Somehow tests load these libs twice, and construct/destruct globals twice.
Can be preproduced even without sanitizers with logging from GlobalModel::~GlobalModel.
themodel does not need to be visible. If it's static each instance will have own a copy.
_mjMap does not need to use string and avoid lifecycle issues at all.
PiperOrigin-RevId: 454678814
Change-Id: I8fca5e1f06cbc2b413beabcece1219445482c0ed
Using fabs with int arguments broke the clang build on GitHub Actions, with a `-Wabsolute-value` error.
PiperOrigin-RevId: 453872474
Change-Id: I5c1278e9e628b0ea3d6f26c7ee7d6925c6276850
- Applies to [orientation specifiers](https://mujoco.readthedocs.io/en/latest/modeling.html#frame-orientations) in `body`, `inertial`, `geom`, `site`, `camera`.
- Before this change the check was done only for multiple *alternative* specifiers, but not for `quat` and an alternative specifier.
- Moved the check from the compiler to the parser.
- Added tests.
PiperOrigin-RevId: 453201981
Change-Id: I20907361f211dae904e734cd083e9df0efe4f654
Fixes a bug introduced in CL/432455486, which stopped saving explicit inertias if they were inferred from geoms. But if we don't save inertias then we need to save mass/density specifiers.
BEGIN_PUBLIC
xml_native_writer saves geom mass or density, if specified.
END_PUBLIC
PiperOrigin-RevId: 450667775
Change-Id: Ibb5b269b58f1143013091729642bb501243ed943
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
- Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
- Damping and fluid-drag passive forces.
- Actuation forces.
A new implicit-in-velocity integrator is implemented using the analytic derivatives. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost.
PiperOrigin-RevId: 450377010
Change-Id: Ie192b441876c22e732fb749333926f296e0a09cc
Alessio Quaglino