- `gain` was not inherited, either from `<adhesion gain>` default or from `<general gainprm>` default.
- `dyntype` was not inherited from `<general dyntype>` default.
- Reported by @vaxenburg.
PiperOrigin-RevId: 480707156
Change-Id: I0160531d48186e7658952e72923ceb6cb034be9b
- Added new `cable` composite type:
* The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
* The boundary bodies are exposed with the names:`B_left` and `B_right`.
* The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
* The orientation of the body frame **is** the orientation of the material frame of the curve.
- Added new `cable` passive force plugin:
* Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
* The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
* New cable example showing the formation of plectoneme.
* New coil example.
* New belt example showing interaction between twist and anisotropy.
* Added test using cantilever exact solution.
PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
These were inadvertently renamed to XMLReaderTest by an overzealous auto-renamer in 58fd72f53d.
PiperOrigin-RevId: 479520906
Change-Id: Ia50ec659f21a92cbcd4b953cde54dd98f0adb67a
- Add private function `mj_arenaAlloc`. This is used internally to allocate memory from the arena.
- Add private function `mj_nefc` to count constraints. This function returns a tight upper bound on `d->nefc`. The number of counted constraints can be slightly bigger than exact `d->nefc` in the case of constraints with empty Jacobian, as when placing a frictional tendon between two world sites.
- Add new `memory` attribute to the `size` XML element for specification of arena memory size. This attribute is mutually exclusive with `nstack` and `njmax` specifications, which are now deprecated (but left around for the time being for legacy compatibility).
- Move `d->stack` to the end of the new arena space. The stack now grows in reverse from the end.
PiperOrigin-RevId: 479341539
Change-Id: Ie019c202e0908577ffc6f833a37920858116f667
- Before this change, an asymmetric Hessian would lead to solver failure. After this change the Hessian is symmetric by definition (upper triangle is ignored).
- API documentation was updated to reflect this contract.
PiperOrigin-RevId: 477135411
Change-Id: I60d011d36853afebac26c359771c217baf101360
- Adhesion actuator defaults were not parsed, now fixed.
- Both damper and adhesion actuators were requiring `ctrlrange` at parse time, which prevented this attribute from being inherited from defaults, now fixed.
- Added tests for all 3 cases.
PiperOrigin-RevId: 475145255
Change-Id: I8dd6196e20734136d990f522893ebd4d156cd7a8
The use of __attribute__((constructor)) made the previous commit fail to build in MSVC.
PiperOrigin-RevId: 474891117
Change-Id: I86a71bb8f3226ee49a8b5e8c07adc613623042b3
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
Yuval Tassa