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Don't normalize mjData->qpos quaternions in-place.

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PiperOrigin-RevId: 647927542
Change-Id: I13b0be55498d1da3af2cdc414cfed4c3908a6fe1
This commit is contained in:
Yuval Tassa
2024-06-29 03:06:07 -07:00
committed by Copybara-Service
parent 0e19722c61
commit 4d4b0bb2c3
10 changed files with 157 additions and 22 deletions
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doc/changelog.rst
+3 -1
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@@ -12,7 +12,7 @@ General
1. Removed deprecated ``mj_makeEmptyFileVFS`` and ``mj_findFileVFS`` functions.
**Migration:** Use:ref:`mj_addBufferVFS` to copy a buffer into a VFS file directly.
**Migration:** Use :ref:`mj_addBufferVFS` to copy a buffer into a VFS file directly.
2. Calls to:ref:`mj_defaultVFS` may allocate memory inside VFS, and the corresponding
:ref:`mj_deleteVFS` must be called to deallocate any internal allocated memory.
@@ -44,6 +44,8 @@ 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.
MJX
~~~