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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
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doc/programming/extension.rst
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@@ -237,8 +237,8 @@ Writing plugins
This section, targeted at developers, is incomplete. We encourage people who wish to write their own plugins
to contact the MuJoCo development team for help. A good starting point for experienced developers is the
`associated tests <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_plugin_test.cc>`_ and the first-party
plugins in the `first-party plugin directory <https://github.com/deepmind/mujoco/tree/main/plugin>`_.
`associated tests <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_plugin_test.cc>`_ and the
first-party plugins in the `first-party plugin directory <https://github.com/google-deepmind/mujoco/tree/main/plugin>`_.
A future version of this section will include:
@@ -250,19 +250,19 @@ A future version of this section will include:
Currently, there are three directories of first-party plugins:
* **elasticity:** The plugins in the `elasticity/ <https://github.com/deepmind/mujoco/tree/main/plugin/elasticity>`__
* **elasticity:** The plugins in the `elasticity/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/elasticity>`__
directory are passive forces based on continuum mechanics for 1-dimensional and 3-dimensional bodies. The
1D model is invariant under rotations and captures the large deformation of elastic cables, decoupling twisting and
bending strains. The 3D solid is a
`Saint Venant-Kirchhoff <https://en.wikipedia.org/wiki/Hyperelastic_material#Saint_Venant%E2%80%93Kirchhoff_model>`__
model discretized with piecewise linear finite elements, which is suitable for large deformations with small strains.
* **sensor:** The plugins in the `sensor/ <https://github.com/deepmind/mujoco/tree/main/plugin/sensor>`__
* **sensor:** The plugins in the `sensor/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/sensor>`__
directory implement custom sensors. Currently the sole sensor plugin is the touch grid sensor, see the
`README <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`__ for details.
* **sdf:** The plugins in the `sdf/ <https://github.com/deepmind/mujoco/tree/main/plugin/sdf>`__
`README <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`__ for details.
* **sdf:** The plugins in the `sdf/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/sdf>`__
directory specify custom shapes in a mesh-free manner, by defining methods computing a signed distance field and its
gradient at query points. This shape then acts as a new geom type in the collision table at the top of
`engine_collision_driver.c <https://github.com/deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.
`engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.
Collision points are found by minimizing the maximum of the two colliding SDFs via gradient descent.
Because SDFs are non-convex, multiple starting points are required in order to converge to multiple local minima.