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Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed.

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PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
This commit is contained in:
Yuval Tassa
2024-08-16 04:06:30 -07:00
committed by Copybara-Service
parent 6db96e07e4
commit 0bcaa85650
3 changed files with 93 additions and 5 deletions
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doc/changelog.rst
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@@ -17,6 +17,13 @@ MJX
5. Added position-dependent sensors: ``MAGNETOMETER``, ``JOINTPOS``, ``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``,
``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``SUBTREECOM``, ``CLOCK``.
Bug fixes
^^^^^^^^^
6. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
contribution by :github:user:`michael-ahn`).
7. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
integrators, wrong derivatives would be computed.
Version 3.2.2 (Aug 8, 2024)
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