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

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generated

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

generators

Add support for loading XML models with VFS in WASM bindings.

2026-02-24 13:09:20 -08:00

templates

Add support for loading XML models with VFS in WASM bindings.

2026-02-24 13:09:20 -08:00

tests

Rename MuJoCo WASM output artifacts to mujoco.*.

2026-02-25 06:50:37 -08:00

update.py

Refactor WASM binding directory structure

2025-11-07 09:37:26 -08:00