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Add new differentiable physics tutorial to readme.

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PiperOrigin-RevId: 631458983
Change-Id: Ic0ef9e93397a974be50f0616571a4a5fea6f2b21
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Erik Frey
2024-05-07 09:59:32 -07:00
committed by Copybara-Service
parent 8d896529f0
commit 24bc1c8b52
3 changed files with 43 additions and 7 deletions
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doc/changelog.rst
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@@ -52,14 +52,16 @@ MJX
17. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
18. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
19. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
20. Added a new `differentiable physics tutorial <https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/training_apg.ipynb>`__ that demonstrates training locomotion policies with analytical gradients
automatically derived from the MJX physics step. Contribution by :github:user:`Andrew-Luo1`.
Bug fixes
^^^^^^^^^
20. Defaults of lights were not being saved, now fixed.
21. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
22. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
21. Defaults of lights were not being saved, now fixed.
22. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
23. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
23. Fixed bug that prevented memory allocations larger than 2.15 GB.
24. Fixed bug that prevented memory allocations larger than 2.15 GB.
Version 3.1.4 (April 10th, 2024)