307cf692e5
Add <damper> actuator shortcut and related mjGAIN_AFFINE.
...
**Rationale**
A general `mjGAIN_AFFINE` actuator adds the term `force = (c + kp * length + kv * velocity) * ctrl`. The damper shortcut restricts it to `kv * velocity * ctrl` and sets the `ctrllimited` attribute to true.
**API**
```xml
<actuator>
<damper ctrlrange="0 1" kv="1"/>
</actuator>
```
* Required attributes: `ctrlrange` (>=0)
* Optional attributes: `kv` (>=0)
PiperOrigin-RevId: 455366866
Change-Id: I88773abbeccabb6442f215c9fc05e205df63f692
2022-06-16 06:21:17 -07:00
6ead14614f
Adds rendering of ball and free joints actuators using an inflated joint geometry.
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PiperOrigin-RevId: 453939612
Change-Id: I621f91d242b2974e6ae6acf239cdcb10efcb2629
2022-06-09 09:10:03 -07:00
066367fcc8
Add visualisation flag for activations.
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- Added illustrative model: `test/engine/testdata/activation.xml`
PiperOrigin-RevId: 453628961
Change-Id: I061ec3d17e57c6baffa0fe446a0be3564c44519d
2022-06-08 02:19:03 -07:00
736e0b391b
Added visualization of site actuators.
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PiperOrigin-RevId: 453609866
Change-Id: Icde220687f0c0e9e7fbbe0e3e56d995f823ffe07
2022-06-07 23:59:06 -07:00
f3453cf87f
Stricter parsing of XML array attributes.
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PiperOrigin-RevId: 451456510
Change-Id: I2556d4365762378261c04d3c9f1942166fbd156e
2022-05-27 12:51:02 -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
Alessio Quaglino