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gazebosim / gz-physics Public

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mujoco: Add support for Universal and Screw Joints#980

Merged

azeey merged 16 commits into

maingazebosim/gz-physics:mainfrom

azeey/mujoco_more_joint_typesgazebosim/gz-physics:azeey/mujoco_more_joint_typesCopy head branch name to clipboard

Jun 3, 2026

Conversation Commits16 (16)Checks Files changed

Merged

mujoco: Add support for Universal and Screw Joints#980
azeey merged 16 commits into
mainfrom
azeey/mujoco_more_joint_types

Commits

Commits on May 13, 2026

mujoco: Add Universal Joint support
azeey
committed
mujoco: Add Screw Joint support
azeey
committed
fix style errors
azeey
committed
test: Decouple new joint tests from test.world using self-contained SDF strings
azeey
committed
Fix how screw joint limits are handled
azeey
committed

Commits on May 21, 2026

Revert changes to bullet-featherstone and skip DOF checks for it
azeey
committed
fix: Support Screw joint degrees of freedom query in MuJoCo
azeey
committed
Address reviewer feedback
azeey
committed
refactor: Extract and document screw thread pitch helper in SDFFeatures
azeey
committed
Use ValidateDofParam in dartsim
azeey
committed
refactor: Zero-initialize equality constraint data using std::fill
azeey
committed

Commits on May 26, 2026

Refactor joint equality constraint resolution for MuJoCo screw joints
azeey
committed
Merge remote-tracking branch 'origin/main' into azeey/mujoco_more_joint_types
azeey
committed
Address more reviewer feedback
azeey
committed

Commits on Jun 3, 2026

Merge remote-tracking branch 'origin/main' into azeey/mujoco_more_joint_types
azeey
committed
Address reviewer feedback
azeey
committed

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