chenlin/Mujoco_WASM
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14 Commits

Author SHA1 Message Date
DeepMind 366e1c53d4 Clarify docs on MJCF format comparison to inline CSS. 
PiperOrigin-RevId: 471009039
Change-Id: I79704fd7939daef50918e5093b092f144436a47d
 2022-08-30 09:11:01 -07:00
Yuval Tassa 29535a8eca Fix typos. 
PiperOrigin-RevId: 467656092
Change-Id: If908b58129c975a042c920ca2242f320876e4f54
 2022-08-15 06:38:20 -07:00
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 d3a86bb748 - Add floating changes to changelog. 
- Add sections about the state and derivatives to the Computation chapter.

PiperOrigin-RevId: 459032736
Change-Id: I0b69401688f24c84d5747f1b49980e38e19a54a3
 2022-07-05 02:18:01 -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 2de8aa9e92 Fix redundant actuators in modeling doc. 
PiperOrigin-RevId: 454942117
Change-Id: Id5ffa3339cb0188863570071dc56f6ead794e5a4
 2022-06-14 13:29:42 -07:00
Kevin Zakka 6048a55daf Add intvelocity actuator shortcut. 
PiperOrigin-RevId: 454899823
Change-Id: I9b5494baacfab5a7d03bd680d0ded06a7790e75e
 2022-06-14 10:36:58 -07:00
Yuval Tassa f428c1bf56 Improve example XML snippet in "URDF Extensions" section. 
`discardvisual="false"` is often required when importing URDF models.

[Relevant issue](https://github.com/deepmind/mujoco/issues/326).

PiperOrigin-RevId: 453429187
Change-Id: I6dccc5656114224d11010c87e6a127321cce93c1
 2022-06-07 07:12:26 -07:00
Saran Tunyasuvunakool 7eb4ab3a8f Fix documentation typos and CMake framework setup for macOS. 
The previous commit missed out some recent changes in the internal repo. This commit brings the public GitHub repo in sync.

PiperOrigin-RevId: 450377010
Change-Id: I59a68ae4a39c5cd5ed5f7df77ba870273243d623
 2022-05-23 14:06:12 +01:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00
Saran Tunyasuvunakool 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
Yuval Tassa 1ef7ec6dde Documentation improvements for 2.1.1. 
- Fix typos and broken links.
- Add documentation for functions introduced in 2.1.1.
- Add copyright header to `FLV.m` and remove `hello.c`.
- Update documentation for `mj_ray` and `mj_contactForce`.
- Delete out-of-date comments in `XMLreference.rst`.
- Add geom:size table to `XMLreference.rst`.

PiperOrigin-RevId: 425318966
 2022-01-31 19:19:19 +00:00
Saran Tunyasuvunakool a499b38120 Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes. 
Closes #2
Closes #42
Closes #59

PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
 2021-12-16 14:40:33 +00:00
Saran Tunyasuvunakool 1f7eaae62e Version 2.1: documentation, public API headers, and sample programs. 
PiperOrigin-RevId: 403900419
 2021-10-18 12:35:33 +01:00