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 PR added necessary annotations, following what we did for mjData
and mjModel for length of the given array.
This is useful because my parser used to generate Swift interface:
https://github.com/liuliu/swift-mujoco/blob/main/Sources/codegen/main.swift#L297
such that the access to underlying array is bound-checked.
Please let me know if this makes sense. After this change, I can
successfully generate all mj* struct interfaces in Swift without problem
(with notable exception of mjui): https://github.com/liuliu/swift-mujoco/tree/main/Sources
Yuval Tassa