diff --git a/doc/APIreference.rst b/doc/APIreference.rst index 1e4c4377..82731720 100644 --- a/doc/APIreference.rst +++ b/doc/APIreference.rst @@ -6599,10 +6599,10 @@ mju_str2Type Convert type name to type id (mjtObj). -.. _mju_warningText: +.. _mju_writeNumBytes: mju_writeNumBytes -~~~~~~~~~~~~~~~ +~~~~~~~~~~~~~~~~~ .. code-block:: C diff --git a/doc/changelog.rst b/doc/changelog.rst index 0ef9fb0c..1c05a6ec 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -30,7 +30,7 @@ General - Added :at:`gravcomp` attribute to :ref:`body`, implementing gravity compensation and bouyancy. See `balloons.xml `_ example model. - Renamed the ``cable`` plugin library to ``elasticity``. -- Added :ref:`actdim` attribute to :ref:`general actuators`. Values greater than 1 are only allowed +- Added :at:`actdim` attribute to :ref:`general actuators`. Values greater than 1 are only allowed for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order activation dynamics to `engine_forward_test.cc `_. diff --git a/doc/computation.rst b/doc/computation.rst index 5249f1f6..998fe010 100644 --- a/doc/computation.rst +++ b/doc/computation.rst @@ -575,7 +575,8 @@ Physics state User inputs ^^^^^^^^^^^ -These input fields are set by the user and affect the physics simulation, but are untouched by the simulator. +These input fields are set by the user and affect the physics simulation, but are untouched by the simulator. All input +fields except for MoCap poses default to 0. Controls: ``ctrl`` Controls are defined by the :ref:`actuator` section of the XML. ``mjData.ctrl`` values either produce @@ -592,7 +593,8 @@ These input fields are set by the user and affect the physics simulation, but ar MoCap poses: ``mocap_pos`` and ``mocap_quat`` ``mjData.mocap_pos`` and ``mjData.mocap_quat`` are special optional kinematic states :ref:`described here`, which allow the user to set the positions and orientations of static bodies in real-time, for example when streaming - 6D poses from a motion-capture device. + 6D poses from a motion-capture device. The default values set by :ref:`mj_resetData` are the poses of the bodies at + the default configuration. User data: ``userdata`` ``mjData.userdata`` acts as a user-defined memory space untouched by the engine. For example it can be used by @@ -622,6 +624,9 @@ Integration state The *integration state* is the union of all the above ``mjData`` fields and constitutes the entire set of inputs to the *forward dynamics*. In the case of *inverse dynamics*, ``mjData.qacc`` is also treated as an input variable. All other ``mjData`` fields are functions of the integration state. +|br| When saving the integration state in order to reload it elsewhere, it is sensible to avoid saving unused fields +that always remain in their default values. Specifically, ``xfrc_applied`` can be quite large (``6 x nbody``) yet is +often unused. .. _geSimulationState: