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Add implicit stiffness for flex_interp to mj_implicitSkip.

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PiperOrigin-RevId: 867706885
Change-Id: Ic94c65b618a415609bffe3d69a86f9034f2d2400
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Alessio Quaglino
2026-02-09 11:53:56 -08:00
committed by Copybara-Service
parent c1b3b3063e
commit 0041fdcbb0
9 changed files with 910 additions and 70 deletions
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doc/XMLreference.rst
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@@ -3575,7 +3575,7 @@ saving the XML:
.. _body-flexcomp-dof:
:at:`dof`: :at-val:`[full, radial, trilinear], "full"`
:at:`dof`: :at-val:`[full, radial, trilinear, quadratic], "full"`
The parametrization of the flex's degrees of freedom (dofs). See the video on the right illustrating the
different parametrizations with deformable spheres. The three models in the video are respectively
`sphere_full <https://github.com/google-deepmind/mujoco/blob/main/model/flex/sphere_full.xml>`__,