Current users only get a cryptic "Illegal instruction" crash.
Context: https://github.com/deepmind/mujoco/issues/611
PiperOrigin-RevId: 491705647
Change-Id: I1285897a36e858300ee3d125957e90754be9a7f7
- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.
PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
If given two non-decreasing values, `springlength` specifies a deadband for spring stiffness, inside of which the force is 0 and outside of which force behaves like a regular spring, with the setpoint corresponding to the nearest value. This can be used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See test/engine/testdata/tendon_springlength.xml example model.
Spring-limited spatial tendons whose lower range value is 0 are rendered as catenaries.
Fixes#520.
PiperOrigin-RevId: 484509706
Change-Id: I6698e94ee36168f52d501e83057559805e05172d
- 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
- 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
Since fdbbc8bbe0, mju_mulQuat allows in-place computations.
There were a few places where the result was unnecessarily assigned to a temporary variable.
PiperOrigin-RevId: 477746005
Change-Id: I7351ef4796e7d70a4a54b930037bfaadee781f12
- 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
- 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
Currently, if these functions fail to allocate space for the buffer or stack, it will exit without freeing any of the memory successfully allocated so far.
PiperOrigin-RevId: 466271030
Change-Id: Id01c115ec976482ac5d28c373b5eb47d77f424be
- Add `azimuth` and `elevation` to `visual.global`.
- Add `mjv_defaultFreeCamera`.
- Use `mjv_defaultFreeCamera` in `simulate`.
PiperOrigin-RevId: 465505244
Change-Id: I61e60f14a990d4e2d220958adb75c325001978ee
Saran Tunyasuvunakool