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

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actuation

Add tendon actuator force limits and tendon actuator force sensor.

2025-04-08 05:16:35 -07:00

collision_box

Fix bug introduced in 7942fe957e

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

collision_convex

Add multiccd fields to MJX and add simplex box-mesh model.

2025-09-30 03:40:29 -07:00

collision_driver

Remove references to deprecated nconmax and njmax.

2025-09-22 06:28:41 -07:00

collision_primitive

Remove the particle composite (replaced by replicate).

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

core_constraint

Add Jdot correction for connect and weld constaints

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

core_smooth

Add tendon armature

2025-04-04 07:44:04 -07:00

derivative

Correct DC motor derivative calculation and enforce actearly.

2026-04-13 10:56:58 -07:00

hammock

Remove grid from composite types.

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

island

Refactor islands to be memory contiguous.

2025-05-07 05:06:27 -07:00

passive

Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y

2026-03-16 13:25:25 -07:00

ray

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

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

sensor

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

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

sleep

Add names to some sensors in sleep test XML.

2025-11-27 14:09:21 -08:00

solver

Add a test for equivalence of different solvers.

2025-12-17 08:21:52 -08:00

vis_interact

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vis_visualize

Fix body category check for mocap body descendants in visualization.

2026-01-14 06:06:55 -08:00

armature_equivalence.xml

Improve armature documentation

2025-04-01 01:16:58 -07:00

catenary.xml

Visualize joint and tendon limits by re-coloring.

2025-09-25 19:02:26 -07:00

collisions.xml

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connect.xml

Allow connect constraints to be specified using sites.

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

ellipsoidinertia.xml

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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

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inertia.xml

Fix bug in mj_mulM2.

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

rotations.xml

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select.xml

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skingroup.xml

Remove grid from composite types.

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

spin_recoil.xml

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tendon_springlength.xml

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weld.xml

Add site semantics to weld constraint. Fixes #1896

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