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Change GitHub org name to google-deepmind.

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PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
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Saran Tunyasuvunakool
2023-09-07 12:32:28 -07:00
committed by Copybara-Service
parent 1a3215e329
commit 7e5a7b76fc
26 changed files with 213 additions and 208 deletions
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doc/XMLreference.rst
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@@ -2635,7 +2635,7 @@ helps clarify the role of bodies and geoms in MuJoCo.
The **sdf** type defines a signed distance field (SDF, also referred to as signed distance function). In order to
visualize the SDF, a custom mesh must be specified using the :ref:`mesh/plugin <mesh-plugin>` attribute. See the
`model/plugin/sdf/ <https://github.com/deepmind/mujoco/tree/main/model/plugin/sdf>`__ directory for example models
`model/plugin/sdf/ <https://github.com/google-deepmind/mujoco/tree/main/model/plugin/sdf>`__ directory for example models
with SDF geometries. For more details regarding SDF plugins, see the :ref:`Extensions chapter<exWriting>`.
.. _body-geom-contype:
@@ -4405,7 +4405,7 @@ specify them independently.
When using a :at:`site` transmission, measure the translation and rotation w.r.t the frame of the :at:`refsite`. In
this case the actuator *does* have length and :el:`position` actuators can be used to directly control an end
effector, see `refsite.xml
<https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/actuation/refsite.xml>`__ example
<https://github.com/google-deepmind/mujoco/tree/main/test/engine/testdata/actuation/refsite.xml>`__ example
model. As above, the length is the dot product of the :at:`gear` vector and the frame difference. So ``gear="0 1 0 0
0 0"`` means "Y-offset of :at:`site` in the :at:`refsite` frame", while ``gear="0 0 0 0 0 1"`` means rotation "Z-
rotation of :at:`site` in the :at:`refsite` frame". It is recommended to use a normalized :at:`gear` vector with
@@ -5093,7 +5093,7 @@ This element has nine custom attributes in addition to the common attributes:
This element defines an active adhesion actuator which injects forces at contacts in the normal direction, see
illustration video. The model shown in the video can be found `here
<https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and includes inline annotations. The transmission target
<https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`_ and includes inline annotations. The transmission target
is a :el:`body`, and adhesive forces are injected into all contacts involving geoms which belong to this body. The force
is divided equally between multiple contacts. When the :at:`gap` attribute is not used, this actuator requires active
contacts and cannot apply a force at a distance, more like the active adhesion on the feet of geckos and insects rather