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Add mju_mat2Rot.

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This function extracts the 3D rotation from an arbitrary 3x3 matrix by refining the input quaternion. It is based on the paper "A robust method to extract the rotational part of deformations" by Müller, Matthias, Jan Bender, Nuttapong Chentanez, and Miles Macklin.

PiperOrigin-RevId: 700006006
Change-Id: I77550993233dea9cdf68601762a3ae7ded749bdf
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Alessio Quaglino
2024-11-25 09:17:26 -08:00
committed by Copybara-Service
parent e9a2f055f0
commit 7e46e21ef3
9 changed files with 151 additions and 0 deletions
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python/mujoco/functions.cc
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@@ -1069,6 +1069,7 @@ PYBIND11_MODULE(_functions, pymodule) {
Def<traits::mju_derivQuat>(pymodule);
Def<traits::mju_quatIntegrate>(pymodule);
Def<traits::mju_quatZ2Vec>(pymodule);
Def<traits::mju_mat2Rot>(pymodule);
Def<traits::mju_euler2Quat>(pymodule);
// Poses