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Recompute sameframe flags in mj_setConst.

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The `body_sameframe`, `geom_sameframe`, and `site_sameframe` flags are now recomputed within `mj_setConst` based on the current model geometry. This allows these flags to be updated if the model's body/geom/site frames are modified after the initial compilation. Tests are added to verify the correct recomputation and its effect on forward kinematics. The compiler also checks that its initial computation matches the result of `mj_setConst`.

Fixes #3029, #1628.

PiperOrigin-RevId: 941758649
Change-Id: I7b995f8c67ad305bca5b52732436ba578c905d73
This commit is contained in:
Yuval Tassa
2026-07-02 10:48:21 -07:00
committed by Copybara-Service
parent 0dfa4b509a
commit 14c0b0c92b
3 changed files with 258 additions and 0 deletions
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doc/changelog.rst
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@@ -10,6 +10,8 @@ General
- Added Nesterov momentum extrapolation with adaptive gradient restart (O'Donoghue-Candès) to the PGS solver,
significantly improving convergence. Overall PGS now requires ~2x fewer iterations.
- :ref:`mj_encode` now supports encoding of MJB and TXT files.
- :ref:`mj_setConst` now recomputes the ``mjModel.{body,geom,site}_sameframe`` flags, to account for changes in
body/geom/site frames after compilation.
- The :el:`attach` element now supports self-attachment (attaching elements of the current model to itself) by omitting
the :at:`model` attribute. It also supports attaching a frame via the new :at:`frame` attribute, which is mutually
exclusive with :at:`body`.