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Alessio Quaglino 713b5524bc Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp. 
Also fixes a bug when attaching a flex with constraints.

PiperOrigin-RevId: 881349765
Change-Id: I8e6df8239488bfdc87d7e5b473568975e38c737e
2026-03-10 04:26:07 -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
Raise ValueError if adding a spec results in a duplicate name.
2026-02-17 10:54:47 -08:00
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
Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp.
2026-03-10 04:26:07 -07:00
mjpython
Fix macOS crash on viewer close (NSScreen main-thread assertion)
2026-03-02 12:48:38 -08:00
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
Add actuator and sensor delays. Fixes #1004
2026-02-06 08:47:36 -08:00
callbacks.cc
Fix Python GIL-not-held issues in python/callbacks.cc.
2022-10-17 00:05:56 -07:00
CMakeLists.txt
Merge pull request #3083 from Ashutosh0x:fix/mingw-linker-stack
2026-02-18 05:59:41 -08:00
constants.cc
Add mjMINAWAKE to constants.cc
2026-01-29 10:04:43 -08:00
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
Add actuator and sensor delays. Fixes #1004
2026-02-06 08:47:36 -08:00
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
Move tendon sparsity fields from mjData to mjModel
2026-02-25 04:32:11 -08:00
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
Add textured materials to render context, and refactor mjvGeom to refer to those textures.
2024-07-02 08:01:40 -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 process hang on viewer close in launch_passive
2026-03-02 12:21:34 -08:00
specs_test.py
Raise ValueError if adding a spec results in a duplicate name.
2026-02-17 10:54:47 -08:00
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
Refactor texture.data to be handled using py::bytes
2025-12-11 08:06:12 -08:00
structs_wrappers.cc
Clean up X macros and usages for mjOption, mjStatistic, and mjVisual.
2026-02-13 09:10:36 -08:00
structs.cc
Clean up X macros and usages for mjOption, mjStatistic, and mjVisual.
2026-02-13 09:10:36 -08:00
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