 Alessio Quaglino
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dbf44fe2b4
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New SDF objective function.
This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).
The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29)
PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
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2023-11-20 05:06:33 -08:00 |
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Alessio Quaglino
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50843cad30
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Add defaults to SDF plugin attributes.
Expose diameter and number of teeth for the gear SDF.
PiperOrigin-RevId: 577779297
Change-Id: Iec5890ab7f39080b395cf06a76f9c2216f4f39ed
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2023-10-30 03:09:25 -07:00 |
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Alessio Quaglino
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139a8ae298
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Add flex and elasticity documentation. Fixes #873.
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
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2023-10-17 09:46:07 -07:00 |
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Saran Tunyasuvunakool
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7e5a7b76fc
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Change GitHub org name to google-deepmind.
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
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2023-09-07 12:34:20 -07:00 |
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Yuval Tassa
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ba66bd4f8b
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Fixes to documentation:
1. Cleaned up changelog, fixed some typos, removed nested admonitions.
2. Added missing documentation for `mjfResourceModified` function type.
PiperOrigin-RevId: 562859015
Change-Id: I34dc4f3131561cbe95be3127e6e318cc4b803a24
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2023-09-05 12:36:28 -07:00 |
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Kyle Bayes
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16ee0dfde5
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Add modified callback to resource providers (for caching purposes).
PiperOrigin-RevId: 561327623
Change-Id: Id6683f6d6d32ee91019aba46599c28cbffe29df6
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2023-08-30 06:53:20 -07:00 |
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Alessio Quaglino
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fdb041580c
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Add Signed Distance Field to collision geometries.
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
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2023-08-16 09:15:23 -07:00 |
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Yuval Tassa
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49efa9cc15
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Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment.
Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
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2023-05-06 09:22:37 -07:00 |
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Yuval Tassa
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7998fc7fca
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Fix typo.
PiperOrigin-RevId: 529719905
Change-Id: I7ad8b333465db5f453b0d6b2ade02fbfc39a96a9
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2023-05-05 08:12:11 -07:00 |
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Kyle Bayes
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67f0f5154f
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Add various improvements for resource providers.
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
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2023-05-05 07:03:49 -07:00 |
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Yuval Tassa
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01b84089dd
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Document engine plugins.
Rename `mjPLUGIN_DYNAMIC_LIBRARY_INIT` -> `mjPLUGIN_LIB_INIT`.
PiperOrigin-RevId: 521458377
Change-Id: I42aaec923e4f392899dfe53ab6ce1dddc75a83b3
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2023-04-03 07:55:21 -07:00 |
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