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Fix computation of tangential contact forces in MJX _decode_pyramid.

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PiperOrigin-RevId: 685665382
Change-Id: Icdbba4a3ee5fec804340d73d525a36ee570c2aa8
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Taylor Howell
2024-10-14 05:00:07 -07:00
committed by Copybara-Service
parent 766cd20273
commit 1945926351
3 changed files with 7 additions and 1 deletions
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doc/changelog.rst
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@@ -25,6 +25,7 @@ MJX
- Added sphere-cylinder and sphere-ellipsoid collision functions (:github:issue:`2126`).
- Fixed a bug with frictionloss constraints.
- Added ``TENDONPOS`` sensor.
- Fixed a bug with the computation of tangential contact forces in ``_decode_pyramid``.
Bug fixes
^^^^^^^^^