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
This method allows users to bind a spec to a model or data object, making it less verbose to access its arrays.
PiperOrigin-RevId: 699952211
Change-Id: I6b71a88d5a6968bc0f902bd49db7c568b46a4dfb
Using ids is error prone in scenarios of repeated attachment and detachment. Python users are encouraged to use names for unique identification of model elements.
PiperOrigin-RevId: 699227286
Change-Id: Ifd83e6d85d36ff72ea43caf8b82eab9e4d552440
This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.
PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
`nnames_map` is not required for `mjModel` construction, it is set during construction.
PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes#2013.
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
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5b525ccaef3d7184d3167815be63ed630781a064 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Add command line scripts to MJX docs.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2196 from kevinzakka:typo-fixes 5b525ccaef3d7184d3167815be63ed630781a064
PiperOrigin-RevId: 691497203
Change-Id: I7c5d6a8fcbd2a42939673cee5eadb30bebdad833
The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.
PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
The associated row in `actuator_moment` was not cleared before being updated.
PiperOrigin-RevId: 688207085
Change-Id: I2f925e984c5c493e64ead66667aef57c4844acfe
Levi Burner