d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
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PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
770b4b363a
Added optional smoothing to muscle dynamics:
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- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.
PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
2023-05-12 04:58:53 -07:00
01b84089dd
Document engine plugins.
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Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.
PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
2023-04-03 07:55:21 -07:00
3f14d97f6b
Add equivalent inertia ellipsoid visualization.
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PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
2023-03-24 08:47:43 -07:00
fae5e822c0
Add links to default attributes.
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PiperOrigin-RevId: 517639045
Change-Id: I45f766bda8ce5bd182ba2669c4121c21896d40c1
2023-03-18 07:07:01 -07:00
d97ff39e86
Improvements to schema table.
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- Schema table now has attribute links and is open by default.
- Attributes are in 4 columns.
- Fixed various documentation bugs made visible by this change.
- Removed distance equality constraint from xml_native_reader.cc
PiperOrigin-RevId: 517558035
Change-Id: Ibc7715587dd4e72253231bfd55bd037f0193b3fd
2023-03-17 18:57:34 -07:00
ace5b74f83
Rename inteval attribute in mjLROpt to interval.
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PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
2023-02-13 10:54:25 -08:00
db28c31f05
Rename <required> tag to <plugin>.
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PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
2023-02-13 08:41:52 -08:00
4bc76c93ae
Remove "name" attribute from plugin specifiers.
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PiperOrigin-RevId: 499187319
Change-Id: I0755a071eb4eee917fdf32db49a47fd16afa58f9
2023-01-03 05:03:20 -08:00
3b89b0fd30
Particles with arbitrary geoms and joints.
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Fixes #553
PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
2022-11-07 03:22:25 -08:00
36b30e4500
Allow more than 1 activation state per actuator, but only for dyntype user.
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Fixes #305 .
PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
2022-11-07 01:43:02 -08:00
7458a6e90f
Remove unused "flat" attribute from XML schema.
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PiperOrigin-RevId: 485358643
Change-Id: Ia9e46b346e86e3784ad12be32404ac22ce4c881a
2022-11-01 10:41:47 -07:00
23092a11d7
Add per-body gravity compensation (buoyancy) passive force.
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PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
2022-11-01 09:48:06 -07:00
ca99ed8664
Check if updating XMLschema is necessary.
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PiperOrigin-RevId: 481105158
Change-Id: I7b5199e595a73a4d988d90dee40a8cd759f86218
2022-10-14 03:27:05 -07:00
d55e70b576
Add links automatically to all sections of XMLschema.
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PiperOrigin-RevId: 479556475
Change-Id: Ie188ecc5c0801bd6bbe27554afcb5436c19f5fa6
2022-10-07 05:33:52 -07:00
3e378e2c37
Autogeneration of XML schema in documentation.
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BEGIN_PUBLIC
Add script for the autogeneration of the XML schema in the documentation.
ENG_PUBLIC
PiperOrigin-RevId: 479289884
Change-Id: I49423195fbd1067d4a4d7be78018d446575bc7e1
2022-10-06 05:43:36 -07:00
52c415eb80
Move schema from XMLReference to the new XMLschema RST file.
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PiperOrigin-RevId: 478436495
Change-Id: Ib1db879eef2720f897360810eccb198bb9946f72
2022-10-03 01:18:57 -07:00
Yuval Tassa