Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
This allows plugins to call mju_warning, and have the string propagate to users.
PiperOrigin-RevId: 650621601
Change-Id: I608e7a3a1ad126ab8da2ff0634fa708458fb9ccc
- Preparation for a float32 build of MuJoCo.
- Fix use of `float`-typed `fabs` in `mju_eig3`.
PiperOrigin-RevId: 643804942
Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
In case a query outside is performed, add SDF gradient computation using finite differences.
For SDFs generated from meshes, when the query point lies outside of the bounding box, the gradient provided by SdfLib ignores the SDF and is equivalent to the gradient of the distance from the bounding box, causing local minima in the contact point optimization. This CL increased the size of the bounding boxes and replaces the SdfLib gradient with a finite difference approximation of the gradient if a point lies outside it.
PiperOrigin-RevId: 597839637
Change-Id: I79dfddbe25288eca7eb235db51781fc2bb2c3c5f
The line continuation format that was used is not supported on GitHub.
PiperOrigin-RevId: 590141362
Change-Id: I0ab0dabfb8977bdf79682476376dda435787eba0
SdfLib returns the sum of the distance from a given point to the bounding box and a saved minimum distance from the surface over the whole box boundary. This underestimates the true distance and can cause spurious contacts and jittering. This CL performs a box projection of points outside the bounding box and adds the distance of the original point from the box to the distance of the projected point to the surface. This overestimates the true distance and avoids spurious collisions.
PiperOrigin-RevId: 586701933
Change-Id: I22eecb9757fa22359440156ef6433135648fa3ff
The plugin was storing a boolean to indicate whether the previous ctrl value was set in `act`. Use d->time == 0 instead.
PiperOrigin-RevId: 585692686
Change-Id: I95335cebdb5716bd6fad81f463a4f248406c80ec
Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.
This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.
PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
Change physical properties of `floppy_flex.xml` to resemble `floppy.xml`.
Make `Membrane` backward compatible with `Composite`.
PiperOrigin-RevId: 577190384
Change-Id: I5bc56ec62faa134156e839bec45d685c22eba5c4
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges
PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
- Removed the explicit dependency on a plugin name.
- Creation of particles from user-defined vertices (if a plugin is present).
- Add skin support for an irregular mesh
- Fixes#642 and #674.
PiperOrigin-RevId: 561313771
Change-Id: I450f91f0d3b578cc18d97ed7180a0a8944b7dd41
Alessio Quaglino