- Added `refsite` attribute to actuators with `site` transmission.
- Such actuators now have a well defined length and can be used for e.g., Cartesian end-effector control.
- Added example models and documentation describing the new feature.
PiperOrigin-RevId: 471561218
Change-Id: I538f09af9600d5c53992c4a9fed325648aab4fa3
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.
PiperOrigin-RevId: 470021901
Change-Id: I3faba0e5dcab2e29ee81096f5ff71ff66d99758c
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.
PiperOrigin-RevId: 469228149
Change-Id: I836b0791f10fb624607a12ef3c687da991c21789
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.
PiperOrigin-RevId: 469190483
Change-Id: I20f6da85b09cd2c4c0b5d29eb8003eabb524e55e
- Add `qH` and `qHDiagInv` to `mjData` to save factorized modified inertia.
- Add `mj_EulerSkip`, `mj_implicitSkip`, to `engine_forward.c`.
- Using the above functions, implement `mj_stepSkip` in `engine_derivative.c`.
- Add `mjd_stepFD` and `mjd_transitionFD` to `engine_derivative.c` to compute `mj_step` Jacobians.
- Exploit "Skip" functionality for speed.
- Correctly handle quaternion derivatives.
- Handle warmstarts and control limits.
PiperOrigin-RevId: 456584811
Change-Id: Iee8541f11e7b66feb8f431cb102d9bbe65461f79
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
Yuval Tassa