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Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat}

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Fixes #409

PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
This commit is contained in:
Matthew Bennice
2023-09-10 15:25:17 -07:00
committed by Copybara-Service
parent a07e172770
commit 0ba10cc4f0
12 changed files with 124 additions and 13 deletions
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doc/changelog.rst
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@@ -64,17 +64,17 @@ General
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
12. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning.
13. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store normalizing transformation.
Python bindings
^^^^^^^^^^^^^^^
13. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
14. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Bug fixes
^^^^^^^^^
14. Fixed a bug that was causing the geom margins to be ignored during the midphase.
15. Fixed a bug that was causing the geom margins to be ignored during the midphase.
Version 2.3.7 (July 20, 2023)