f67e359532
Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.
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PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:56:48 -07:00
833d30858d
Add note regarding reproducibility
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PiperOrigin-RevId: 538535494
Change-Id: Icc37c95df77a9e30868a2ef866c5e603239e728b
2023-06-07 10:56:18 -07:00
8efb04eb79
Improved docs chapter order, rename Models to Model Gallery.
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PiperOrigin-RevId: 536819755
Change-Id: Ia2151a464c423b1ca13719285e4016832f448399
2023-05-31 14:13:41 -07:00
4beab79946
Remove outdated reference in computation chapter.
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PiperOrigin-RevId: 536818445
Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187
2023-05-31 14:08:57 -07:00
ff1fa84d32
Cosmetic documentation improvements
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PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
2023-05-07 02:10:18 -07:00
c50177d301
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
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Fixes #703 .
PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
2023-04-28 09:04:41 -07:00
51126caf3f
Cosmetic improvements to Actuation Model documentation.
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PiperOrigin-RevId: 526659426
Change-Id: If0ca9a505bb77e496739938a946ead5780b93d0f
2023-04-24 09:03:26 -07:00
967b07314f
Improve rendering of [state section]( https://mujoco.readthedocs.io/en/latest/computation.html?highlight=qfrc_applied#the-state ) in documentation.
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PiperOrigin-RevId: 526023870
Change-Id: If650cefa0cc6c22d63e909fb763767a77067af4e
2023-04-21 07:08:32 -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
70959c1a2c
Added a collision midphase on geom pairs using rotated AABBs static trees.
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PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
2023-03-17 02:37:29 -07:00
d59a919ef6
Minor style fixes.
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PiperOrigin-RevId: 517193740
Change-Id: I093e57efa1480e5d1d6053493b665e145f9b3f87
2023-03-16 12:24:06 -07:00
8c7f6ce5a0
New implicitfast integrator and sparse RNE derivatives for implicit.
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PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
2023-03-15 13:17:41 -07:00
1552b988ff
Fix typo.
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PiperOrigin-RevId: 509919399
Change-Id: Idd1845a81b073e99d98148ffe73699af3cedcc6c
2023-02-15 13:41:50 -08:00
e2691f58a5
Update mjd_transitionFD documentation.
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Fixes #713
PiperOrigin-RevId: 506248062
Change-Id: I1fbf8b378f500a6463a07eb5da5349c4f01ccb88
2023-02-01 01:53:05 -08:00
ab56a394bc
Update computation.rst
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spell check
2022-11-29 17:49:25 -03:00
0b45129ca4
Clarification regarding saving integration state variables.
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Fix some documentation bugs.
PiperOrigin-RevId: 487492900
Change-Id: I16ab9ae82cf203ebeaca10baaba7319d214202d0
2022-11-10 03:51:57 -08:00
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
eac04ce5e9
Reflow all documentation source files to 120 chars.
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PiperOrigin-RevId: 479552166
Change-Id: I777df18cf96d35d5260b4003452b7a6da6707a26
2022-10-07 05:02:21 -07:00
6da125ea37
Standardise tags of MJCF elements in XMLreference.rst
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PiperOrigin-RevId: 479541059
Change-Id: I98cb7933469f7010870d04608fbb931539769c2e
2022-10-07 03:45:53 -07:00
fe9bd74d3f
Fix doc typos.
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PiperOrigin-RevId: 476353794
Change-Id: I37db6c440893db55b2d02f78ce52e554b150fa32
2022-09-23 06:28:54 -07:00
46da1285af
Cartesian end-effector control using site transmission.
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- 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
2022-09-01 10:06:52 -07:00
3d77eb1ef4
Add adhesion actuators.
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- Adhesion actuators using contact normals as force transmission mechanism.
- Related video: https://youtu.be/HdBue4MUZys
Closes #229
PiperOrigin-RevId: 464389367
Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
2022-07-31 08:54:06 -07:00
fa1536c2de
Nit fixes to documentation.
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PiperOrigin-RevId: 461932200
Change-Id: I3f929e09239c526b1686aa65641e47e759d32827
2022-07-19 11:27:33 -07:00
d3a86bb748
- Add floating changes to changelog.
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- Add sections about the state and derivatives to the Computation chapter.
PiperOrigin-RevId: 459032736
Change-Id: I0b69401688f24c84d5747f1b49980e38e19a54a3
2022-07-05 02:18:01 -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
3577e2cf8b
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
1f7eaae62e
Version 2.1: documentation, public API headers, and sample programs.
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PiperOrigin-RevId: 403900419
2021-10-18 12:35:33 +01:00
Yuval Tassa