Improved behaviour of mouse-spring interactions.

Also:

- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.

PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49

doc/APIreference/functions.rst

@@ -1029,7 +1029,7 @@ mj_objectVelocity
 
 .. mujoco-include:: mj_objectVelocity
 
-Compute object 6D velocity in object-centered frame, world/local orientation.
+Compute object 6D velocity (rot:lin) in object-centered frame, world/local orientation.
 
 .. _mj_objectAcceleration:
 
@@ -1038,7 +1038,7 @@ mj_objectAcceleration
 
 .. mujoco-include:: mj_objectAcceleration
 
-Compute object 6D acceleration in object-centered frame, world/local orientation.
+Compute object 6D acceleration (rot:lin) in object-centered frame, world/local orientation.
 
 .. _mj_contactForce:
 

doc/changelog.rst

@@ -59,7 +59,7 @@ Bug fixes
    :align: right
    :width: 300px
 
-#. The ``launch_repl`` functionality in the Python viewer has been fixed.
+6. The ``launch_repl`` functionality in the Python viewer has been fixed.
 #. Set ``time`` correctly in ``mjd_transitionFD``, to support time-dependent user code.
 #. Fixed sensor data dimension validation when ``user`` type sensors are present.
 #. Fixed incorrect plugin error message when a null ``nsensordata`` callback is encountered during model compilation.

doc/includes/references.h

@@ -1641,8 +1641,9 @@ struct mjvPerturb_ {              // object selection and perturbation
   int      active2;               // secondary perturbation bitmask (mjtPertBit)
   mjtNum   refpos[3];             // reference position for selected object
   mjtNum   refquat[4];            // reference orientation for selected object
-  mjtNum   reflocalpos[3];        // reference selection point in object coordinates
+  mjtNum   refselpos[3];          // reference position for selection point
   mjtNum   localpos[3];           // selection point in object coordinates
+  mjtNum   localmass;             // spatial inertia at selection point
   mjtNum   scale;                 // relative mouse motion-to-space scaling (set by initPerturb)
 };
 typedef struct mjvPerturb_ mjvPerturb;
@@ -1973,8 +1974,7 @@ void mjv_movePerturb(const mjModel* m, const mjData* d, int action, mjtNum reldx
                      mjtNum reldy, const mjvScene* scn, mjvPerturb* pert);
 void mjv_moveModel(const mjModel* m, int action, mjtNum reldx, mjtNum reldy,
                    const mjtNum roomup[3], mjvScene* scn);
-void mjv_initPerturb(const mjModel* m, const mjData* d,
-                     const mjvScene* scn, mjvPerturb* pert);
+void mjv_initPerturb(const mjModel* m, mjData* d, const mjvScene* scn, mjvPerturb* pert);
 void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
                           int flg_paused);
 void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
@@ -2087,7 +2087,7 @@ void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
 void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
 mjtNum mju_normalize(mjtNum* res, int n);
 mjtNum mju_norm(const mjtNum* res, int n);
-mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, const int n);
+mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n);
 void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
 void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
 mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
@@ -2146,7 +2146,7 @@ mjtNum mju_sign(mjtNum x);
 int mju_round(mjtNum x);
 const char* mju_type2Str(int type);
 int mju_str2Type(const char* str);
-const char* mju_writeNumBytes(const size_t nbytes);
+const char* mju_writeNumBytes(size_t nbytes);
 const char* mju_warningText(int warning, size_t info);
 int mju_isBad(mjtNum x);
 int mju_isZero(mjtNum* vec, int n);