Add sites to MJX.

PiperOrigin-RevId: 585691582 Change-Id: I6cc594daf436231f91534f137ff259e7b39811d9
2023-11-27 10:27:20 -08:00
parent 37bb03f435
commit 35c90844ae
6 changed files with 68 additions and 5 deletions
@@ -23,6 +23,11 @@ Plugins
 - Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a
  configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.

+MJX
+^^^
+
+- Added ``site_xpos`` and ``site_xmat`` to MJX.
+
 Bug fixes
 ^^^^^^^^^
 - Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.