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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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introspect/structs.py
+3 -3
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@@ -4493,7 +4493,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based motion axis of each dof (nv x 6)', # pylint: disable=line-too-long
doc='com-based motion axis of each dof (rot:lin) (nv x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cinert',
@@ -4703,14 +4703,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='com-based velocity [3D rot; 3D tran] (nbody x 6)', # pylint: disable=line-too-long
doc='com-based velocity (rot:lin) (nbody x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='cdof_dot',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='time-derivative of cdof (nv x 6)', # pylint: disable=line-too-long
doc='time-derivative of cdof (rot:lin) (nv x 6)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='qfrc_bias',