e349ea5834
Remove MJAPI from templated function declaration.
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PiperOrigin-RevId: 928849785
Change-Id: I35ba63f599ba12a5d2bdb0d694240e39ca7d4174
2026-06-08 17:08:17 -07:00
986d73c062
Fix non-unit normals in mesh convex hull compiler.
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PiperOrigin-RevId: 928777934
Change-Id: I43d7adcf4c5781b57f0af9805a8ce01ebc2e3872
2026-06-08 14:40:11 -07:00
3230cf99f9
Change flex constraints to eigenmodes of the stiffness matrix.
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This provides a reduction from 26 to 18 constraints for trilinear and from 162 to 75 for quadratic. The assembly of the constraints becomes trivial. In total the speedup for a trilinear 3x3x3 grid is about 3x.
PiperOrigin-RevId: 902502398
Change-Id: I764772c7adef78da5a644f64701f842d36e4b543
2026-04-20 02:02:44 -07:00
2746cb8559
Support FilePaths instead of raw strings in XML code.
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PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
2024-07-23 08:36:53 -07:00
8a8a44a4db
Refactor numerical parsing in XML.
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PiperOrigin-RevId: 653979240
Change-Id: I4d39f4041b88396193eb35f0cc393141d64f6fc0
2024-07-19 05:42:02 -07:00
9c9faa02d5
Add FilePath utility class for handling resource / file paths in MuJoCo user code.
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PiperOrigin-RevId: 651716008
Change-Id: I250b8cec32aab538f5862f8a05f42d1fae698307
2024-07-12 03:21:21 -07:00
Yuval Tassa