73fb61e3e2
Bump version number to 2.3.1.
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PiperOrigin-RevId: 493076656
Change-Id: I48c7a45b503c4a7363ea1455a4a3788262d007f7
2022-12-05 12:13:55 -08:00
57b0b36699
Bump version number to 2.3.0.
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PiperOrigin-RevId: 481823754
Change-Id: Ie8c2c65b11178952355830ef019fe2efdf774189
2022-10-17 22:36:59 -07:00
1e2a9a53bc
Implement plugin mechanism for actuators and sensors.
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PiperOrigin-RevId: 474874088
Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
2022-09-16 12:21:29 -07:00
94b6ae2b69
Bump version number to 2.2.2.
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PiperOrigin-RevId: 472513958
Change-Id: I42f321c6681fdd42c5f80368f612534aa885af74
2022-09-06 11:32:55 -07:00
090fe2db3f
Add a disable flag for sensors.
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PiperOrigin-RevId: 469473066
Change-Id: I296ed790c6261c4fb15b349540edcb77e53e0567
2022-08-23 09:02:56 -07:00
fcf4131771
Add mj_jacSubtreeCom for computing subtree center-of-mass Jacobians.
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PiperOrigin-RevId: 464075727
Change-Id: If679c0fdd05b7dc84154cec00963aeea7bbdacc3
2022-07-29 07:44:32 -07:00
373cc894a8
Bump version number to 2.2.1.
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PiperOrigin-RevId: 461471944
Change-Id: Ia752d992fabdc57b822bc30b01030c19162917ac
2022-07-17 09:50:31 -07:00
53d3220fcc
Fix quaternion typos.
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PiperOrigin-RevId: 453203844
Change-Id: I7d788c21bb00b7746f941fb2cf755f0b046e35f2
2022-06-06 08:24:21 -07:00
64bc6d27b2
Add implicit integrator.
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Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
- Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
- Damping and fluid-drag passive forces.
- Actuation forces.
A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost.
PiperOrigin-RevId: 450377010
Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
2022-05-23 01:22:15 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Kyle Bayes