Add per-body gravity compensation (buoyancy) passive force.

PiperOrigin-RevId: 485342531 Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
2022-11-01 09:47:13 -07:00
parent c7960385be
commit 23092a11d7
18 changed files with 233 additions and 10 deletions
@@ -21,8 +21,14 @@ General
    This is a minor breaking API change. ``mjModel.tendon_lengthspring`` now has size ``ntendon x 2`` rather than
    ``ntendon x 1``.

+  .. youtube:: -PJ6afdETUg
+     :align: right
+     :height: 150px
+
 - Removed the requirement that stateless actuators come before stateful actuators.
 - Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
+- Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
+  See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.

 Version 2.3.0 (October 18, 2022)
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