Merge branch 'google-deepmind:main' into main
This commit is contained in:
Andrew Luo
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@@ -7,6 +7,42 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
|
||||
| :ref:`option | \* | :class: mjcf-attributes |
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| <option>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
|
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`integrator<option-integrator>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
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| |_| option |br| |_| |L| | | .. table:: |
|
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| :ref:`flag | ? | :class: mjcf-attributes |
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| <option-flag>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`constraint<option-flag-constraint>` | :ref:`equality<option-flag-equality>` | :ref:`frictionloss<option-flag-frictionloss>` | :ref:`limit<option-flag-limit>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`contact<option-flag-contact>` | :ref:`passive<option-flag-passive>` | :ref:`gravity<option-flag-gravity>` | :ref:`clampctrl<option-flag-clampctrl>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`island<option-flag-island>` | | | | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
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| :ref:`compiler | \* | :class: mjcf-attributes |
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| <compiler>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -55,83 +91,6 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
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| mujoco |br| |L| | | *no attributes* |
|
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| :ref:`visual<visual>` | | |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`global | ? | :class: mjcf-attributes |
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| <visual-global>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
| | | | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | :ref:`elevation<visual-global-elevation>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
|
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
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||||
| :ref:`quality | ? | :class: mjcf-attributes |
|
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| <visual-quality>` | | |
|
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
| | | | :ref:`shadowsize<visual-quality-shadowsize>` | :ref:`offsamples<visual-quality-offsamples>` | :ref:`numslices<visual-quality-numslices>` | :ref:`numstacks<visual-quality-numstacks>` | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`numquads<visual-quality-numquads>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
|
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| :ref:`headlight | ? | :class: mjcf-attributes |
|
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| <visual-headlight>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ambient<visual-headlight-ambient>` | :ref:`diffuse<visual-headlight-diffuse>` | :ref:`specular<visual-headlight-specular>` | :ref:`active<visual-headlight-active>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`map | ? | :class: mjcf-attributes |
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| <visual-map>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`stiffness<visual-map-stiffness>` | :ref:`stiffnessrot<visual-map-stiffnessrot>` | :ref:`force<visual-map-force>` | :ref:`torque<visual-map-torque>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`alpha<visual-map-alpha>` | :ref:`fogstart<visual-map-fogstart>` | :ref:`fogend<visual-map-fogend>` | :ref:`znear<visual-map-znear>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`zfar<visual-map-zfar>` | :ref:`haze<visual-map-haze>` | :ref:`shadowclip<visual-map-shadowclip>` | :ref:`shadowscale<visual-map-shadowscale>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`actuatortendon<visual-map-actuatortendon>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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| :ref:`scale | ? | :class: mjcf-attributes |
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| <visual-scale>` | | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`forcewidth<visual-scale-forcewidth>` | :ref:`contactwidth<visual-scale-contactwidth>` | :ref:`contactheight<visual-scale-contactheight>` | :ref:`connect<visual-scale-connect>` | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
| | | | :ref:`com<visual-scale-com>` | :ref:`camera<visual-scale-camera>` | :ref:`light<visual-scale-light>` | :ref:`selectpoint<visual-scale-selectpoint>` | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
| | | | :ref:`jointlength<visual-scale-jointlength>` | :ref:`jointwidth<visual-scale-jointwidth>` | :ref:`actuatorlength<visual-scale-actuatorlength>` | :ref:`actuatorwidth<visual-scale-actuatorwidth>` | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
| | | | :ref:`framelength<visual-scale-framelength>` | :ref:`framewidth<visual-scale-framewidth>` | :ref:`constraint<visual-scale-constraint>` | :ref:`slidercrank<visual-scale-slidercrank>` | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
| | | | :ref:`frustum<visual-scale-frustum>` | | | | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
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||||
| :ref:`rgba | ? | :class: mjcf-attributes |
