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v1.23.0 — MuJoCo linkage dynamics

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@asbis asbis released this 08 Jul 13:56
· 48 commits to master since this release
v1.23.0
f65affc

Adds physics-solved linkages to the MuJoCo backend (engine: "mujoco").

Highlights

  • Force-driven four-bar (dynamic: true on a fourBar linkage): the crank is prescribed to the driver angle while the coupler/rocker solve as real dynamic bars closed by a <connect> constraint — so the run reports the pin force at the coupler↔rocker joint (SimResult.pinForces) and the links respond to gravity/contacts.
  • Dynamic body riding a scripted kinematic parent: a dynamic body parented to a moving kinematic part now rides it while its own joint articulates (matches Rapier).

The analytic linkage path is unchanged for the kinematic/Rapier engines. See docs/mujoco-integration.md §7a. 805 tests green.

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