Mujoco_WASM

Files

T

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

collision_convex

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

core_smooth/rne_post

Stricter parsing of XML array attributes.

2022-05-27 12:51:02 -07:00

derivative

Add implicit integrator.

2022-05-23 01:22:15 -07:00

activation.xml

Add visualisation flag for activations.