chenlin/Mujoco_WASM
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fcf41317710afa718b31b66ec4191f2dd5779cfa
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10 Commits

Author SHA1 Message Date
Alessio Quaglino 2d0995b47c Add visualisation groups to skins. 
PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
 2022-07-01 04:57:34 -07:00
Saran Tunyasuvunakool 0e5ce18cff Manually parse inf and nan. 
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
 2022-06-16 11:57:52 -07:00
Alessio Quaglino 69a506e6ba Use C++ strcpy_arr in xml_native_reader_test. 
PiperOrigin-RevId: 455375707
Change-Id: Ia3dbb11886ab29c4ad3192e4f78b4b60b94baad0
 2022-06-16 07:15:14 -07:00
Alessio Quaglino 307cf692e5 Add <damper> actuator shortcut and related mjGAIN_AFFINE. 
**Rationale**

A general `mjGAIN_AFFINE` actuator adds the term `force = (c + kp * length + kv * velocity) * ctrl`. The damper shortcut restricts it to `kv * velocity * ctrl` and sets the `ctrllimited` attribute to true.

**API**

```xml
<actuator>
  <damper ctrlrange="0 1" kv="1"/>
</actuator>
```

* Required attributes: `ctrlrange` (>=0)
* Optional attributes: `kv` (>=0)

PiperOrigin-RevId: 455366866
Change-Id: I88773abbeccabb6442f215c9fc05e205df63f692
 2022-06-16 06:21:17 -07:00
Alessio Quaglino e0b6ba4a13 Raise warning if there are NaNs in the XML. 
For Windows, throw an error if NaNs are present.

PiperOrigin-RevId: 455340787
Change-Id: Ibd95e2335ab15b706ee3328816983e5b57b2315e
 2022-06-16 03:09:24 -07:00
Kevin Zakka 6048a55daf Add intvelocity actuator shortcut. 
PiperOrigin-RevId: 454899823
Change-Id: I9b5494baacfab5a7d03bd680d0ded06a7790e75e
 2022-06-14 10:36:58 -07:00
Alessio Quaglino 16baac9353 Throw an error if multiple orientation specifiers are used in the same element. 
- 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
 2022-06-06 08:13:06 -07:00
Alessio Quaglino 8902c2089a Add dyntype to IncompleteActlimited test. 
The test is meant to illustrate a failure of an incomplete actrange when the rest of the line is correct.

PiperOrigin-RevId: 451895379
Change-Id: I9782fae7055c9bed87ccbc0fda18495aacb2ae8a
 2022-05-30 10:37:10 -07:00
Alessio Quaglino f3453cf87f Stricter parsing of XML array attributes. 
PiperOrigin-RevId: 451456510
Change-Id: I2556d4365762378261c04d3c9f1942166fbd156e
 2022-05-27 12:51:02 -07:00
Saran Tunyasuvunakool 1913a02b40 Initial open sourcing of MuJoCo. 
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
 2022-05-23 01:08:49 -07:00