Added adhesion actuators mimicking vacuum grippers and adhesive biomechanical appendages.
Added related example model and video.
mj_jacSubtreeCom for computing the translational Jacobian of the center-of-mass of a subtree.
anchor attributes to
torquescale sets the torque-to-force ratio exerted by the constraint,
anchor sets the point at which the weld wrench is applied. See weld for more details.
mjNEQDATA, the row length of equality constraint parameters in
mjModel.eq_data, from 7 to 11.
Added visualisation of anchor points for both :el:
connect and :el:
weld constraints (activated by the 'N' key in
Added weld.xml showing different uses of new weld attributes.
Cartesian 6D end-effector control is now possible by adding a reference site to actuators with
site transmission. See description of new
refsite attribute in the actuator documentation and refsite.xml example model. Video
autolimits compiler option. If
true, joint and tendon
limited attributes and actuator
actlimited attributes will automatically be set to
true if the corresponding range is defined and
autolimits="false" (the default) models where a
range attribute is specified without the
limited attribute will fail to compile. A future release will change the default of
true, and this compilation error allows users to catch this future change of behavior.
This is a breaking change. In models where a range was defined but
limited was unspecified, explicitly set limited to
false or remove the range to maintain the current behavior of your model.
Added moment of inertia computation for all well-formed meshes. This option is activated by setting the compiler flag
true (defaults to
false). This default may change in the future.
geom, for locating the inferred inertia on the boundary (shell). Currently only meshes are supported.
For meshes from which volumetric inertia is inferred, raise error if the orientation of mesh faces is not consistent. If this occurs, fix the mesh in e.g., MeshLab or Blender.
Added catenary visualisation for hanging tendons. The model seen in the video can be found here.
elevation attributes to visual/global, defining the initial orientation of the free camera at model load time.
mjv_defaultFreeCamera which sets the default free camera, respecting the above attributes.
simulate now supports taking a screenshot via a button in the File section or via
Improvements to time synchronisation in
simulate, in particular report actual real-time factor if different from requested factor (if e.g., the timestep is so small that simulation cannot keep up with real-time).
Added a disable flag for sensors.
mju_mulQuatAxis support in place computation. For example
mju_mulQuat(a, a, b); sets the quaternion
a equal to the product of
Added sensor matrices to
mjd_transitionFD (note this is an API change).