All pull requests

Pull requests

• Fix caller-owned array mutation in FreeJointVelocityLimit

  #195·yunyv opened Oct 19, 2026·

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• Use the right-log Jacobian for ball-joint posture errors

  #193·Afloat16 opened Oct 7, 2026·

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• Give SO3 and SE3 identities independent parameter storage

  #192·Afloat16 opened Oct 7, 2026·

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• Use Menagerie package assets in examples and tests

  #191·Hadrien-Cornier opened Oct 4, 2026·

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  1

• Document the compute_qp_residual contract.

  #189·kevinzakka opened Sep 30, 2026Owner·

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• Add elastic mode to constraints

  #184·kevin-tracy opened Sep 29, 2026·

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• L1 "elastic" cost for FrameTasks

  #181·kevin-tracy opened Sep 27, 2026·

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• feat: utility to get subtree actuators

  #142·maxstrobel opened Apr 30, 2026Contributor·

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  2

• Add example for SO101

  #131·maxstrobel opened Mar 31, 2026Contributor·

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  1