Kyle Bayes 83e621d771 Implement mesh extrema in a 3x3x3 grid corresponding to each feature of a unit cube. These are used as seeds for a better initial point in mesh hill climbing with up to a 2x speedup in mjc_Convex. ...

PiperOrigin-RevId: 959645299
Change-Id: I032ae534704e0cc440ddb7691fd21a29a359f521

2026-08-05 07:22:48 -07:00

..

actuation

Add SO3 transmission and native orientation actuator.

2026-07-21 11:36:13 -07:00

collision_box

Margin and gap redesign (breaking change)

2026-05-12 09:43:43 -07:00

collision_convex

Implement mesh extrema in a 3x3x3 grid corresponding to each feature of a unit cube. These are used as seeds for a better initial point in mesh hill climbing with up to a 2x speedup in mjc_Convex.

2026-08-05 07:22:48 -07:00

collision_driver

Remove references to deprecated nconmax and njmax.

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

collision_primitive

Margin and gap redesign (breaking change)

2026-05-12 09:43:43 -07:00

core_constraint

Add geom surfacevel: zero-dof conveyors, treadmills and turntables.

2026-07-15 17:58:17 -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

forward/perf

Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)

2026-06-23 05:52:14 -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

Allow flex sleeping

2026-05-19 07:15:27 -07:00

solver

Margin and gap redesign (breaking change)

2026-05-12 09:43:43 -07:00

vis_interact

Add model used for testing UI for stacking.

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

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

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