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Mention the new Implicit-in-velocity Euler integrator in the XML reference.

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#mujoco

PiperOrigin-RevId: 465754132
Change-Id: If1578afe00a69bfa6816d8e18d5fdc9296a69dc4
This commit is contained in:
Kevin Zakka
2022-08-06 05:43:50 -07:00
committed by Copybara-Service
parent 9cd1c2f726
commit a6841120f8
3 changed files with 5 additions and 3 deletions
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doc/APIreference.rst
+1
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@@ -232,6 +232,7 @@ mjtIntegrator
{ {
mjINT_EULER = 0, // semi-implicit Euler mjINT_EULER = 0, // semi-implicit Euler
mjINT_RK4 // 4th-order Runge Kutta mjINT_RK4 // 4th-order Runge Kutta
mjINT_IMPLICIT // implicit in velocity
} mjtIntegrator; } mjtIntegrator;
| Defined in `mjmodel.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_ | Defined in `mjmodel.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmodel.h>`_
doc/XMLreference.rst
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@@ -1758,9 +1758,10 @@ adjust it properly through the XML.
:at:`o_solref`, :at:`o_solimp` :at:`o_solref`, :at:`o_solimp`
These attributes replace the solref and solimp parameters of all active contact pairs when contact override is These attributes replace the solref and solimp parameters of all active contact pairs when contact override is
enabled. See :ref:`CSolver` for details. enabled. See :ref:`CSolver` for details.
:at:`integrator`: :at-val:`[Euler, RK4], "Euler"` :at:`integrator`: :at-val:`[Euler, RK4, implicit], "Euler"`
This attribute selects the numerical :ref:`integrator <geIntegration>` to be used. Currently the available This attribute selects the numerical :ref:`integrator <geIntegration>` to be used. Currently the available
integrators are the semi-implicit Euler method and the fixed-step 4-th order Runge Kutta method. integrators are the semi-implicit Euler method, the fixed-step 4-th order Runge Kutta method, and
the Implicit-in-velocity Euler method.
:at:`collision`: :at-val:`[all, predefined, dynamic], "all"` :at:`collision`: :at-val:`[all, predefined, dynamic], "all"`
This attribute specifies which geom pairs should be checked for collision; recall :ref:`Collision` in the Computation This attribute specifies which geom pairs should be checked for collision; recall :ref:`Collision` in the Computation
chapter. "predefined" means that only the explicitly-defined contact :ref:`pairs <pair>` are checked. "dynamic" means chapter. "predefined" means that only the explicitly-defined contact :ref:`pairs <pair>` are checked. "dynamic" means
doc/changelog.rst
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@@ -19,7 +19,7 @@ General
- Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<global>`, defining the initial orientation of - Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<global>`, defining the initial orientation of
the free camera at model load time. the free camera at model load time.
- Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes. - Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
- ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``. - ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^