Mujoco_WASM

Author SHA1 Message Date

Author	SHA1	Message	Date
Yuval Tassa	6a85b5db45	Improve cartesian actuator example model. Significantly reduced joint-level damping, introduced damping in the actuators themselves. This reduces dynamics artifacts by matching the space in which damping and actuation forces are applied. PiperOrigin-RevId: 509574523 Change-Id: Id99b69aea4562509c48ed1a24fb9ea3e008c0b69	2023-02-14 10:41:21 -08:00
Nimrod Gileadi	a693a2d981	Don't infer limited attributes automatically by default. This is an amendment to `4bfc2c0311`. Add an autolimits compiler option. When true, limited will be inferred from the presence of the range attributes. When false, models where limited is not specified, and range is will fail to compile. PiperOrigin-RevId: 472438650 Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90	2022-09-06 06:11:53 -07:00
Yuval Tassa	46da1285af	Cartesian end-effector control using site transmission. - 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

Yuval Tassa

6a85b5db45

Improve cartesian actuator example model.

Significantly reduced joint-level damping, introduced damping in the actuators themselves. This reduces dynamics artifacts by matching the space in which damping and actuation forces are applied.

PiperOrigin-RevId: 509574523
Change-Id: Id99b69aea4562509c48ed1a24fb9ea3e008c0b69

2023-02-14 10:41:21 -08:00

Nimrod Gileadi

a693a2d981

Don't infer limited attributes automatically by default.

This is an amendment to 4bfc2c0311.

Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.

PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90

2022-09-06 06:11:53 -07:00

Yuval Tassa

46da1285af

Cartesian end-effector control using site transmission.

- 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

3 Commits