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Alessio Quaglino b16383dfaf Use banded solver for implicit flex integration. 
The flex interpolation stiffness matrix within the implicit/implicitfast solvers is now built and factorized in a banded format instead of a dense one. This involves:
-   Calculating the bandwidth based on the sparsity of the mass/damping matrix and the connectivity within flex cells.
-   Allocating and populating a banded matrix `H`.
-   Using `mju_cholFactorBand` and `mju_cholSolveBand` for factorization and solving.
This change improves performance for flexes with many DOFs but local coupling.

PiperOrigin-RevId: 901297952
Change-Id: I3efe06353d1903ea65ab30dc49685cede228bb68
2026-04-17 08:00:07 -07:00
..
cgl
Add a close() method to mujoco.Renderer which explicitly frees the gl context.
2023-12-12 08:59:46 -08:00
codegen
Introduce mjpEncoder plugin architecture
2026-03-25 05:35:39 -07:00
egl
Fix the initialization of the EGL context in multiprocessing
2024-09-23 12:01:25 -07:00
glfw
Add a close() method to mujoco.Renderer which explicitly frees the gl context.
2023-12-12 08:59:46 -08:00
introspect
Use banded solver for implicit flex integration.
2026-04-17 08:00:07 -07:00
mjpython
Update MuJoCo version to 3.7.1 following the 3.7.0 release
2026-04-14 16:49:03 -07:00
osmesa
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
2022-03-15 14:04:44 +00:00
rendering/classic
Move renderer.py and gl_context.py into a submodule.
2026-02-16 02:41:35 -08:00
sysid
Add Colab link for System Identification toolbox.
2026-02-12 01:41:40 -08:00
testdata
Add urdf file extension case to mj_parse.
2026-01-12 08:59:00 -08:00
usd
Update build_requirements_usd.txt.
2024-11-19 14:07:21 -08:00
util
Build Python bindings in build.yml.
2022-05-25 07:01:59 -07:00
__init__.py
Internal changes.
2026-03-10 01:56:10 -07:00
bindings_test.py
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
2026-03-16 13:25:25 -07:00
callbacks.cc
Fix pybind11 v3.0 compatibility in callbacks.cc
2026-03-15 12:46:11 -07:00
CMakeLists.txt
Update MuJoCo version to 3.7.1 following the 3.7.0 release
2026-04-14 16:49:03 -07:00
constants.cc
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
2026-03-16 13:25:25 -07:00
enums.cc
Add missing includes necessary after changes in libc++ headers.
2024-10-01 11:08:01 -07:00
errors.cc
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
2022-03-15 14:04:44 +00:00
errors.h
Add ASAN and MSAN instrumentation for arena and mjData stack.
2023-05-26 09:17:26 -07:00
functions.cc
Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.
2026-03-11 04:55:44 -07:00
functions.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
gl_context.py
Move renderer.py and gl_context.py into a submodule.
2026-02-16 02:41:35 -08:00
indexer_xmacro.h
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
2026-03-16 13:25:25 -07:00
indexers.cc
Migrate mjModel size fields from int to mjtSize.
2026-01-23 09:41:49 -08:00
indexers.h
Python bindings: Store a reference to MjModel in MjDataWrapper.
2023-10-31 09:16:40 -07:00
memory_leak_test.py
Add pyink and isort config. Reformat.
2024-12-09 21:10:50 -08:00
minimize_test.py
In minimize.least_squares, compute values at the solution at full verbosity.
2025-04-08 14:55:53 -07:00
minimize.py
In minimize.least_squares, compute values at the solution at full verbosity.
2025-04-08 14:55:53 -07:00
msh2obj_test.py
Move OBJ handling to a mjpDecoder.
2026-03-03 11:22:02 -08:00
msh2obj.py
Add mesh conversion utilities.
2023-10-13 16:13:24 -07:00
private.h
Rename mj_stackAlloc to mj_stackAllocByte.
2023-09-18 10:53:35 -07:00
raw.h
Remember compiler options during attach.
2024-10-24 08:31:15 -07:00
render_test.py
Add pyink and isort config. Reformat.
2024-12-09 21:10:50 -08:00
render.cc
Move MjrRect pybind11 definition to structs.cc.
2026-03-12 09:00:39 -07:00
renderer_test.py
Add pyink and isort config. Reformat.
2024-12-09 21:10:50 -08:00
renderer.py
Move renderer.py and gl_context.py into a submodule.
2026-02-16 02:41:35 -08:00
rollout_test.py
rollout fix cosmetics
2025-02-21 08:44:17 -05:00
rollout.cc
rollout fix cosmetics
2025-02-21 08:44:17 -05:00
rollout.py
Rename rollout variable nroll to nbatch.
2025-01-21 21:04:15 -08:00
serialization.h
Move Newton Hessian memory allocation from stack to arena.
2024-10-09 08:54:54 -07:00
simulate.cc
Fix call_guard usage inside .def_property calls.
2026-03-20 04:50:50 -07:00
specs_test.py
Prevent deletion from an attached mjSpec.
2026-04-09 13:14:00 -07:00
specs_wrapper.cc
Release gil when compiling spec.
2026-01-09 09:50:15 -08:00
specs_wrapper.h
Split MjSpec out into header to allow use by other pybind modules.
2025-04-09 07:31:23 -07:00
specs.cc
Prevent deletion from an attached mjSpec.
2026-04-09 13:14:00 -07:00
structs_wrappers.cc
fix: release the gil when calling compile in spec.recompile
2026-03-10 15:44:01 +00:00
structs.cc
Merge pull request #3141 from ocadotechnology:recompile-release-gil
2026-03-13 05:25:45 -07:00
structs.h
Clean up X macros and usages for mjOption, mjStatistic, and mjVisual.
2026-02-13 09:10:36 -08:00
threadpool.cc
Copybara import of the project:
2024-12-16 09:57:08 -08:00
threadpool.h
Copybara import of the project:
2024-12-16 09:57:08 -08:00
viewer_test.py
Add a naive test of mujoco.viewer.
2022-12-08 14:35:20 -08:00
viewer.py
Add option to only sync the state to improve sync performance in passive mode.
2025-06-27 02:49:58 -07:00