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Add timeconst attribute to position actuator.

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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
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Tom Erez
2024-05-18 03:37:10 -07:00
committed by Copybara-Service
parent 875823ba96
commit 727893f0f2
6 changed files with 127 additions and 18 deletions
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doc/changelog.rst
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@@ -11,13 +11,15 @@ General
1. Added :ref:`mj_geomDistance` for computing the shortest signed distance between two geoms and optionally a segment
connecting them. Relatedly, added the 3 sensors: :ref:`distance<sensor-distance>`, :ref:`normal<sensor-normal>`,
:ref:`fromto<sensor-fromto>`. See the function and sensor documentation for details. Fixes :github:issue:`51`.
2. Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
Bug fixes
^^^^^^^^^
2. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
3. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
often the case for URDF imports. Fixes :github:issue:`1069`, :github:issue:`1577`.
3. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
4. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
them. Fixes :github:issue:`1539`.
Version 3.1.5 (May 7, 2024)