All pull requests

Pull requests

• Check numpy dtype arguments in kernel analyzer

  #1756·thowell opened Oct 5, 2026Collaborator·

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  3

• Remove unused M_fullm_upper model fields

  #1750·adenzler-nvidia opened Oct 5, 2026Collaborator·

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  1

• Converge line search at a float32-stationary start

  #1749·adenzler-nvidia opened Oct 5, 2026Collaborator·

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  5

• Launch sparse Newton Hessian init over the upper triangle only

  #1748·adenzler-nvidia opened Oct 5, 2026Collaborator·

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  1

• Fix GJK triangle barycentric drift with a cofactor-sum denominator

  #1745·Miko997 opened Oct 4, 2026·

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  1

  5

• Match MuJoCo camlight normalization fallbacks

  #1744·kavyabhand opened Oct 4, 2026Contributor·

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  1

• Sweep flex SAP in chunks and run the triangle SAT prefilter densely

  #1736·JerryLingjieMei opened Oct 3, 2026·

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  1

• Specialize flex elasticity kernel per element dimension

  #1735·JerryLingjieMei opened Oct 3, 2026·

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  1

• Walk only ancestor dofs in gravcomp and apply_ft kernels

  #1734·JerryLingjieMei opened Oct 3, 2026·

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  1

• Match MuJoCo's incident-face selection for plane-mesh contacts

  #1731·QuanyiLi opened Oct 2, 2026Contributor·

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  5

• Limit applied-force projection to body subtrees

  #1730·cyanseek opened Oct 2, 2026Contributor·

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  20

• differentiability api

  #1727·thowell opened Oct 2, 2026Collaborator·

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  3

• ipc

  #1726·thowell opened Oct 2, 2026Collaborator·

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  4

• Consolidate sparse constraint and solver launches

  #1722·ooctipus opened Sep 30, 2026Contributor·

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  17

• Guard against out-of-bounds accesses when constraint, contact, or contact sensor buffers overflow

  #1718·thowell opened Sep 30, 2026Collaborator·

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  1

• change _update_gradient dim_block and nblocks_perblock for cpu

  #1715·thowell opened Sep 29, 2026Collaborator·

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  1

  1

• update CONTRIBUTING.md

  #1693·thowell opened Sep 23, 2026Collaborator·

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  10

• sensor updates

  #1690·thowell opened Sep 23, 2026Collaborator·

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  1

• determinism api

  #1687·thowell opened Sep 22, 2026Collaborator·

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  1

  4

• reset_data updates

  #1683·thowell opened Sep 21, 2026Collaborator·

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• per-world kinematic trees via sleep policy always

  #1680·thowell opened Sep 19, 2026Collaborator·

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  2

• rotational setpoint wrapping for servos

  #1678·thowell opened Sep 19, 2026Collaborator·

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  3

• compilation optimize

  #1676·thowell opened Sep 18, 2026Collaborator·

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  6

• Add an opt-in full-build Newton fallback

  #1672·jiminc77 opened Sep 15, 2026·

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  1

• Support free rigid subtrees for gyroscopic stabilization

  #1669·thowell opened Sep 13, 2026Collaborator·

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  2