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Add support for joint and tendon frictionloss to MJX.

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PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
This commit is contained in:
Baruch Tabanpour
2024-09-03 13:16:27 -07:00
committed by Copybara-Service
parent 2d3d5415b7
commit 49711fa14f
8 changed files with 143 additions and 44 deletions
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doc/changelog.rst
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@@ -45,6 +45,7 @@ MJX
- Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
:doc:`fluid drag <computation/fluid>`.
- Fixed a bug where ``qLDiagInv`` had the wrong size for sparse mass matrices.
- Added support for joint and tendon :ref:`frictionloss <coFriction>`.
Bug fixes
^^^^^^^^^