feat: add features required by RL - #36

Merged

sebcrozet merged 41 commits into

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Aug 29, 2026

Commits on Aug 8, 2026

fix(rbd): apply the per-batch stride to collider_parent reads in the narrow phase

sebcrozet
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haixuanTao
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11d1278
feat: per-environment collision-pair capacity override

sebcrozet
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haixuanTao
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b4f7e55
feat(rbd): make the narrow-phase contact prediction distance configurable

sebcrozet
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haixuanTao
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9fb04fd

Commits on Aug 9, 2026

fix(rbd): thread the configurable prediction distance through the brute-force broad phase
sebcrozet
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c64d717
feat(python): per-environment MJCF insertion

sebcrozet
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haixuanTao
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6c60a18
fix(python): drop the duplicated collisions-capacity setter and pass the RbdCoupling to insert_rigid_body_in
sebcrozet
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f8adbd9

Commits on Aug 14, 2026

feat(python): per-step MJCF actuator control + multibody state readback

sebcrozet
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haixuanTao
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3deaad3
fix(python): gate multibody control/readback on dim3, add the missing PyArray2 import

sebcrozet
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haixuanTao
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88221d3

Commits on Aug 15, 2026

Commits on Aug 16, 2026

Commits on Aug 21, 2026

Commits on Aug 22, 2026

Commits on Aug 28, 2026

refactor(rbd): move the contact merge cosine into RbdSimParams
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05b5351
refactor: move read_multibody_links onto NexusState and drive every env from control_multibody_motors
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73df1fc
test(rbd): add a headless many-small-environments step-timing harness
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1835b6f
revert(rbd): drop the flat 1-D narrow-phase dispatch
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5901f0b
chore: cleanup comments
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cc44854
fix: gate control_multibody_motors on dim3 so the 2D build still compiles
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234ddb6
fix instability in joint-ball3 demo
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345ae81
chore: remove debug test files
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afdceef
chore: cleanups
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96c6266
fix(rbd): build the bench harness without the metal feature and only in 3D
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81b1762
fix(rbd): silence the clippy needless-borrow and unnecessary-mut lints
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497d367
fix(rbd): split the joint-constraint back-solve into its own dispatch to fit 8 storage buffers
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1656dfa
test(rbd): keep the bench harness under wgpu's default buffer-size limit
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b3b4a73
fix(rbd): split the batched env reset into pose and DoF passes to fit 8 storage buffers
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8f2bac6
chore: switch to the published rapier version
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f7dcd9c
fix: make all envs share the same RbdSimParams
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82093c6
chore: clippy fixes
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e70e5f7