chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 4 Packages Projects Releases Wiki Activity

Fixes to the MJX Euler integrator and Newton solver, and test improvements to catch future bugs like this.

Browse Source 
PiperOrigin-RevId: 606389094
Change-Id: I50d0143f338fe29a823c930dba82995ce8a64ce2
This commit is contained in:
Erik Frey
2024-02-12 15:45:25 -08:00
committed by Copybara-Service
parent 805d862d5f
commit 47bb4a828e
6 changed files with 89 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+2
View File
@@ -16,6 +16,8 @@ MJX
- Avoid calling ``mjx.ncon`` in ``mjx.get_data_into`` when ``nc`` can be derived from ``mjx.Data``.
2. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
``mjx.get_data_into`` function call.
3. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
4. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
Version 3.1.2 (February 05, 2024)
-----------------------------------