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Mujoco_WASM/src/engine
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Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
2023-10-31 16:24:38 -07:00
..
CMakeLists.txt
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -07:00
engine_array_safety.h
Use C++ strcpy_arr in xml_native_reader_test.
2022-06-16 07:15:14 -07:00
engine_callback.c
Add spaces around comparison operators in engine source files.
2023-05-28 05:02:34 -07:00
engine_callback.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_collision_box.c
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_convex.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_collision_convex.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_driver.c
Initialize contact frame in planeVertex contact.
2023-10-18 02:56:14 -07:00
engine_collision_driver.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_primitive.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_collision_primitive.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_collision_sdf.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_collision_sdf.h
Add Signed Distance Field to collision geometries.
2023-08-16 09:15:23 -07:00
engine_core_constraint.c
Fix bug in implementation of torquescale
2023-10-28 08:25:25 -07:00
engine_core_constraint.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_core_smooth.c
Skip flex edge Jacobian if not needed.
2023-10-23 10:02:00 -07:00
engine_core_smooth.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_crossplatform.cc
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -07:00
engine_crossplatform.h
Make asan instrumentation in mj_(mark|free)Stack cheaper.
2023-09-12 06:06:04 -07:00
engine_derivative_fd.c
Delete derivative code sample.
2023-10-14 08:38:37 -07:00
engine_derivative_fd.h
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
2023-04-28 09:04:41 -07:00
engine_derivative.c
Fix flex constraint Jacobian for edges belonging to a single body.
2023-10-20 02:49:34 -07:00
engine_derivative.h
Add mjd_quatIntegrate, expose mjd_subQuat.
2023-07-07 05:33:24 -07:00
engine_forward.c
Runtime disabling of actuators according to group.
2023-10-31 16:24:38 -07:00
engine_forward.h
Fix typo in mujoco.h
2023-01-09 04:04:25 -08:00
engine_inverse.c
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_inverse.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_io.c
Runtime disabling of actuators according to group.
2023-10-31 16:24:38 -07:00
engine_io.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_island.c
Disable island discovery for models with flexes.
2023-10-17 13:17:24 -07:00
engine_island.h
Remove mjMARKSTACK and mjFREESTACK macros.
2023-09-05 11:41:43 -07:00
engine_macro.h
Improvements to timing.
2023-10-09 11:14:44 -07:00
engine_passive.c
Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.
2023-10-25 05:01:45 -07:00
engine_passive.h
Break out passive force functions into a new file engine_passive.c
2023-03-03 08:32:16 -08:00
engine_plugin.cc
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_plugin.h
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_print.c
Add components of qfrc_passive to mjData: qfrc_{spring, damper, gravcomp, fluid}.
2023-10-25 05:01:45 -07:00
engine_print.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_ray.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_ray.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_resource.c
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_resource.h
Refactor VFS logic out of ResourceProvider plugin code.
2023-08-30 04:47:24 -07:00
engine_sensor.c
Fix flex constraint Jacobian for edges belonging to a single body.
2023-10-20 02:49:34 -07:00
engine_sensor.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_setconst.c
Fix flex constraint Jacobian for edges belonging to a single body.
2023-10-20 02:49:34 -07:00
engine_setconst.h
Initial open sourcing of MuJoCo.
2022-05-23 01:08:49 -07:00
engine_solver.c
Fix potential out-of-range write in solver statistics saving.
2023-09-28 00:58:13 -07:00
engine_solver.h
Add island support to CG solver.
2023-09-15 05:47:24 -07:00
engine_support.c
Runtime disabling of actuators according to group.
2023-10-31 16:24:38 -07:00
engine_support.h
Runtime disabling of actuators according to group.
2023-10-31 16:24:38 -07:00
engine_util_blas.c
PUBLIC: In mju_normalize4, don't normalize if norm is less than mjMINVAL away from 1.
2023-09-11 11:09:53 -07:00
engine_util_blas.h
Fix typo.
2023-08-28 10:29:48 -07:00
engine_util_container.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_util_container.h
Handle initial_capacity = 0 in mju_arrayListCreate.
2023-08-22 04:04:02 -07:00
engine_util_errmem.c
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
2023-09-05 11:05:04 -07:00
engine_util_errmem.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_misc.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_util_misc.h
Add maxuse_threadstack to mjData
2023-09-21 09:41:00 -07:00
engine_util_solve.c
Stricter swapping condition in mju_eig3.
2023-10-08 04:04:34 -07:00
engine_util_solve.h
Fix mju_eig3 declarations.
2023-10-06 04:10:44 -07:00
engine_util_sparse_avx.h
Allow dot products with sparse vectors to specify that one vector uses uncompressed memory.
2023-09-01 07:40:16 -07:00
engine_util_sparse.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_util_sparse.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_util_spatial.c
Improve mju_cross implementation.
2023-07-11 12:35:02 -07:00
engine_util_spatial.h
Fix comment typos.
2023-03-06 06:37:42 -08:00
engine_vfs.c
Add modified callback to resource providers (for caching purposes).
2023-08-30 06:53:20 -07:00
engine_vfs.h
Refactor VFS logic out of ResourceProvider plugin code.
2023-08-30 04:47:24 -07:00
engine_vis_init.c
Change keyboard shortcut key to visualize equality constraints from N to E. Delete the keyboard shortcut of the Selection Point.
2023-10-30 02:42:26 -07:00
engine_vis_init.h
Add optional azimuth and elevation to initial free camera.
2022-08-05 01:04:02 -07:00
engine_vis_interact.c
Add spaces around comparison operators.
2023-10-15 07:40:10 -07:00
engine_vis_interact.h
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_state.c
Add Flex component.
2023-10-12 10:49:35 +01:00
engine_vis_state.h
Pass mjvOption to plugin visualize callback.
2023-04-21 08:44:20 -07:00
engine_vis_visualize.c
Runtime disabling of actuators according to group.
2023-10-31 16:24:38 -07:00
engine_vis_visualize.h
Add Flex component.
2023-10-12 10:49:35 +01:00