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Commits on Nov 10, 2025
Add RL link and remove Mac instrs from README
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Commits on Oct 24, 2025
Add yapf to precommit
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Update README with RL examples
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Allow errors to propagate in headless envs
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[Bug Fix] Fix pybind-related memory leak
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Switch to using Jacobian triplets from matrix data structure
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[Bug Fix] Make broadphase collision detection actually broadphase
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[Feature] Add option for passing in pre-generated symbolic eqs
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[Refactor] Replace all raw ptr arrays with std::vector
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[Bug Fix] Change BaseForce stepper pointer to weak_ptr to prevent cyclical referencing
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[PyBind] Add ContactForce pybinding
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Add a max iteration limit to goldSteinLineSearch
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Change theta boundary condition functions to alter twist_bar
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[Feature] Add material frame getter funcs
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[Feature] Add collision group logic via col_group param
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[Minor Bug Fix] Fix max_iter counting logic
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[Bug Fix] Use capsule contact geom instead of cylinders for proper point-to-point contact
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[Cmake] Enable pybind by default
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Commits on Nov 25, 2024
Add absolute pos, theta, and curvature commands (#25)
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Commits on Nov 24, 2024
Add DLO manipulation example (#24)
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Commits on Nov 18, 2024
[Bug Fix] Fix curvature BC indexing (#21)
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Add DampingForce pybinding (#22)
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Commits on Nov 12, 2024
[Big Refactor] Forward declare includes whereever possible
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[Big Refactor] Remove using namespace for std and Eigen
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[Big Refactor] Unify naming conventions
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Commits on Nov 11, 2024
Add pybind getters for limb pos, vel, theta (#20)
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Commits on Nov 10, 2024
Add clang-format style guidelines
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Commits on Nov 5, 2024
Add line search with Wolfe condition and fix line search bug (#11)
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Commits on Nov 4, 2024
Add delta curvature, position, twist boundary condition control with pybind11 (#19)
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Commits on Nov 2, 2024
Add docker build (#15)
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Commits on Sep 30, 2024
Refactor environments to now be able to step simulations via API (#14)
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Commits on Sep 24, 2024
Remove custom_bot and run_robot.sh
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[Big Feature] Add initial pybind interface (#13)
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Commits on Sep 23, 2024
Add details of OMP_NUM_THREADS to README
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Commits on Sep 21, 2024
Move joint setup call to main
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