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Change row-flipping logic for heightfields.

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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.

PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
This commit is contained in:
Yuval Tassa
2025-12-09 07:01:16 -08:00
committed by Copybara-Service
parent 925c533580
commit c064abc3da
5 changed files with 43 additions and 10 deletions
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doc/XMLreference.rst
+2 -1
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@@ -1559,7 +1559,8 @@ also known as terrain map, is a 2D matrix of elevation data. The data can be spe
:at:`elevation`: :at-val:`real(nrow*ncol), optional`
This attribute specifies the elevation data matrix. Values are automatically normalized to lie between 0 and 1 by
first subtracting the minimum value and then dividing by the (maximum-minimum) difference, if not 0. If not provided,
values are set to 0.
values are set to 0. Note that the row order of data in :ref:`mjModel` and :ref:`mjsHField` is flipped w.r.t. the
order in XML i.e., it is bottom-to-top.
.. _asset-hfield-size: