f4e7fa97af
Add mju_mulVecMatVec, mutiplies a square matrix M by a vector x on both sides. Returns x^T * M * x.
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PiperOrigin-RevId: 474292806
Change-Id: I3432469dbe1f02ccf5a13241c7aa12d824cbe034
2022-09-14 08:05:28 -07:00
8957976674
Add mju_boxQP solving box-constrained quadratic programs.
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PiperOrigin-RevId: 474256629
Change-Id: I87d70fe6899608122fe0688b017420a3e81afae2
2022-09-14 04:31:34 -07:00
e3a82247c2
Add sensor matrices to mjd_transitionFD.
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- Also add missing `mj_jacSubtreeCom` to Python bindings.
PiperOrigin-RevId: 471610181
Change-Id: I31410d194527ce6a7bdbd01e176f3a41efa52d84
2022-09-01 13:00:36 -07:00
7b7cf0c27a
Add mjd_transitionFD to Python bindings.
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PiperOrigin-RevId: 468731887
Change-Id: I2152e10bc0f50a6c6a6b6832b1e7ef7c413976f7
2022-08-19 10:27:40 -07:00
b966a37855
Add optional azimuth and elevation to initial free camera.
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- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
2022-08-05 01:04:02 -07:00
3d77eb1ef4
Add adhesion actuators.
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- 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
6048a55daf
Add intvelocity actuator shortcut.
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PiperOrigin-RevId: 454899823
Change-Id: I9b5494baacfab5a7d03bd680d0ded06a7790e75e
2022-06-14 10:36:58 -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
Yuval Tassa