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Use the string (rot:lin) in mjdata.h to clarify where 6D motion vectors use the Featherstone convention. Also add clarifying text to the appropriate note in the documentation.

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Fixes #982.

PiperOrigin-RevId: 589556339
Change-Id: I3e7ff185a089715a386694321d4b89d09d481cf9
This commit is contained in:
Yuval Tassa
2023-12-10 03:26:49 -08:00
committed by Copybara-Service
parent b22919543d
commit 1885d518eb
4 changed files with 12 additions and 12 deletions
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doc/APIreference/APItypes.rst
+3 -3
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@@ -1219,9 +1219,9 @@ a frame at the center-of-mass of the local kinematic subtree (``mjData.subtree_c
This choice increases the precision of kinematic computations for mechanisms that are distant from the global origin.
``cdof``:
These 6D motion vectors describe the instantaneous axis of a degree-of-freedom and are used by all Jacobian functions.
Therefore, the minimal computation required for analytic Jacobians is :ref:`mj_kinematics` followed by
:ref:`mj_comPos`.
These 6D motion vectors (3 rotation, 3 translation) describe the instantaneous axis of a degree-of-freedom and are
used by all Jacobian functions. The minimal computation required for analytic Jacobians is :ref:`mj_kinematics`
followed by :ref:`mj_comPos`.
``cinert``:
These 10-vectors describe the inertial properties of a body in the c-frame and are used by the Composite Rigid Body