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Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

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PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
This commit is contained in:
Saran Tunyasuvunakool
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
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include/mjdata.h
+8 -7
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@@ -15,7 +15,8 @@
#ifndef MUJOCO_MJDATA_H_
#define MUJOCO_MJDATA_H_
#include "mjmodel.h"
#include <mjtnum.h>
#include <mjmodel.h>
//---------------------------------- primitive types (mjt) -----------------------------------------
@@ -169,19 +170,19 @@ struct mjData_ {
mjtNum* qfrc_applied; // applied generalized force (nv x 1)
mjtNum* xfrc_applied; // applied Cartesian force/torque (nbody x 6)
// mocap data
mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
// dynamics
mjtNum* qacc; // acceleration (nv x 1)
mjtNum* act_dot; // time-derivative of actuator activation (na x 1)
// mocap data
mjtNum* mocap_pos; // positions of mocap bodies (nmocap x 3)
mjtNum* mocap_quat; // orientations of mocap bodies (nmocap x 4)
// user data
mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
mjtNum* userdata; // user data, not touched by engine (nuserdata x 1)
// sensors
mjtNum* sensordata; // sensor data array (nsensordata x 1)
mjtNum* sensordata; // sensor data array (nsensordata x 1)
//-------------------------------- POSITION dependent