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fix: apply MuJoCo push via external force - #331

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TATP-233 merged 1 commit into
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fix-mujoco-push-robot-external-force
Apr 22, 2026
Merged

TATP-233 merged 1 commit into
mainfrom
fix-mujoco-push-robot-external-force

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Summary

  • apply MuJoCo interval push through xfrc_applied instead of velocity injection
  • add configurable push_body_name for selecting the target body/link at backend init
  • document interval push configuration and cold-path constraints

Tests

  • make test-all
  • uv run pytest tests/scripts/test_check_docs.py -q

Fixes #329

@TATP-233
TATP-233 merged commit 05f8d15 into main Apr 22, 2026
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TATP-233 deleted the fix-mujoco-push-robot-external-force branch April 22, 2026 16:32
TATP-233 added a commit that referenced this pull request May 4, 2026
…-force

fix: apply MuJoCo push via external force
TATP-233 added a commit that referenced this pull request May 30, 2026
…-force

fix: apply MuJoCo push via external force
TATP-233 added a commit that referenced this pull request Sep 4, 2026
…-force

fix: apply MuJoCo push via external force
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Bug: MuJoCo push_robot DR should apply external force

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