All pull requests

Pull requests

• [Flex] Move interpolated flex contact paths into functions

  #1916·StafaH opened Nov 8, 2026Collaborator·

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• [Flex] Compute gravity compensation per dof over its subtree

  #1915·StafaH opened Nov 7, 2026Collaborator·

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• Launch the noslip solve with a BlockDim setting

  #1914·JiaCheng310 opened Nov 7, 2026·

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• Detect flex contacts within margin + gap and activate them within the margin

  #1913·StafaH opened Nov 7, 2026Collaborator·

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• Match limit sensors to the joint or tendon limit type

  #1912·Nas01010101 opened Nov 6, 2026Contributor·

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• Add both limit rows when the range is within the margin

  #1911·Nas01010101 opened Nov 6, 2026Contributor·

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• Align box-box contact frames with the reference face

  #1908·sylvesterkaczmarek opened Nov 6, 2026Contributor·

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• Compute dense contact Jacobians with one tile per world

  #1907·adenzler-nvidia opened Nov 6, 2026Collaborator·

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• Preserve the distance of single clipped contacts

  #1905·sylvesterkaczmarek opened Nov 6, 2026Contributor·

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• Batch the inverse weights of set_const over all rows

  #1904·adenzler-nvidia opened Nov 6, 2026Collaborator·

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• Refresh inertia products in the constraint-free solver

  #1902·sylvesterkaczmarek opened Nov 6, 2026Contributor·

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• Stride the dense incremental Hessian update per world

  #1900·adenzler-nvidia opened Nov 5, 2026Collaborator·

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• Damp friction band jumps in the Newton Hessian

  #1899·adenzler-nvidia opened Nov 5, 2026Collaborator·

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• Specialize dense contact Jacobians by maximum contact dimension

  #1896·adenzler-nvidia opened Nov 5, 2026Collaborator·

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• Keep the noslip QCQP locals in registers

  #1894·JiaCheng310 opened Nov 5, 2026·

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• Skip storing inertia factors that nothing reads

  #1892·adenzler-nvidia opened Nov 4, 2026Collaborator·

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• Scatter applied forces from bodies, skipping zero wrenches

  #1891·adenzler-nvidia opened Nov 4, 2026Collaborator·

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• Store dense contact velocities with one DOF block

  #1890·adenzler-nvidia opened Nov 4, 2026Collaborator·

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• Skip tendon damping derivatives without tendons

  #1889·adenzler-nvidia opened Nov 4, 2026Collaborator·

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• Launch tree branch kernels with smaller blocks

  #1888·fl0fischer opened Nov 4, 2026·

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• Combine the initial line-search reductions

  #1882·adenzler-nvidia opened Nov 2, 2026Collaborator·

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• Remove the redundant mass-matrix clear

  #1881·adenzler-nvidia opened Nov 2, 2026Collaborator·

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• Fix flex contacts with cylinders and meshes to match MuJoCo C

  #1880·kelthuzadyl opened Nov 2, 2026Contributor·

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• Fuse dense elliptic curvature into the Hessian tile

  #1879·adenzler-nvidia opened Nov 2, 2026Collaborator·

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• skip unused gravcomp and tendon armature work; parallelize tendon wrap path

  #1873·dundysm opened Oct 30, 2026Contributor·

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