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Add catenary visualisation to string-like tendons.

Browse Source 
https://youtu.be/I2q7D0Vda-A

PiperOrigin-RevId: 468687422
Change-Id: I84f34e149cf098346a77a51f265113d8fa4f2525
This commit is contained in:
Yuval Tassa
2022-08-19 06:24:21 -07:00
committed by Copybara-Service
parent 7bd686cd87
commit ae0ac86ec3
4 changed files with 293 additions and 22 deletions
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doc/changelog.rst
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@@ -12,26 +12,34 @@ General
:align: right
:height: 150px
- Added :ref:`adhesion actuators<adhesion>`.
- Added an `active adhesion example <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and video:
- Added :ref:`adhesion actuators<adhesion>` mimicking vaccum grippers and adhesive biomechanical appendages.
- Added related `example model <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and video:
- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
- Added moment of inertia computation for concave meshes. This is currently activated by setting the compiler flag
:at:`exactmeshinertia` to ``true`` (defaults to ``false``). This default may change in the future.
- Joint and tendon ``limited`` attribute and actuator ``ctrllimited``, ``forcelimited`` and ``actlimited`` attributes
now default to ``auto`` rather than ``false``. Limits are automatically set to ``true`` if the corresponding range *is
defined* and ``false`` otherwise.
.. attention::
This is a minor breaking change. In models where a range was defined but :at:`limited` was unspecified, the target
element will now be limited. Explicitly set limited to ``false`` to revert to the previous behavior.
- Added parameter :at:`shellinertia` to :at:`geom`, for locating the inferred inertia on the boundary (shell).
Currently only meshes are supported.
- For meshes from which volumetric inertia is inferred, raise error if the orientation of mesh faces is not consistent.
If this occurs, fix the mesh in e.g., MeshLab or Blender.
.. youtube:: I2q7D0Vda-A
:align: right
:height: 150px
- Added catenary visualisation for hanging tendons. The model seen in the video can be found
`here <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/catenary.xml>`_.
- Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<global>`, defining the initial orientation of
the free camera at model load time.
- 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``.
- Joint and tendon ``limited`` attribute and actuator ``ctrllimited``, ``forcelimited`` and ``actlimited`` attributes
now default to ``"auto"``, which means they are automatically set to ``true`` if the corresponding range is
defined and disabled otherwise.
.. attention::
This is a minor breaking change. Code where a range was defined and limited was unspecified will now
be limited. Please explicitly set limited to ``false`` to revert to the previous behavior.
Deleted/deprecated features
^^^^^^^^^^^^^^^^^^^^^^^^^^^