5 Commits

Author	SHA1	Message	Date
Yuval Tassa	c8ff7b3d34	Remove distance constraints. ... - `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed. - The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected. PiperOrigin-RevId: 467050101 Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7	2022-08-11 14:31:11 -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
Tom Erez	02f300c762	Refactor: separate buffer indexing and swizzling. ... 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
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
Tom Erez	6de9eafa13	Initial release of the Unity plugin. ... PiperOrigin-RevId: 425947505	2022-02-02 20:44:39 +00:00