/gap figure.

2026-05-13 07:43:41 -07:00

includes

Change mj_encode return type to 64-bit (mjtSize)

2026-06-29 07:41:52 -07:00

js

Add source code links in docs for remaining API functions.

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

mjwarp

MuJoCo Warp documentation: Large scenes

2026-06-30 12:14:48 -07:00

OpenUSD

Move OpenUSD parsing to usd_decoder

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

programming

Move mjrfilament.h to mujoco/include.

2026-06-19 08:01:05 -07:00

templates

Fix documentation typos.

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

changelog.rst

Recompute sameframe flags in mj_setConst.

2026-07-02 10:49:00 -07:00

conf.py

Prevent visited docs links from changing color.

2026-05-20 07:48:24 -07:00

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

make_mujoco_stubs.py

Merge pull request #3243 from thowell:readthedocs

2026-05-11 03:54:33 -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

MJX documentation: update feature parity section

2026-05-26 07:23:24 -07:00

modeling.rst

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -07:00

models.rst

Add Human-700 to model gallery

2026-04-16 09:02:08 -07:00

overview.rst

Update docs to correctly reference mjtype.h

2026-05-21 08:44:11 -07:00

python.rst

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -07:00

references.bib

Cite Vaxenburg et al. in fluid force documentation.

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

requirements.txt

Bump doc deps and restrict lint workflow permissions

2026-06-11 17:51:08 -07:00

unity.rst

Update MuJoCo version to 3.10.1 following the 3.10.0 release

2026-06-22 07:25:02 -07:00

XMLreference.rst

Allow self-attach in MJCF

2026-07-02 06:51:46 -07:00

XMLschema.rst

Add "frame" attribute to <attach> element.

2026-07-01 12:49:55 -07:00