chenlin/Mujoco_WASM
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eab1f0da7dfef5f5ff75827fa501bcfc63ecd59e
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9 Commits

Author SHA1 Message Date
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 138a01625e Fix typo. 
PiperOrigin-RevId: 460312313
Change-Id: I4ff1f82afb28d1286e33aaee8b008f76f81935ac
 2022-07-11 15:20:38 -07:00
Yuval Tassa c14a7ef4a7 Add clock sensor type. 
PiperOrigin-RevId: 459720950
Change-Id: Ibda48ae7dc4aa7be451a947a1c53d10a7eaf176b
 2022-07-08 03:50:08 -07:00
Yuval Tassa 09a5efc09e Add control values to keyframes. 
- Add basic test for keyframes.
- Add missing documentation for keyframe mocap positions and quaternions.

PiperOrigin-RevId: 459021649
Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
 2022-07-05 01:07:37 -07:00
Alessio Quaglino 2d0995b47c Add visualisation groups to skins. 
PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
 2022-07-01 04:57:34 -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
Kevin Zakka 53d3220fcc Fix quaternion typos. 
PiperOrigin-RevId: 453203844
Change-Id: I7d788c21bb00b7746f941fb2cf755f0b046e35f2
 2022-06-06 08:24:21 -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