fixed normals in GetMultipleContacts #2
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…l have a segmentation fault before google-deepmind#1799.
PiperOrigin-RevId: 651041336 Change-Id: I59986e157b4e22c74f8b8493899cdd4a3d5df839
PiperOrigin-RevId: 651048034 Change-Id: If5b7cb55ff0007c3c6f932e62f068d1168778a33
PiperOrigin-RevId: 651069985 Change-Id: I758e27e2f4bf19bba38d9e1189a41accae40d028
PiperOrigin-RevId: 651117953 Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
PiperOrigin-RevId: 651186508 Change-Id: I844ec884b802837554b0b60f2414d6bc37f2da14
… be cached whole. PiperOrigin-RevId: 651307384 Change-Id: I92c058a900727070235d00b6d2165c29fd12e7b0
Fixes google-deepmind#1710. PiperOrigin-RevId: 651351384 Change-Id: I56e3204b30bb18f48278117e85e90464177da973
PiperOrigin-RevId: 651358120 Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
PiperOrigin-RevId: 651696068 Change-Id: Ie1e2e1de4e83c42f2b5ebcc3afd0540b9afe7bbd
…Co user code. PiperOrigin-RevId: 651716008 Change-Id: I250b8cec32aab538f5862f8a05f42d1fae698307
PiperOrigin-RevId: 651728817 Change-Id: Ib607d528c25a10e2cdb8c2b0b0da2189683d2691
The function was interpreting that the elements that were expected to be detached contained useful user errors, and therefore it was not detaching them. Also, the function tried to compare the namespace between two models, but the namespace is already fused in the references at detach time. PiperOrigin-RevId: 651738364 Change-Id: Ifdaa9bd5b658bfd18b544b7138a5c2c56b66e936
…ordered_map. PiperOrigin-RevId: 651745837 Change-Id: Ibfcbe4b8cefa53a3dbaa99c4ca68442e2e10bc5d
The memory leak test fails with `RAW: mmap error: 12` when dynamic
linking is enabled. This is probabably because
of the additional memory overhead dynamic linking incurs. Raising it slightly
appears to satisfy the test.
Tested:
TAP --sample ran all affected tests and none failed
http://test/OCL:650692833:BASE:650634362:1720548680801:c55c6a68
PiperOrigin-RevId: 651750900
Change-Id: Ia63d153b326ff7451391789e2d7cae50a62be723
PiperOrigin-RevId: 651780148 Change-Id: I476c79af4b47bf763f1f3cb166d3f0897554a207
The bug was caused by the fact that the `mjs_as*` functions would return a pointer to a `mjC*` object, even if the input `mjsElement` pointer was null. This would cause a segfault. PiperOrigin-RevId: 651802736 Change-Id: Ibec00d269a4befadff8a68e0513fd381c7e38a2a
PiperOrigin-RevId: 651827545 Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
PiperOrigin-RevId: 652064694 Change-Id: I13009410fbd3ce5ac90788f61e32354474a8e19e
PiperOrigin-RevId: 652237833 Change-Id: Ia90fadccba39881748a7ead15db3285e00feb08f
Note that these internal pointers are inherited from the public structs and are unused internally. PiperOrigin-RevId: 652414750 Change-Id: I5e42503bce8e9019291ec0a1f8c4278438474e9b
PiperOrigin-RevId: 652444674 Change-Id: I3e82b1e1ae029f2f01ddcdf5ce2ccb45624e7062
PiperOrigin-RevId: 652456322 Change-Id: Ib1d7aa387b7ba8957c93f0227f530aa0b37f2668
PiperOrigin-RevId: 652555501 Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
PiperOrigin-RevId: 652578624 Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
PiperOrigin-RevId: 652594852 Change-Id: I69be392fb212263ac55b3cc25fd454c39cbd4553
PiperOrigin-RevId: 652830666 Change-Id: Iba41871a4e92081dde6428f12abe93c58ea9b02a
Addresses CVE-2024-6345. PiperOrigin-RevId: 652857861 Change-Id: Iea5f6cb58b825b226ba61d259775ddbee05acd6d
PiperOrigin-RevId: 653124909 Change-Id: I4d031eb0bfb0070f8493753d2aeaac60ac283b85
…-dof-axes PiperOrigin-RevId: 653173396 Change-Id: Iedd13dc23ccdd370ba0237bbe278d3bde755bb84
…sites in MJX. PiperOrigin-RevId: 671225109 Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc
…ostConstraint and computes cacc, cfrc_ext, and cfrc_int. PiperOrigin-RevId: 671336319 Change-Id: I263b46c56a7609b9a8a30895c012798579d3dffa
PiperOrigin-RevId: 671347528 Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
PiperOrigin-RevId: 671355424 Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
PiperOrigin-RevId: 671740643 Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
PiperOrigin-RevId: 671759410 Change-Id: I4f92d8b60a64d89016af4c717beddf8b4b844996
PiperOrigin-RevId: 671815757 Change-Id: I8a08385b63401c743253545d89389ab8aaac91bc
PiperOrigin-RevId: 672326091 Change-Id: Iddec335272461c9aee13c1960640a453ff59f841
PiperOrigin-RevId: 672334991 Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
This functionality is replaced by FlexComp. PiperOrigin-RevId: 672503965 Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
added comments in gjk.epa.cuh and parameters in .py
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