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| <visual-rgba>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`fog<visual-rgba-fog>` | :ref:`haze<visual-rgba-haze>` | :ref:`force<visual-rgba-force>` | :ref:`inertia<visual-rgba-inertia>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`joint<visual-rgba-joint>` | :ref:`actuator<visual-rgba-actuator>` | :ref:`actuatornegative<visual-rgba-actuatornegative>` | :ref:`actuatorpositive<visual-rgba-actuatorpositive>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`com<visual-rgba-com>` | :ref:`camera<visual-rgba-camera>` | :ref:`light<visual-rgba-light>` | :ref:`selectpoint<visual-rgba-selectpoint>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`connect<visual-rgba-connect>` | :ref:`contactpoint<visual-rgba-contactpoint>` | :ref:`contactforce<visual-rgba-contactforce>` | :ref:`contactfriction<visual-rgba-contactfriction>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`contacttorque<visual-rgba-contacttorque>` | :ref:`contactgap<visual-rgba-contactgap>` | :ref:`rangefinder<visual-rgba-rangefinder>` | :ref:`constraint<visual-rgba-constraint>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | :ref:`bv<visual-rgba-bv>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`bvactive<visual-rgba-bvactive>` | | | | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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||||
| mujoco |br| |L| | | *no attributes* |
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| :ref:`asset<asset>` | | |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| asset |br| |_| |L| | | .. table:: |
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@@ -213,43 +172,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texuniform<asset-material-texuniform>` | :ref:`emission<asset-material-emission>` | :ref:`specular<asset-material-specular>` | :ref:`shininess<asset-material-shininess>` | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`reflectance<asset-material-reflectance>` | :ref:`rgba<asset-material-rgba>` | | | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| mujoco |br| |L| | | .. table:: |
|
||||
| :ref:`option | \* | :class: mjcf-attributes |
|
||||
| <option>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`mpr_tolerance<option-mpr_tolerance>` | :ref:`gravity<option-gravity>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`integrator<option-integrator>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`mpr_iterations<option-mpr_iterations>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
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| |_| option |br| |_| |L| | | .. table:: |
|
||||
| :ref:`flag | ? | :class: mjcf-attributes |
|
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| <option-flag>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`constraint<option-flag-constraint>` | :ref:`equality<option-flag-equality>` | :ref:`frictionloss<option-flag-frictionloss>` | :ref:`limit<option-flag-limit>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`contact<option-flag-contact>` | :ref:`passive<option-flag-passive>` | :ref:`gravity<option-flag-gravity>` | :ref:`clampctrl<option-flag-clampctrl>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`warmstart<option-flag-warmstart>` | :ref:`filterparent<option-flag-filterparent>` | :ref:`actuation<option-flag-actuation>` | :ref:`refsafe<option-flag-refsafe>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | |
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||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`island<option-flag-island>` | | | | |
|
||||
| | | | :ref:`reflectance<asset-material-reflectance>` | :ref:`metallic<asset-material-metallic>` | :ref:`roughness<asset-material-roughness>` | :ref:`rgba<asset-material-rgba>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| mujoco |br| |L| | | .. table:: |
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@@ -369,7 +292,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`name<body-light-name>` | :ref:`class<body-light-class>` | :ref:`directional<body-light-directional>` | :ref:`castshadow<body-light-castshadow>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`radius<body-light-radius>` | |
|
||||
| | | | :ref:`active<body-light-active>` | :ref:`pos<body-light-pos>` | :ref:`dir<body-light-dir>` | :ref:`bulbradius<body-light-bulbradius>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`attenuation<body-light-attenuation>` | :ref:`cutoff<body-light-cutoff>` | :ref:`exponent<body-light-exponent>` | :ref:`ambient<body-light-ambient>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
@@ -1287,6 +1210,83 @@
|
||||
| | | | :ref:`act<keyframe-key-act>` | :ref:`mpos<keyframe-key-mpos>` | :ref:`mquat<keyframe-key-mquat>` | :ref:`ctrl<keyframe-key-ctrl>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| mujoco |br| |L| | | *no attributes* |
|
||||
| :ref:`visual<visual>` | | |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
|
||||
| :ref:`global | ? | :class: mjcf-attributes |
|
||||
| <visual-global>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | :ref:`elevation<visual-global-elevation>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
|
||||
| :ref:`quality | ? | :class: mjcf-attributes |
|
||||
| <visual-quality>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`shadowsize<visual-quality-shadowsize>` | :ref:`offsamples<visual-quality-offsamples>` | :ref:`numslices<visual-quality-numslices>` | :ref:`numstacks<visual-quality-numstacks>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`numquads<visual-quality-numquads>` | | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
