Benjamin Navarro

Just found an issue with Eigen, #6 fixes it

I haven't checked out nana since that macOS port attempt but I can try to find some time to help you to update the port. The first step would be...

Ok but I was speaking about the native C/C++ API, not the Python wrapper. I should have made myself clear on that.

@yuvaltassa Ok thanks, yes I didn't know this API existed since it's not mentioned in the docs. Maybe you could just add a few sentences in the docs to mention...

Well, mc-rtc could be an option but I don't think that relying on a particular control framework to get such functionality is a good idea. Since mujoco exists outside of...

Sure this snippet is quite straightforward but even there I see room for improvements using a C++ API: 1. No raw pointers. `mjModel`, `mjData`, etc can be wrapped in `std::unique_ptr`...

Just to be clear, I didn't propose to replace the current API with another one, but to complement it. Most probably by writing a C++ wrapper around the current C...

Ok thanks for the explanation. But there is one more problem though, you need to add `MJAPI` to classes in `users` otherwise we can't link to them from the outside

Maybe you could add a CMake option to export the private API or not? Default would be off of course to keep the current behavior but it would make it...

Nice, didn't thought this was going to be taken care of so quickly. To minimize code duplication I guess you could have either: 1. `NodeRef` inherits from `ConstNodeRef` and adds...