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
- `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
The MSVC build on GH Actions doesn't detect overflows in mjData or mjModel sizes, so use a negative size instead to trigger an intentional failure in the test.
PiperOrigin-RevId: 465529615
Change-Id: Ic7f15eed782cdda11b29984b136ed4f625418cc8
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
- 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
- Never modify `d->ctrl`:
- `ctrl` values which are outside their respective `ctrlrange` are clamped internally, but `d->ctrl` itself is unmodified.
- Similarly, if `mjWARN_BADCTRL` is raised (NaNs or huge values), `ctrl` is cleared internally, but `d->ctrl` itself is unmodified.
- `mjWARN_BADCTRL` is no longer raised for `d->ctrl` values that are larger in absolute value than `mjMAXVAL`, if clamping makes them smaller than that.
- Added `mju_clip()` utility function.
- Added missing warning string for `case mjWARN_BADCTRL`.
PiperOrigin-RevId: 459025950
Change-Id: Ifbf974f9c02c3d70afdaa3114018fc81dfd746d3
- Add basic test for keyframes.
- Add missing documentation for keyframe mocap positions and quaternions.
PiperOrigin-RevId: 459021649
Change-Id: I91cf7ecbddc6262e8c72a868eeb82d627f389fb3
- Add `qH` and `qHDiagInv` to `mjData` to save factorized modified inertia.
- Add `mj_EulerSkip`, `mj_implicitSkip`, to `engine_forward.c`.
- Using the above functions, implement `mj_stepSkip` in `engine_derivative.c`.
- Add `mjd_stepFD` and `mjd_transitionFD` to `engine_derivative.c` to compute `mj_step` Jacobians.
- Exploit "Skip" functionality for speed.
- Correctly handle quaternion derivatives.
- Handle warmstarts and control limits.
PiperOrigin-RevId: 456584811
Change-Id: Iee8541f11e7b66feb8f431cb102d9bbe65461f79
- Introduced private function `mj_advance()` as single point of state & time advancement.
PiperOrigin-RevId: 456525969
Change-Id: Iae17217e305c7baf07cb5ecd1e1b84b936421097
When using MSAN, mjData->buffer is marked as poisoned, despite being initialized with zeroes.
This is useful for catching computations that accidentally use uninitialized values.
However, when using engine_print, it's OK to assume the buffer is initialized to zeros.
PiperOrigin-RevId: 456085776
Change-Id: I9d85e37fa82958eb54ac413140543a6581aa46ad
The C++ standard library `std::istringstream` is not guaranteed to parse "inf" and "nan" as valid floating point numbers. In our testing, libc++ does this, but libstdc++ and MSVCRT do not.
PiperOrigin-RevId: 455435431
Change-Id: I99c00303b08c2e4e62acfa3ca52a21a3008f4545
d8880e9a12 introduced measuring performance of a fixed batch of 50 steps, with a fixed starting state.
The Google Benchmark library has a more direct API for doing this, which ends up with nicer looking reported numbers.
PiperOrigin-RevId: 454133316
Change-Id: I368b985dc871084b9ed8c41a87016408719b53ad
Yuval Tassa