Alessio Quaglino 6c7ed66781 Implement multi-cell finite element method for interpolated flexes. ...

This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell.

PiperOrigin-RevId: 901216393
Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264

2026-04-17 04:13:19 -07:00

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_static

Changes to dcmotor:

2026-04-09 06:52:45 -07:00

APIreference

Update MuJoCo version to 3.7.1 following the 3.7.0 release

2026-04-14 16:49:03 -07:00

computation

Add Jdot correction for connect and weld constaints

2026-04-13 12:48:03 -07:00

css

Documentation: Pair-wise colliders.

2026-01-12 08:47:45 -08:00

dcmotor

Changes to dcmotor:

2026-04-09 06:52:45 -07:00

ext

Tag nullable arguments in main header. Fixes #309

2025-07-31 08:39:16 -07:00

images

Add actuator and sensor delays. Fixes #1004

2026-02-06 08:47:36 -08:00

includes

Implement multi-cell finite element method for interpolated flexes.

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js

Add source code links in docs for remaining API functions.

2024-11-03 11:09:56 -08:00

mjwarp

Merge pull request #3165 from thowell:mjwarp_per_world_meshes_doc

2026-04-03 02:35:45 -07:00

OpenUSD

Move OpenUSD parsing to usd_decoder

2026-01-09 14:48:29 -08:00

programming

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

templates

Fix documentation typos.

2025-01-27 10:58:22 -08:00

changelog.rst

Implement multi-cell finite element method for interpolated flexes.

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conf.py

Add documentation for MJX API

2026-01-23 07:53:17 -08:00

docutils.conf

Updates for documentation.

2025-07-03 06:35:11 -07:00

index.rst

MuJoCo Warp documentation.

2025-09-16 07:56:41 -07:00

Makefile

build(makefile): .PHONY targets are cumulative

2022-09-26 10:48:00 -04:00

mjx_api.rst

MJX API documentation: add Any to exclude-members

2026-02-23 02:24:06 -08:00

mjx.rst

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

modeling.rst

Implement multi-cell finite element method for interpolated flexes.

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models.rst

Add Human-700 to model gallery

2026-04-16 09:02:08 -07:00

overview.rst

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

python.rst

Minor updates to documentation across multiple sections.

2026-04-13 10:54:28 -07:00

references.bib

Cite Vaxenburg et al. in fluid force documentation.

2024-03-15 06:57:49 -07:00

requirements.txt

Improve XML schema usability

2026-01-06 09:51:36 -08:00

unity.rst

Update MuJoCo version to 3.7.1 following the 3.7.0 release

2026-04-14 16:49:03 -07:00

XMLreference.rst

Implement multi-cell finite element method for interpolated flexes.

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XMLschema.rst

Implement multi-cell finite element method for interpolated flexes.

2026-04-17 04:13:19 -07:00