chenlin/Mujoco_WASM
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bc1490b7a8312fc4e875042e9c0bdcf294f56ddc
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14 Commits

Author SHA1 Message Date
Saran Tunyasuvunakool 1e2a9a53bc Implement plugin mechanism for actuators and sensors. 
PiperOrigin-RevId: 474874088
Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
 2022-09-16 12:21:29 -07:00
Yuval Tassa 090fe2db3f Add a disable flag for sensors. 
PiperOrigin-RevId: 469473066
Change-Id: I296ed790c6261c4fb15b349540edcb77e53e0567
 2022-08-23 09:02:56 -07:00
Levi Burner 581f009c02 Cull face flag 2022-08-05 11:53:46 -04:00
Yuval Tassa 3d77eb1ef4 Add adhesion actuators. 
- 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
Yuval Tassa c14a7ef4a7 Add clock sensor type. 
PiperOrigin-RevId: 459720950
Change-Id: Ibda48ae7dc4aa7be451a947a1c53d10a7eaf176b
 2022-07-08 03:50:08 -07:00
Alessio Quaglino 307cf692e5 Add <damper> actuator shortcut and related mjGAIN_AFFINE. 
**Rationale**

A general `mjGAIN_AFFINE` actuator adds the term `force = (c + kp * length + kv * velocity) * ctrl`. The damper shortcut restricts it to `kv * velocity * ctrl` and sets the `ctrllimited` attribute to true.

**API**

```xml
<actuator>
  <damper ctrlrange="0 1" kv="1"/>
</actuator>
```

* Required attributes: `ctrlrange` (>=0)
* Optional attributes: `kv` (>=0)

PiperOrigin-RevId: 455366866
Change-Id: I88773abbeccabb6442f215c9fc05e205df63f692
 2022-06-16 06:21:17 -07:00
Alessio Quaglino 066367fcc8 Add visualisation flag for activations. 
- Added illustrative model: `test/engine/testdata/activation.xml`

PiperOrigin-RevId: 453628961
Change-Id: I061ec3d17e57c6baffa0fe446a0be3564c44519d
 2022-06-08 02:19:03 -07:00
DeepMind 64bc6d27b2 Add implicit integrator. 
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
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00
Saran Tunyasuvunakool 87539dbd24 Version 2.1.5: Fix GLAD loading on Linux, experimental multi-CCD. 
PiperOrigin-RevId: 441482552
Change-Id: I16b7ba81cd81ca2293a9a12bfa08a40ab24c70bb
 2022-04-13 16:22:26 +01:00
Saran Tunyasuvunakool 90dea1bdfb Version 2.1.4: Switch to GLAD, minor improvements to simulate. 
PiperOrigin-RevId: 439277749
Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
 2022-04-04 13:53:21 +01:00
Saran Tunyasuvunakool 3c71720d83 Revert commit d627374545. 
This commit requires a new binary build, and therefore breaks compatibility with version 2.1.3.

Fixes #217.

Change-Id: I1e08b6fd2c468e3845e2166a1e4cc9d265de64de
 2022-03-31 11:54:51 +01:00
Yuval Tassa d627374545 Add contact frame visualisation. 
This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.

PiperOrigin-RevId: 437256700
Change-Id: I5eab737fc98018399e151552778c6109088bf614
 2022-03-29 13:08:05 +01:00
Saran Tunyasuvunakool 3577e2cf8b Version 2.1.2: Python bindings, OBJ assets support, bugfixes. 
PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
 2022-03-15 14:04:44 +00:00