Alessio Quaglino 955ae3f3c0 Fix sign error in flex interp implicit integration. ...

The flex interp stiffness matrix is Negative Semi-Definite (NSD). When forming the RHS for implicit integration, the term involving the velocity and stiffness should be added, not subtracted. A new test is added to ensure energy stability for flex interp stretch stiffness with the implicitfast integrator.

PiperOrigin-RevId: 914845245
Change-Id: Iaaf0914909128e64e195f17cc5f2f344a8a43bc2

2026-05-13 07:15:20 -07:00

..

benchmark

Cache benchmark data in engine_util_sparse_benchmark_test

2026-04-20 08:29:56 -07:00

engine

Fix sign error in flex interp implicit integration.

2026-05-13 07:15:20 -07:00

experimental

Move mjz_decoder out of experimental to xml/mjz.

2026-05-07 10:52:03 -07:00

plugin

Introduce mjpEncoder plugin architecture

2026-03-25 05:35:39 -07:00

sample

Delete testspeed_test.sh

2026-05-11 05:25:59 -07:00

testdata

Margin and gap redesign (breaking change)

2026-05-12 09:43:43 -07:00

thread

Reduce cmake test boilerplate

2024-12-07 17:14:20 +01:00

user

Test scene for shape generators.

2026-05-11 07:42:56 -07:00

xml

Move mjz_decoder out of experimental to xml/mjz.

2026-05-07 10:52:03 -07:00

CMakeLists.txt

Convert monolithic RecompileCompare and WriteReadCompare tests into test suites, one test per file.

2026-03-26 18:21:49 -07:00

fixture_test.cc

Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.

2024-02-19 05:40:31 -08:00

fixture.cc

Add flex arrays to CompareModel check.

2026-05-08 08:47:51 -07:00

fixture.h

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00

header_test.cc

Fix header_test.cc.

2026-02-13 11:43:45 -08:00

pipeline_test.cc

Enable float32 testing for most MuJoCo engine and user tests.

2026-03-20 04:05:06 -07:00