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1fcff13dfdc70519c4d33e17ade4be6afb2960a2 by Alexis <cuatroalejandro@gmail.com>:
add multipleBodies test for mj_loadXML
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34270fa57946e68a82fa55313b64a5a56e5aa080 by Alexis <cuatroalejandro@gmail.com>:
add some space
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3594020eb9be57cb6a2eef0baeca97cee8f25aab by Alexis <cuatroalejandro@gmail.com>:
remove TODO comment in xml_api_test
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1487 from alefram:alexis-test 3594020eb9be57cb6a2eef0baeca97cee8f25aab
PiperOrigin-RevId: 615033458
Change-Id: I05fe5659b07b3226b82d2562e31bcd73f150b089
*** Reason for rollback ***
breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's
*** Original change description ***
Move fullinertia from mjCAlternative to mjCBody.
***
PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
Before this change:
- User-modified values of `mjModel.stat.{meanmass, meaninertia}` would not be saved to XML.
- Non-user-modified values of `mjModel.stat.{meansize, extent, center}` would always get saved to XML.
After this change values are saved to XML only if provided by the user, either in the XML or by changing values in `mjModel` before saving.
PiperOrigin-RevId: 589473351
Change-Id: I4dcf4892ef61c35edf424226e731232d861bad8d
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.
- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.
https://youtu.be/H9qG9Zf2W44Fixes#1092.
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
Also add asan instrumentation to detect stack frame leakages (i.e. `mj_markStack` without a corresponding `mj_freeStack` in the same caller function).
PiperOrigin-RevId: 562625645
Change-Id: I4e3ff66ca0b9d08ed0a95cef45393db8e3053e22
Moving forward, the compiler objects should have encapsulated data, therefore the old ReadAttr* methods are being deprecated as they require raw pointers to read into.
No external changes other than minor improvements to ReadAttr and ReadVector.
PiperOrigin-RevId: 550880401
Change-Id: I632f40322ccd935f9af9b69e66b056c5cda6face
The rationale is the same as in 0d0a41d549. XMLWriterLocaleTest still sporadically fails with a stack buffer overflow error when built with MSVC 2019 prior to this change.
PiperOrigin-RevId: 534035241
Change-Id: I1c50457e386724021b8d97ab1fb9cc2ece795292
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.
PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
actdim has a default value of -1 (==unset), which means it currently gets saved for all actuators. After this change, it will only be saved if the value is > 1, errors are thrown for stateful actuators with actdim=0 and stateless actuators with actdim>0.
PiperOrigin-RevId: 520627313
Change-Id: Ia498dae5c7314cfaa0995f8077d297c2339a5c35
Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.
PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
Alexis Fraudita