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Add engine settings to mjmModel.

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PiperOrigin-RevId: 608915453
Change-Id: Ic58566d7a9cdb57e25954caec69f595c8c9ee88a
This commit is contained in:
Alessio Quaglino
2024-02-21 02:24:53 -08:00
committed by Copybara-Service
parent a4a621f6e3
commit 7edacd39cd
8 changed files with 70 additions and 56 deletions
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src/user/user_init.cc
+18
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@@ -53,6 +53,24 @@ void mjm_defaultModel(mjmModel& model) {
model.inertiagrouprange[1] = mjNGROUP-1;
model.exactmeshinertia = false;
mj_defaultLROpt(&model.LRopt);
// engine data
mj_defaultOption(&model.option);
mj_defaultVisual(&model.visual);
model.memory = -1;
model.nemax = 0;
model.njmax = -1;
model.nconmax = -1;
model.nstack = -1;
model.nuserdata = 0;
model.nuser_body = -1;
model.nuser_jnt = -1;
model.nuser_geom = -1;
model.nuser_site = -1;
model.nuser_cam = -1;
model.nuser_tendon = -1;
model.nuser_actuator = -1;
model.nuser_sensor = -1;
}