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Re-organise API data structure documentation.

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PiperOrigin-RevId: 515515875
Change-Id: I743a0409eb9b867249a90d5c1cb4d77bacade4dc
This commit is contained in:
Yuval Tassa
2023-03-09 20:23:57 -08:00
committed by Copybara-Service
parent d3d789cf7d
commit c57a588ab5
5 changed files with 1482 additions and 1448 deletions
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doc/changelog.rst
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@@ -9,7 +9,7 @@ General
^^^^^^^
- The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested.
- Corrected the spelling of the ``inteval`` attribute to ``interval`` in the ``mjLROpt`` struct.
- Corrected the spelling of the ``inteval`` attribute to ``interval`` in the :ref:`mjLROpt` struct.
- Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer
duplicated in order to circumvent this limitation as they previously were.
- The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation.