Add user_init for setting default parameters.

PiperOrigin-RevId: 604942840 Change-Id: I746ac7bb28f508b606bc0b8544136f523ce50d4c
2024-02-07 04:41:39 -08:00
parent a3e49d582e
commit 8b17d260a3
4 changed files with 70 additions and 36 deletions
@@ -0,0 +1,54 @@
+// Copyright 2024 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstring>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "user/user_api.h"
+#include "user/user_util.h"
+
+
+// Default body parameters
+void mjm_defaultBody(mjmBody& body) {
+  memset(&body, 0, sizeof(mjmBody));
+
+  // set non-zero defaults
+  body.fullinertia[0] = mjNAN;
+  body.explicitinertial = (mjtByte)false;
+  body.mocap = (mjtByte)false;
+  body.quat[0] = 1;
+  body.iquat[0] = 1;
+  body.pos[0] = mjNAN;
+  body.ipos[0] = mjNAN;
+  body.alt.axisangle[0] = body.alt.xyaxes[0] = body.alt.zaxis[0] = body.alt.euler[0] = mjNAN;
+  body.ialt.axisangle[0] = body.ialt.xyaxes[0] = body.ialt.zaxis[0] = body.ialt.euler[0] = mjNAN;
+  body.plugin.active = false;
+  body.plugin.instance = nullptr;
+}
+
+
+
+// Default site parameters
+void mjm_defaultSite(mjmSite& site) {
+  memset(&site, 0, sizeof(mjmSite));
+
+  // set non-zero defaults
+  site.type = mjGEOM_SPHERE;
+  site.quat[0] = 1;
+  site.size[0] = site.size[1] = site.size[2] = 0.005;
+  site.fromto[0] = mjNAN;
+  site.alt.axisangle[0] = site.alt.xyaxes[0] = site.alt.zaxis[0] = site.alt.euler[0] = mjNAN;
+  site.rgba[0] = site.rgba[1] = site.rgba[2] = 0.5f;
+  site.rgba[3] = 1.0f;
+}