chenlin/Mujoco_WASM
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f3453cf87f09773ea25d322df7c5a276d71820d7
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5 Commits

Author SHA1 Message Date
Alessio Quaglino 4973f0d7f8 Loop over all XML files in model/ and test/ subfolders when running xml load-save-load-compare test. XMLs referencing file assets are currently skipped. 
PiperOrigin-RevId: 450923388
Change-Id: I79c594fb4c4e065d67736f06d515abaa0dd763a4
 2022-05-25 07:56:37 -07:00
Alessio Quaglino 223874c4ca Correctly handle the case of explicit zero mass in xml_native_writer. 
PiperOrigin-RevId: 450901455
Change-Id: I77aaf2a214ac05ed1ed1e6ffe473bf98f2fea8ef
 2022-05-25 05:29:25 -07:00
Alessio Quaglino 43e3b3a3f9 If <composite flatinertia="true">, set mjCBody.explicit_inertial so that an <inertial> element is added in mj_saveLastXML. Bug found by the WriteReadCompare test. 
PiperOrigin-RevId: 450702639
Change-Id: I978dfb6713d68ce8327f2e8eea1fc31f43a38b5e
 2022-05-24 09:38:53 -07:00
Alessio Quaglino 20cc535ba6 xml_native_writer saves geom mass or density, if specified. 
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
 2022-05-24 06:33:24 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00