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Add YouTube cable videos to changelog.

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PiperOrigin-RevId: 481138236
Change-Id: Ibabbc312ea265f9193daf01abd8e81876f1dadfb
This commit is contained in:
Alessio Quaglino
2022-10-14 15:10:23 +01:00
committed by Saran Tunyasuvunakool
parent 844dc504cd
commit af74044e43
1 changed files with 32 additions and 18 deletions
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doc/changelog.rst
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@@ -30,10 +30,10 @@ General
- Updates to humanoid model: - Updates to humanoid model:
* Added two keyframes (stand-on-one-leg and squat). * Added two keyframes (stand-on-one-leg and squat).
* Increased maximum hip flexion angle. * Increased maximum hip flexion angle.
* Added hamstring tendons which couple the hip and knee at high hip flexion angles. * Added hamstring tendons which couple the hip and knee at high hip flexion angles.
* General cosmetic improvements, including improved use of defaults and better naming scheme. * General cosmetic improvements, including improved use of defaults and better naming scheme.
- Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained - Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained
Quadratic Program: Quadratic Program:
@@ -61,22 +61,36 @@ General
- Added :at:`realtime` option to :ref:`visual` for starting a simulation at a slower speed. - Added :at:`realtime` option to :ref:`visual` for starting a simulation at a slower speed.
- Added new :at:`cable` composite type: - Added new :at:`cable` composite type:
* Cable elements are connected with ball joints.
* The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`. * Cable elements are connected with ball joints.
* The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`. * The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
* The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`. * The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`.
* The orientation of the body frame **is** the orientation of the material frame of the curve. * The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new :at:`cable` passive force plugin: - Added new :at:`cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`. * Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
* New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example * The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
showing the formation of plectoneme. * New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example
* New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example showing the formation of plectoneme.
showing a curved equilibrium configuration. * New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example
* New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example showing a curved equilibrium configuration.
showing interaction between twist and anisotropy. * New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example
* Added test using cantilever exact solution. showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
.. youtube:: 25kQP671fJE
:align: right
:height: 115px
.. youtube:: 4DvGe-BodFU
:align: right
:height: 115px
.. youtube:: QcGdpUd5H0c
:align: right
:height: 115px
Python bindings Python bindings
^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^