Add mjtSameFrame enum to specify frame alignment of bodies with their children.
PiperOrigin-RevId: 666303674 Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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a2649d6cec
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8b03daa09b
@@ -346,6 +346,16 @@ These are the possible sensor data types, used in ``mjData.sensor_datatype``.
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.. mujoco-include:: mjtDataType
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.. _mjtSameFrame:
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mjtSameFrame
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~~~~~~~~~~~~
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Types of frame alignment of elements with their parent bodies. Used as shortcuts during :ref:`mj_kinematics` in the
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last argument to :ref:`mj_local2global`.
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.. mujoco-include:: mjtSameFrame
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.. _tyDataEnums:
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@@ -551,7 +551,7 @@ mj_local2Global
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.. mujoco-include:: mj_local2Global
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Map from body local to global Cartesian coordinates.
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Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame.
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.. _mj_getTotalmass:
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+14
-11
@@ -12,31 +12,34 @@ General
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early stages of testing.
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2. Added :ref:`mjSpec` option for creating a texture from a buffer.
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3. :ref:`shellinertia <body-geom-shellinertia>` is now supported by all geom types.
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4. Added support for :ref:`attaching<meAttachment>` keyframes.
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4. When :ref:`attaching<meAttachment>` sub-models, :ref:`keyframes<keyframe>` will now be correctly merged into the
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parent model, but only on the first attachment.
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5. Added the :ref:`mjtSameFrame` enum which contains the possible frame alignments of bodies and their children. These
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alignments are used as shortcuts in :ref:`mj_kinematics`.
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MJX
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^^^
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5. Added ``efc_pos`` to ``mjx.Data`` (:github:issue:`1388`).
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6. Added position-dependent sensors: ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``,
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6. Added ``efc_pos`` to ``mjx.Data`` (:github:issue:`1388`).
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7. Added position-dependent sensors: ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``,
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``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``,
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``SUBTREECOM``, ``CLOCK``.
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7. Added velocity-dependent sensors: ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``.
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8. Added acceleration/force-dependent sensors: ``ACTUATORFRC``, ``JOINTACTFRC``.
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9. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
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10. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
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11. Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
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8. Added velocity-dependent sensors: ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``.
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9. Added acceleration/force-dependent sensors: ``ACTUATORFRC``, ``JOINTACTFRC``.
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10. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
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11. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
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12. Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
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:doc:`fluid drag <computation/fluid>`.
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Bug fixes
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^^^^^^^^^
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12. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
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13. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
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contribution by :github:user:`michael-ahn`).
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13. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
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14. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
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integrators, wrong derivatives would be computed.
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Python bindings
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^^^^^^^^^^^^^^^
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14. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
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15. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
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Version 3.2.2 (Aug 8, 2024)
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@@ -684,6 +684,11 @@ typedef enum mjtDataType_ { // data type for sensors
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mjDATATYPE_AXIS, // 3D unit vector
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mjDATATYPE_QUATERNION // unit quaternion
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} mjtDataType;
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typedef enum mjtSameFrame_ { // frame alignment of bodies with their children
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mjSAMEFRAME_NONE = 0, // no alignment
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mjSAMEFRAME_BODY, // frame is same as body frame
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mjSAMEFRAME_INERTIA, // frame is same as inertial frame
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} mjtSameFrame;
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typedef enum mjtLRMode_ { // mode for actuator length range computation
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mjLRMODE_NONE = 0, // do not process any actuators
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mjLRMODE_MUSCLE, // process muscle actuators
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@@ -978,7 +983,7 @@ struct mjModel_ {
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int* body_geomnum; // number of geoms (nbody x 1)
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int* body_geomadr; // start addr of geoms; -1: no geoms (nbody x 1)
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mjtByte* body_simple; // 1: diag M; 2: diag M, sliders only (nbody x 1)
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mjtByte* body_sameframe; // inertial frame is same as body frame (nbody x 1)
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mjtByte* body_sameframe; // same frame as inertia (mjtSameframe) (nbody x 1)
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mjtNum* body_pos; // position offset rel. to parent body (nbody x 3)
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mjtNum* body_quat; // orientation offset rel. to parent body (nbody x 4)
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mjtNum* body_ipos; // local position of center of mass (nbody x 3)
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@@ -1047,7 +1052,7 @@ struct mjModel_ {
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int* geom_group; // group for visibility (ngeom x 1)
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int* geom_priority; // geom contact priority (ngeom x 1)
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int* geom_plugin; // plugin instance id; -1: not in use (ngeom x 1)
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mjtByte* geom_sameframe; // same as body frame (1) or iframe (2) (ngeom x 1)
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mjtByte* geom_sameframe; // same frame as body (mjtSameframe) (ngeom x 1)
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mjtNum* geom_solmix; // mixing coef for solref/imp in geom pair (ngeom x 1)
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mjtNum* geom_solref; // constraint solver reference: contact (ngeom x mjNREF)
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mjtNum* geom_solimp; // constraint solver impedance: contact (ngeom x mjNIMP)
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@@ -1068,7 +1073,7 @@ struct mjModel_ {
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int* site_bodyid; // id of site's body (nsite x 1)
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int* site_matid; // material id for rendering; -1: none (nsite x 1)
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int* site_group; // group for visibility (nsite x 1)
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mjtByte* site_sameframe; // same as body frame (1) or iframe (2) (nsite x 1)
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mjtByte* site_sameframe; // same frame as body (mjtSameframe) (nsite x 1)
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mjtNum* site_size; // geom size for rendering (nsite x 3)
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mjtNum* site_pos; // local position offset rel. to body (nsite x 3)
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mjtNum* site_quat; // local orientation offset rel. to body (nsite x 4)
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