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Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
This commit is contained in:
Saran Tunyasuvunakool
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
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include/mjmodel.h
+5 -15
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@@ -15,21 +15,7 @@
#ifndef MUJOCO_MJMODEL_H_
#define MUJOCO_MJMODEL_H_
//---------------------------------- floating-point definitions ------------------------------------
// compile-time configuration options
#define mjUSEDOUBLE // single or double precision for mjtNum
// floating point data type and minval
#ifdef mjUSEDOUBLE
typedef double mjtNum;
#define mjMINVAL 1E-15 // minimum value in any denominator
#else
typedef float mjtNum;
#define mjMINVAL 1E-15f
#endif
#include <mjtnum.h>
// global constants
#define mjPI 3.14159265358979323846
@@ -48,6 +34,7 @@
#define mjNDYN 10 // number of actuator dynamics parameters
#define mjNGAIN 10 // number of actuator gain parameters
#define mjNBIAS 10 // number of actuator bias parameters
#define mjNFLUID 12 // number of fluid interaction parameters
#define mjNREF 2 // number of solver reference parameters
#define mjNIMP 5 // number of solver impedance parameters
#define mjNSOLVER 1000 // size of mjData.solver_XXX arrays
@@ -677,6 +664,7 @@ struct mjModel_ {
mjtNum* geom_friction; // friction for (slide, spin, roll) (ngeom x 3)
mjtNum* geom_margin; // detect contact if dist<margin (ngeom x 1)
mjtNum* geom_gap; // include in solver if dist<margin-gap (ngeom x 1)
mjtNum* geom_fluid; // fluid interaction parameters (ngeom x mjNFLUID)
mjtNum* geom_user; // user data (ngeom x nuser_geom)
float* geom_rgba; // rgba when material is omitted (ngeom x 4)
@@ -860,6 +848,8 @@ struct mjModel_ {
int* sensor_needstage; // required compute stage (mjtStage) (nsensor x 1)
int* sensor_objtype; // type of sensorized object (mjtObj) (nsensor x 1)
int* sensor_objid; // id of sensorized object (nsensor x 1)
int* sensor_reftype; // type of reference frame (mjtObj) (nsensor x 1)
int* sensor_refid; // id of reference frame; -1: global frame (nsensor x 1)
int* sensor_dim; // number of scalar outputs (nsensor x 1)
int* sensor_adr; // address in sensor array (nsensor x 1)
mjtNum* sensor_cutoff; // cutoff for real and positive; 0: ignore (nsensor x 1)