Alessio Quaglino b9c1877ecb Project out rigid body modes from flex strain equality constraints. ...

Modify EigendecomposeStiffness to project out rigid body translations and rotations from the stiffness matrix eigenvectors. This prevents "ghost damping" from rigid body modes being incorrectly constrained. Update hollow_vs_solid.xml with solimp parameters for edge constraints. Adjust engine_core_constraint_test.cc to reflect the reduced number of equality constraints due to the projection.

PiperOrigin-RevId: 910631207
Change-Id: Ibaaa59bc030cfc6ae657d8f0d1b2a51002cc8d4e

2026-05-05 06:01:15 -07:00

..

_static

Add backlinks from tech note to dcmotor docs.

2026-05-05 02:38:38 -07:00

APIreference

Add mju_sym2dense, document future breakage of mj_fullM

2026-05-04 14:25:53 -07:00

computation

Restrict midpoint integration to unconstrained free bodies in implicitfast

2026-05-01 08:41:47 -07:00

css

Add mj_maxContact API function.

2026-04-21 04:03:22 -07:00

dcmotor

Add backlinks from tech note to dcmotor docs.

2026-05-05 02:38:38 -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

Add mju_sym2dense, document future breakage of mj_fullM

2026-05-04 14:25:53 -07:00

js

Add source code links in docs for remaining API functions.

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

mjwarp

Add Rendering differences section to MjWarp documentation.

2026-04-29 09:58:14 -07:00

OpenUSD

Move OpenUSD parsing to usd_decoder

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

programming

Add documentation for mjpDecoder.

2026-04-24 08:38:31 -07:00

templates

Fix documentation typos.

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

changelog.rst

Project out rigid body modes from flex strain equality constraints.

2026-05-05 06:01:15 -07:00

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

Update multiccd documentation.

2026-04-20 12:53:17 -07:00

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

Introduce explicit VFS in Python MjVfs

2026-05-01 09:34:17 -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 3.8.1 following the 3.8.0 release

2026-04-24 10:37:50 -07:00

XMLreference.rst

Add 2D membrane elasticity for interpolated flex shell mode

2026-04-29 10:17:21 -07:00

XMLschema.rst

Refactor flex strain constraints to be per-cell.

2026-04-19 07:21:18 -07:00