- Wrapping in force path is local; act is re-anchored at integration time.
- Remove hardcoded `actrange` for intvelocity actuators.
PiperOrigin-RevId: 949566477
Change-Id: I349fdf17eedfbb2174d698cc1a6a91d52810b4a3
This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell.
PiperOrigin-RevId: 901216393
Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264
Note that small videos, for some reason, need an aspect ratio that is different from the actual aspect ratio.
PiperOrigin-RevId: 724879307
Change-Id: I681f071baf4eb09cfda41edeca0d1ee16be4181a
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes#2013.
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
- Replace two "below" instances in `XMLreference.rst` with proper links (there are many more that need fixing).
- Discuss friction cones and 32-bit floats in Performance Tuning.
- Delete Damping subsection in Tips and Tricks, no longer relevant after the introduction of the implicit/fast integrators.
- Simplify discussion of free bodies, mention free joint alignment.
- Clarify frame used by kinematic Jacobians.
PiperOrigin-RevId: 672615057
Change-Id: Ib59b71e3c09cdd13415519fc4a964131b155718f
- Added a section on preventing slip in the modeling chapter.
- Added more intuitive descriptions of friction coefficients in the Computation chapter.
- Fixed some en-dashes and em-dashes.
PiperOrigin-RevId: 630856003
Change-Id: I8e767e6c5a95affdeb72ef9bc424bdd18f58e4df
- Correct the equation for penetration depth. The equation is tested in engine_core_constraint_test.cc.
- Add a tip on scaling damping with stiffness.
PiperOrigin-RevId: 621111712
Change-Id: I8fcc133cbc638ffef2d0ddf4e298ae402dda7b6a
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.
- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.
https://youtu.be/H9qG9Zf2W44Fixes#1092.
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
Yuval Tassa