This lets the compiler catch the mistake of creating an exception without throwing it.
PiperOrigin-RevId: 474536776
Change-Id: I5bd18258ce6ddd266adb1c852b1ba9e3063cd0b2
This is an amendment to 4bfc2c0311.
Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.
PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90
- Added `refsite` attribute to actuators with `site` transmission.
- Such actuators now have a well defined length and can be used for e.g., Cartesian end-effector control.
- Added example models and documentation describing the new feature.
PiperOrigin-RevId: 471561218
Change-Id: I538f09af9600d5c53992c4a9fed325648aab4fa3
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.
PiperOrigin-RevId: 470021901
Change-Id: I3faba0e5dcab2e29ee81096f5ff71ff66d99758c
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.
PiperOrigin-RevId: 469228149
Change-Id: I836b0791f10fb624607a12ef3c687da991c21789
- `anchor` determines the point of wrench application, in the frame of body2.
- `tfratio` scales applied torques relative to applied forces.
- Add visualisation of both anchor points to both weld and connect constraints.
- Add a test model showing how the new weld parameters behave.
PiperOrigin-RevId: 469190483
Change-Id: I20f6da85b09cd2c4c0b5d29eb8003eabb524e55e
* If output file exists, ask user whether to overwrite
* Fix erroneous check for whether XML file was successfully saved
PiperOrigin-RevId: 468743682
Change-Id: I06058c498328d333792e4b40d65c3a99ca1842e4
- `distance` constraints were not very useful and increased the contact buffer within the constraint solver, violating a core design principle. Therefore they have been removed.
- The enum value `mjEQ_DISTANCE` is retained, but errors will be thrown in the parser and engine if these constraints are selected.
PiperOrigin-RevId: 467050101
Change-Id: Ie72a07e4fe338eea5107004a9fc0f5e47eb0c3b7
This is a very subtle leak caused interaction between longjmp and compiler optimisation. Specifically, at the point where the setjmp takes places, these pointers have never been reassigned from its nullptr initialization. Without the volatile keyword, the compiler is free to assume that these pointers remain nullptr when the setjmp returns, and therefore to pass nullptr directly to the mj_deleteModel and mj_deleteData calls in the subsequent catch block, without ever reading the actual pointer values.
PiperOrigin-RevId: 466649447
Change-Id: I51e82ec8b566deb144221e11a99d5124a8267de4
The memory handling in the asset loading logic in user_mesh.cc is currently flipped: it frees the asset content buffer when reading from VFS but not from the filesystem. This causes the VFS object to leave these functions in an invalid state, while leaking locally allocated buffers that hold contents read from the filesystem.
PiperOrigin-RevId: 466643390
Change-Id: I162221e019861f23fb61308facd63dbb0422e113
Currently, if these functions fail to allocate space for the buffer or stack, it will exit without freeing any of the memory successfully allocated so far.
PiperOrigin-RevId: 466271030
Change-Id: Id01c115ec976482ac5d28c373b5eb47d77f424be
- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
Explicitly check that nmocap won't cause overflow when multiplied by 4, to give a nicer error message.
PiperOrigin-RevId: 465380712
Change-Id: I217e3759d55e9761b47db5efd892b8bc811ea8ae
While creating an mjData, any error triggers mj_deleteData. If buffer or stack is not NULL at that point, an uninitialized pointer will be freed.
PiperOrigin-RevId: 465378329
Change-Id: I9be0eef0648e05e3e5f1361da346a5046485cde7
nbody is already checked to be non-negative, but various pieces of code assume it's nonzero (because there's always a world body).
PiperOrigin-RevId: 465339241
Change-Id: I38ce3764074d03bf9a703aa490964c1eb83cc1da
- Adhesion actuators using contact normals as force transmission mechanism.
- Related video: https://youtu.be/HdBue4MUZysCloses#229
PiperOrigin-RevId: 464389367
Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes.
- To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future.
- Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported.
PiperOrigin-RevId: 464368395
Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
Saran Tunyasuvunakool