Roman Vaxenburg

Would you be interested in generalizing [this](https://github.com/deepmind/dm_control/blob/master/dm_control/utils/inverse_kinematics.py#L37) function to support any number of target sites? Currently it only works for one site. I could prepare a PR if interesting.

My research work requires a functional analog of the `hexagdly.Conv2d` class so I can use arbitrary parametrizations of the convolving kernels, something I couldn't do with the class. Similarly in...

mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd

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I'm getting this error while using the EGL rendering backend: `mujoco.FatalError: Offscreen framebuffer is not complete, error 0x8cdd` The error is rare (but still fatal for a long job) so...

Add wing force sensors to fruitfly_v2 walker

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This PR adds force sensors to `fruitfly_v2` walker's wings to approximate wing load sensors of the real fruit fly.

As per huggingface/transformers#8638, the solution for now is: ```bash pip uninstall dataclasses -y ```

Adhesion actuator `dyntype`

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### The feature, motivation and pitch Is there a good reason the `dyntype` of adhesion actuators can only be `none`? Can't we expose `dyntype` (along with `dynprm`) as another custom...

Optionally enable actuation in `physics.after_reset`?

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Would it make sense to optionally enable actuation in the `after_reset` method [here](https://github.com/google-deepmind/dm_control/blob/main/dm_control/mujoco/engine.py#L310)? The use case I have in mind is initializing episode with actuators in a certain activation state...

AttributeError: 'MjData' object has no attribute 'qLDiagSqrtInv'

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The Jan 14, 2025 MuJoCo update introduced a [breaking change](https://mujoco.readthedocs.io/en/3.2.7/changelog.html#general) affecting `dm_control`. To reproduce: ```python from dm_control.locomotion.examples.basic_rodent_2020 import rodent_escape_bowl env = rodent_escape_bowl() ``` Traceback: ``` AttributeError Traceback (most recent call...

I think the `mjcf` parser [assumes](https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/parser.py#L199) that `include` elements can only be children of the root element, while, in contrast, MuJoCo allows `include` to live at any depth in the...