|
||||
| :ref:`headlight | ? | :class: mjcf-attributes |
|
||||
| <visual-headlight>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`ambient<visual-headlight-ambient>` | :ref:`diffuse<visual-headlight-diffuse>` | :ref:`specular<visual-headlight-specular>` | :ref:`active<visual-headlight-active>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
|
||||
| :ref:`map | ? | :class: mjcf-attributes |
|
||||
| <visual-map>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`stiffness<visual-map-stiffness>` | :ref:`stiffnessrot<visual-map-stiffnessrot>` | :ref:`force<visual-map-force>` | :ref:`torque<visual-map-torque>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`alpha<visual-map-alpha>` | :ref:`fogstart<visual-map-fogstart>` | :ref:`fogend<visual-map-fogend>` | :ref:`znear<visual-map-znear>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`zfar<visual-map-zfar>` | :ref:`haze<visual-map-haze>` | :ref:`shadowclip<visual-map-shadowclip>` | :ref:`shadowscale<visual-map-shadowscale>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`actuatortendon<visual-map-actuatortendon>` | | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
|
||||
| :ref:`scale | ? | :class: mjcf-attributes |
|
||||
| <visual-scale>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`forcewidth<visual-scale-forcewidth>` | :ref:`contactwidth<visual-scale-contactwidth>` | :ref:`contactheight<visual-scale-contactheight>` | :ref:`connect<visual-scale-connect>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`com<visual-scale-com>` | :ref:`camera<visual-scale-camera>` | :ref:`light<visual-scale-light>` | :ref:`selectpoint<visual-scale-selectpoint>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`jointlength<visual-scale-jointlength>` | :ref:`jointwidth<visual-scale-jointwidth>` | :ref:`actuatorlength<visual-scale-actuatorlength>` | :ref:`actuatorwidth<visual-scale-actuatorwidth>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`framelength<visual-scale-framelength>` | :ref:`framewidth<visual-scale-framewidth>` | :ref:`constraint<visual-scale-constraint>` | :ref:`slidercrank<visual-scale-slidercrank>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`frustum<visual-scale-frustum>` | | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| visual |br| |_| |L| | | .. table:: |
|
||||
| :ref:`rgba | ? | :class: mjcf-attributes |
|
||||
| <visual-rgba>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`fog<visual-rgba-fog>` | :ref:`haze<visual-rgba-haze>` | :ref:`force<visual-rgba-force>` | :ref:`inertia<visual-rgba-inertia>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`joint<visual-rgba-joint>` | :ref:`actuator<visual-rgba-actuator>` | :ref:`actuatornegative<visual-rgba-actuatornegative>` | :ref:`actuatorpositive<visual-rgba-actuatorpositive>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`com<visual-rgba-com>` | :ref:`camera<visual-rgba-camera>` | :ref:`light<visual-rgba-light>` | :ref:`selectpoint<visual-rgba-selectpoint>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`connect<visual-rgba-connect>` | :ref:`contactpoint<visual-rgba-contactpoint>` | :ref:`contactforce<visual-rgba-contactforce>` | :ref:`contactfriction<visual-rgba-contactfriction>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`contacttorque<visual-rgba-contacttorque>` | :ref:`contactgap<visual-rgba-contactgap>` | :ref:`rangefinder<visual-rgba-rangefinder>` | :ref:`constraint<visual-rgba-constraint>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | :ref:`bv<visual-rgba-bv>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`bvactive<visual-rgba-bvactive>` | | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| mujoco |br| |L| | | .. table:: |
|
||||
| :ref:`default | R | :class: mjcf-attributes |
|
||||
| <default>` | | |
|
||||
@@ -1307,7 +1307,9 @@
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`texture<default-material-texture>` | :ref:`emission<default-material-emission>` | :ref:`specular<default-material-specular>` | :ref:`shininess<default-material-shininess>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`reflectance<default-material-reflectance>` | :ref:`rgba<default-material-rgba>` | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | |
|
||||
| | | | :ref:`reflectance<default-material-reflectance>` | :ref:`metallic<default-material-metallic>` | :ref:`roughness<default-material-roughness>` | :ref:`rgba<default-material-rgba>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||
| |_| default |br| |_| |L| | | .. table:: |
|
||||
@@ -1378,7 +1380,7 @@
|
||||
| :ref:`light | ? | :class: mjcf-attributes |
|
||||
| <default-light>` | | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`radius<default-light-radius>` | :ref:`directional<default-light-directional>` | |
|
||||
| | | | :ref:`pos<default-light-pos>` | :ref:`dir<default-light-dir>` | :ref:`bulbradius<default-light-bulbradius>` | :ref:`directional<default-light-directional>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
| | | | :ref:`castshadow<default-light-castshadow>` | :ref:`active<default-light-active>` | :ref:`attenuation<default-light-attenuation>` | :ref:`cutoff<default-light-cutoff>` | |
|
||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||
|
||||
+23
-14
@@ -9,35 +9,44 @@ General
|
||||
^^^^^^^
|
||||
1. Added ``mjModel.mesh_scale``: the scaling applied to asset vertices, as specified in the
|
||||
:ref:`scale<asset-mesh-scale>` attribute.
