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Bending stiffness for curved shells in flex.

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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
This commit is contained in:
Alessio Quaglino
2025-08-18 04:12:34 -07:00
committed by Copybara-Service
parent 972ffd7b90
commit b66175eba6
18 changed files with 488 additions and 250 deletions
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doc/changelog.rst
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@@ -5,6 +5,11 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
- Added support for shells with a curved reference configuration. See this `example
<https://github.com/google-deepmind/mujoco/blob/main/model/flex/basket.xml>`__
MJX
^^^
- Promote ``ten_length`` to the public MJX API. Add Warp support for ``mjx.tendon``.
doc/includes/references.h
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@@ -1268,7 +1268,7 @@ struct mjModel_ {
mjtNum* flexedge_invweight0; // edge inv. weight in qpos0 (nflexedge x 1)
mjtNum* flex_radius; // radius around primitive element (nflex x 1)
mjtNum* flex_stiffness; // finite element stiffness matrix (nflexelem x 21)
mjtNum* flex_bending; // bending stiffness (nflexedge x 16)
mjtNum* flex_bending; // bending stiffness (nflexedge x 17)
mjtNum* flex_damping; // Rayleigh's damping coefficient (nflex x 1)
mjtNum* flex_edgestiffness; // edge stiffness (nflex x 1)
mjtNum* flex_edgedamping; // edge damping (nflex x 1)