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mujoco

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Merge pull request #3621 from smallquail:snh-3d

Copybara-Service · Sep 28, 2026, 9:49 AM UTC

1b973add436a

Reuse elongation buffer in flex damping to avoid shadowing

Alessio · Sep 25, 2026, 5:32 PM UTC

2e66b2b94c57

Gate experimental SNH behind an mjSpec-only flex flag

Alessio · Sep 25, 2026, 5:11 PM UTC

091c9cbef04e

Use 24-number edge formulation and exact SNH derivatives

Alessio · Sep 25, 2026, 4:47 PM UTC

d175a76a72be

Use edge-based Stable Neo-Hookean elasticity for 3D flexes

Alessio · Sep 25, 2026, 2:08 PM UTC

d2b7a7c8f5d4

GitHub Pull Request: https://github.com/google-deepmind/mujoco/pull/3620

Alessio Quaglino · Sep 25, 2026, 2:31 PM UTC

a79d65c4e54d

Merge pull request #3618 from smallquail:refactor-flex-attachment-mapping

Copybara-Service · Sep 25, 2026, 12:47 PM UTC

a00404b3b706

Map flex elasticity through vertex attachment Jacobians

Alessio · Sep 25, 2026, 10:06 AM UTC

eed0089050bb

Optimize flex bending passive forces and derivatives by hoisting per-vertex frame rotations.

Alessio Quaglino · Sep 25, 2026, 8:54 AM UTC

3991e5459d28

Fix flex passive forces and derivatives for welded 0-DOF vertices and update bag.xml.

Alessio Quaglino · Sep 24, 2026, 7:46 PM UTC

25340379f6f0

Normalize velocity and semi-axes in ellipsoid fluid forces and derivatives.

Yuval Tassa · Sep 20, 2026, 10:04 AM UTC

b9ff593b7114

Honor the spring and damper disable flags in flex stretch forces and the discrete metric.

Alessio Quaglino · Sep 18, 2026, 3:05 PM UTC

35b8d7c8658c