Elliptic friction in MJX.

PiperOrigin-RevId: 641384367 Change-Id: I510c565940324fbbf392ce537ce27e0cb9af3eb1
2024-06-07 16:04:54 -07:00
parent 5b6800116a
commit 4c3d9461ae
12 changed files with 610 additions and 329 deletions
@@ -10,6 +10,13 @@ General

 1. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.

+MJX
+~~~
+
+2. Added support for :ref:`elliptic friction cones<option-cone>`.
+3. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
+4. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
+

 Version 3.1.6 (Jun 3, 2024)
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