|
||||
2. Added the :ref:`light/radius<body-light-radius>` attribute and corresponding ``mjModel.light_radius`` field. This
|
||||
value has no effect in MuJoCo's native renderer, but can be usful when rendering scenes with an external renderer.
|
||||
2. Added visual properties which are ignored by the native renderer, but can be used by external renderers:
|
||||
|
||||
- :ref:`light/bulbradius<body-light-bulbradius>` attribute and corresponding ``mjModel.light_bulbradius`` field.
|
||||
- :ref:`material/metallic<asset-material-metallic>` attribute and corresponding ``mjModel.material_metallic`` field.
|
||||
- :ref:`material/roughness<asset-material-roughness>` attribute and corresponding ``mjModel.material_roughness``
|
||||
field.
|
||||
3. The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was changed from ``int``
|
||||
to ``size_t``.
|
||||
|
||||
MJX
|
||||
^^^
|
||||
.. admonition:: Breaking API changes
|
||||
:class: attention
|
||||
|
||||
3. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
|
||||
4. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
|
||||
functionality.
|
||||
|
||||
**Migration:** Use ``mjx.get_data_into`` instead of ``mjx.device_get_into``, and ``mjx.put_data`` instead of
|
||||
``mjx.device_put``.
|
||||
|
||||
4. Added cylinder plane collisions.
|
||||
5. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
|
||||
6. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
|
||||
7. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
|
||||
8. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
|
||||
9. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
|
||||
geoms.
|
||||
10. Fixed a bug where capsules might be ignored in broadphase colliision checking.
|
||||
5. Added cylinder plane collisions.
|
||||
6. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
|
||||
7. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
|
||||
8. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
|
||||
9. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
|
||||
10. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
|
||||
geoms.
|
||||
11. Fixed a bug where capsules might be ignored in broadphase colliision checking.
|
||||
12. Added cylinder collisions using SDFs.
|
||||
13. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
|
||||
|
||||
Bug fixes
|
||||
^^^^^^^^^
|
||||
11. Defaults of lights were not being saved, now fixed.
|
||||
12. Prevent overwriting of frame names by body names when saving an XML. Introduced in 3.1.4.
|
||||
13. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
|
||||
14. Defaults of lights were not being saved, now fixed.
|
||||
15. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
|
||||
16. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
|
||||
not optional.
|
||||
16. Fixed bug that prevented memory allocations larger than 2.15 GB.
|
||||
|
||||
|
||||
Version 3.1.4 (April 10th, 2024)
|
||||
|
||||
@@ -922,6 +922,7 @@ struct mjModel_ {
|
||||
int nD; // number of non-zeros in sparse dof-dof matrix
|
||||
int nB; // number of non-zeros in sparse body-dof matrix
|
||||
int ntree; // number of kinematic trees under world body
|
||||
int ngravcomp; // number of bodies with nonzero gravcomp
|
||||
int nemax; // number of potential equality-constraint rows
|
||||
int njmax; // number of available rows in constraint Jacobian
|
||||
int nconmax; // number of potential contacts in contact list
|
||||
@@ -1079,10 +1080,10 @@ struct mjModel_ {
|
||||
int* light_targetbodyid; // id of targeted body; -1: none (nlight x 1)
|
||||
mjtByte* light_directional; // directional light (nlight x 1)
|
||||
mjtByte* light_castshadow; // does light cast shadows (nlight x 1)
|
||||
float* light_bulbradius; // light radius for soft shadows (nlight x 1)
|
||||
mjtByte* light_active; // is light on (nlight x 1)
|
||||
