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Adds support for fixed tendons to MJX.

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PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
This commit is contained in:
Erik Frey
2024-07-22 10:47:57 -07:00
committed by Copybara-Service
parent 33e5960653
commit 2d24c58819
15 changed files with 229 additions and 68 deletions
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doc/changelog.rst
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@@ -18,10 +18,14 @@ MJX
^^^
4. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
5. Added support for :ref:`fixed tendons <tendon-fixed>`.
6. Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`).
7. Added support for tendon equality constraints (``mjEQ_TENDON`` in :ref:`mjtEq`).
8. Added support for tendon actuator transmission (``mjTRN_TENDON`` in :ref:`mjtTrn`).
Python bindings
^^^^^^^^^^^^^^^
5. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
9. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
``mujoco.spec.compile``.
Version 3.2.0 (Jul 15, 2024)