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Improved behaviour of mouse-spring interactions.

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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
This commit is contained in:
Yuval Tassa
2023-02-20 08:39:53 -08:00
committed by Copybara-Service
parent 9756ed0d80
commit 7542c90cd2
15 changed files with 111 additions and 62 deletions
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test/engine/testdata/select.xml
Vendored
+18 -5
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@@ -1,24 +1,37 @@
<mujoco>
<visual>
<scale constraint="0.02"/>
</visual>
<worldbody>
<light pos="0 0 3"/>
<geom type="plane" size="1 1 .01"/>
<body pos="0 0 1" quat="0 0.534522 0.801784 0.267261">
<body name="non-diag inertia" pos="0 0 1" quat="0 0.534522 0.801784 0.267261">
<freejoint/>
<geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="1 0 0 1"/>
</body>
<body pos="0 0 2" quat="0 0.534522 0.801784 0.267261">
<body name="diagonal inertia" pos="0 0 2" quat="0 0.534522 0.801784 0.267261">
<freejoint/>
<geom type="box" size="0.15 0.1 0.05" rgba="0 0 1 1"/>
</body>
<body pos="-.5 -.5 .5" mocap="true" quat=".1 .2 .3 .4">
<body name="mocap body" pos="-.5 -.5 .5" mocap="true" quat=".1 .2 .3 .4">
<geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="0 .7 0 1"/>
</body>
<!-- TODO(b/266543914): Fix force perurbation on ball joints -->
<body pos=".5 -.5 .5" >
<body name="small sphere" pos="-0.4 0.4 0.2">
<freejoint/>
<geom type="sphere" size="0.01" rgba="1 1 1 1"/>
</body>
<body name="heavy sphere" pos="-0.5 0.4 0.2">
<freejoint/>
<geom type="sphere" size="0.02" rgba="1 1 1 1" mass="1000"/>
</body>
<body name="ball joint" pos=".5 -.5 .5" >
<joint type="ball" damping="10"/>
<geom type="box" size="0.1 0.1 0.1"/>
</body>