All pull requests

Pull requests

• fix: interpolate_trajectories uses numpy backend in background threads

  #97·mdrolet01 opened Jun 3, 2026Contributor·2 of 3 tasks·

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• fix(quadrupeds): use correct kwarg key 'init_state_type'

  #96·mdrolet01 opened Jun 3, 2026Contributor·2 tasks done·

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• Make TrajectoryHandler registrable + split modes into subclasses

  #95·mdrolet01 opened Jun 3, 2026Contributor·4 tasks done·

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• Added LocoEnv for Unitree G1 with Inspire Hands

  #94·SarahPrahl opened May 13, 2026·

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• add kl adaptive lr and rich logging

  #84·kaydx1 opened Sep 17, 2025Contributor·

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• set init root joint qpos to mocap root body qpos for warm start

  #75·EGalahad opened Jun 10, 2025·

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• Note on ctrlrange behavior in skeleton_muscle.xml

  #73·nbadie opened Jun 3, 2025·

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• Enhancement: Added a new type of observation: SensorData, reset for control_func, viewer using mjx.data

  #60·PuzeLiu opened Apr 21, 2025·

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• add Stompy env

  #31·budzianowski opened Jun 6, 2024·

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• Feat: add new Kuavo Humanoid robot model to env, and make Kuavo replay retargeted mocap data.

  enhancement
  #12·wangshub opened Feb 21, 2024·

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  6