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

..

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

Implement multi-cell finite element method for interpolated flexes.

2026-04-17 04:13:19 -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