mjtNum* light_pos; // position rel. to body frame (nlight x 3)
|
||||
mjtNum* light_dir; // direction rel. to body frame (nlight x 3)
|
||||
mjtNum* light_radius; // radius of the light (nlight x 1)
|
||||
mjtNum* light_poscom0; // global position rel. to sub-com in qpos0 (nlight x 3)
|
||||
mjtNum* light_pos0; // global position rel. to body in qpos0 (nlight x 3)
|
||||
mjtNum* light_dir0; // global direction in qpos0 (nlight x 3)
|
||||
@@ -1219,6 +1220,8 @@ struct mjModel_ {
|
||||
float* mat_specular; // specular (x white) (nmat x 1)
|
||||
float* mat_shininess; // shininess coef (nmat x 1)
|
||||
float* mat_reflectance; // reflectance (0: disable) (nmat x 1)
|
||||
float* mat_metallic; // metallic coef (nmat x 1)
|
||||
float* mat_roughness; // roughness coef (nmat x 1)
|
||||
float* mat_rgba; // rgba (nmat x 4)
|
||||
|
||||
// predefined geom pairs for collision detection; has precedence over exclude
|
||||
@@ -2022,6 +2025,7 @@ struct mjvLight_ { // OpenGL light
|
||||
mjtByte headlight; // headlight
|
||||
mjtByte directional; // directional light
|
||||
mjtByte castshadow; // does light cast shadows
|
||||
float bulbradius; // bulb radius for soft shadows
|
||||
};
|
||||
typedef struct mjvLight_ mjvLight;
|
||||
struct mjvOption_ { // abstract visualization options
|
||||
@@ -2236,6 +2240,7 @@ struct mjvSceneState_ {
|
||||
|
||||
mjtByte* light_directional;
|
||||
mjtByte* light_castshadow;
|
||||
float* light_bulbradius;
|
||||
mjtByte* light_active;
|
||||
float* light_attenuation;
|
||||
float* light_cutoff;
|
||||
@@ -2303,6 +2308,8 @@ struct mjvSceneState_ {
|
||||
float* mat_specular;
|
||||
float* mat_shininess;
|
||||
float* mat_reflectance;
|
||||
float* mat_metallic;
|
||||
float* mat_roughness;
|
||||
float* mat_rgba;
|
||||
|
||||
int* eq_type;
|
||||
@@ -2447,8 +2454,8 @@ void mj_resetDataKeyframe(const mjModel* m, mjData* d, int key);
|
||||
void mj_markStack(mjData* d);
|
||||
void mj_freeStack(mjData* d);
|
||||
void* mj_stackAllocByte(mjData* d, size_t bytes, size_t alignment);
|
||||
mjtNum* mj_stackAllocNum(mjData* d, int size);
|
||||
int* mj_stackAllocInt(mjData* d, int size);
|
||||
mjtNum* mj_stackAllocNum(mjData* d, size_t size);
|
||||
int* mj_stackAllocInt(mjData* d, size_t size);
|
||||
void mj_deleteData(mjData* d);
|
||||
void mj_resetCallbacks(void);
|
||||
void mj_setConst(mjModel* m, mjData* d);
|
||||
|
||||
+3
-5
@@ -191,7 +191,7 @@ The following features are **fully supported** in MJX:
|
||||
* - :ref:`Geom <mjtGeom>`
|
||||
- ``PLANE``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH``
|
||||
* - :ref:`Constraint <mjtConstraint>`
|
||||
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_PYRAMIDAL``
|
||||
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_FRICTIONLESS``, ``CONTACT_PYRAMIDAL``
|
||||
* - :ref:`Equality <mjtEq>`
|
||||
- ``CONNECT``, ``WELD``, ``JOINT``
|
||||
* - :ref:`Integrator <mjtIntegrator>`
|
||||
@@ -199,7 +199,7 @@ The following features are **fully supported** in MJX:
|
||||
* - :ref:`Cone <mjtCone>`
|
||||
- ``PYRAMIDAL``
|
||||
* - :ref:`Condim <coContact>`
|
||||
- 3
|
||||
- 1, 3, 4, 6
|
||||
* - :ref:`Solver <mjtSolver>`
|
||||
- ``CG``, ``NEWTON``
|
||||
* - Fluid Model
|
||||
@@ -217,10 +217,8 @@ The following features are **in development** and coming soon:
|
||||
- Feature
|
||||
* - :ref:`Geom <mjtGeom>`
|
||||
- ``SDF``, ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``
|
||||
* - :ref:`Condim <coContact>`
|
||||
- 1, 4, 6
|
||||
* - :ref:`Constraint <mjtConstraint>`
|
||||
- :ref:`Frictionloss <coFriction>`, ``CONTACT_FRICTIONLESS``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
|
||||
- :ref:`Frictionloss <coFriction>`, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
|
||||
* - :ref:`Integrator <mjtIntegrator>`
|
||||
- ``IMPLICIT``, ``IMPLICITFAST``
|
||||
* - Dynamics
|
||||
|
||||
Reference in New Issue
Block a user