Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
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
For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
- 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
Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.
Fixes#1838
PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
- Usually the user only wants to tweak `polycoef[1]`, after this change `"0 2"` is equivalent to `"0 2 0 0 0"`.
- Also improve documentation of this attribute.
- Tighten margins of documentation display equations.
PiperOrigin-RevId: 639720742
Change-Id: Ibafa0e093cebe1c1c75bf2e47ff3bd2ad7619414
- 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
Yuval Tassa