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Support spherical joint in URDF.

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PiperOrigin-RevId: 642326650
Change-Id: Iec766800bc9ab7e022bd586fc5881df576d01331
This commit is contained in:
Baruch Tabanpour
2024-06-11 11:07:06 -07:00
committed by Copybara-Service
parent 07fc95ca9a
commit 5ed464b489
3 changed files with 107 additions and 6 deletions
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doc/changelog.rst
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@@ -21,13 +21,13 @@ General
:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
attributes, respectively.
3. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
4. Add support for ``ball`` joints in the URDF parser.
MJX
~~~
4. Added support for :ref:`elliptic friction cones<option-cone>`.
5. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
6. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
5. Added support for :ref:`elliptic friction cones<option-cone>`.
6. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
7. 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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