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feat: bring multibodies on par with Rapier
- #31
#31
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sebcrozet
merged 6 commits into
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dimforge/nexus:main
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mb-rapier-parity
dimforge/nexus:mb-rapier-parity
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Aug 14, 2026
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feat: bring multibodies on par with Rapier
#31
sebcrozet
merged 6 commits into
main
dimforge/nexus:main
from
mb-rapier-parity
dimforge/nexus:mb-rapier-parity
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Commits
Commits on Aug 13, 2026
chore: build against rapier 0.35
sebcrozet
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9207f36
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feat: match rapier's multibody dynamics, joints and contact solving
sebcrozet
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19411dd
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fix: match rapier's manifold reduction and its degenerate-selection guards
sebcrozet
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5fb1a1e
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feat: expose multibody motor retargeting and solver introspection
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be15c9f
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chore: drive the mjcf menagerie demo with the reference controls
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61a8c91
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Commits on Aug 14, 2026
chore: fix the CI checks
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7370cd5
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