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Don't normalize mocap quaternions in-place.

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PiperOrigin-RevId: 648394295
Change-Id: I348a0a045c1697f6ef782280d92c90a30759eb33
This commit is contained in:
Yuval Tassa
2024-07-01 09:29:02 -07:00
committed by Copybara-Service
parent c5cefdc2f6
commit 0c3698f278
3 changed files with 48 additions and 12 deletions
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doc/changelog.rst
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@@ -44,8 +44,9 @@ General
point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
Relatedly, fixed various type errors that prevented building with single-precision.
10. Quaternions in ``mjData->qpos`` are no longer normalized in-place by :ref:`mj_kinematics`. Instead they are
normalized when they are used. After the first step, quaternions will be normalized.
10. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
:ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
``mjData->qpos`` will be normalized.
MJX
~~~