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
02f300c762
Refactor: separate buffer indexing and swizzling.
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This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.
PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
2022-05-29 00:24:30 -07:00
3577e2cf8b
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
6de9eafa13
Initial release of the Unity plugin.
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PiperOrigin-RevId: 425947505
2022-02-02 20:44:39 +00:00
Alessio Quaglino