chenlin/Mujoco_WASM
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eab1f0da7dfef5f5ff75827fa501bcfc63ecd59e
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3 Commits

Author SHA1 Message Date
Yuval Tassa 03c2011463 Enable activation clamping when using implicit integrator. 
- Introduced private function `mj_advance()` as single point of state & time advancement.

PiperOrigin-RevId: 456525969
Change-Id: Iae17217e305c7baf07cb5ecd1e1b84b936421097
 2022-06-22 08:55:48 -07:00
Alessio Quaglino e050f36b5a Write sensor reftype and refname (if present) to XML file. 
PiperOrigin-RevId: 453926332
Change-Id: I61f4aa2dc6186149b22af71eb8bb0fb2ffd84209
 2022-06-09 08:03:47 -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