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Restore mistakenly deleted/modified changelog items.

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PiperOrigin-RevId: 669732777
Change-Id: I473480acb06f881049c1f338e1e87ff86c30f330
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Yuval Tassa
2024-08-31 15:03:08 -07:00
committed by Copybara-Service
parent 9805df616b
commit 7abd5d427a
1 changed files with 8 additions and 1 deletions
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doc/changelog.rst
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@@ -16,6 +16,10 @@ General
the :ref:`mjOption` struct. This is because the new convex collision detection pipeline (see below) does not use the :ref:`mjOption` struct. This is because the new convex collision detection pipeline (see below) does not use
the MPR algorithm. The semantics of these options remain identical. the MPR algorithm. The semantics of these options remain identical.
- Added a new way of defining :ref:`connect<equality-connect>` equality constraints, using two sites rather than bodies.
The new semantic is useful when the assumption that the constraint is satisfied in the base configuration does not
hold. In this case the sites will "snap together" at the beginning of the simulation. Additionally, changing the site
positions in ``mjModel.site_pos`` at runtime can be used to modify the constraint.
- Added the :ref:`nativeccd<option-flag-nativeccd>` flag. When this flag is enabled, general convex collision - Added the :ref:`nativeccd<option-flag-nativeccd>` flag. When this flag is enabled, general convex collision
detection is handled natively, as opposed to using `libccd <https://github.com/danfis/libccd>`__. This feature is in detection is handled natively, as opposed to using `libccd <https://github.com/danfis/libccd>`__. This feature is in
early stages of testing. early stages of testing.
@@ -24,7 +28,7 @@ General
- When :ref:`attaching<meAttachment>` sub-models, :ref:`keyframes<keyframe>` will now be correctly merged into the - When :ref:`attaching<meAttachment>` sub-models, :ref:`keyframes<keyframe>` will now be correctly merged into the
parent model, but only on the first attachment. parent model, but only on the first attachment.
- Added the :ref:`mjtSameFrame` enum which contains the possible frame alignments of bodies and their children. These - Added the :ref:`mjtSameFrame` enum which contains the possible frame alignments of bodies and their children. These
alignments are used as shortcuts in :ref:`mj_kinematics`. alignments are used for computation shortcuts in :ref:`mj_kinematics`.
MJX MJX
^^^ ^^^
@@ -39,6 +43,7 @@ MJX
- Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``. - Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
- Added support for :ref:`implicitfast integration<geIntegration>` for all cases except - Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
:doc:`fluid drag <computation/fluid>`. :doc:`fluid drag <computation/fluid>`.
- Fixed a bug where ``qLDiagInv`` had the wrong size for sparse mass matrices.
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
@@ -46,6 +51,8 @@ Bug fixes
contribution by :github:user:`michael-ahn`). contribution by :github:user:`michael-ahn`).
- Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit - Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
integrators, wrong derivatives would be computed. integrators, wrong derivatives would be computed.
- Fixed a bug in tendon wrapping around spheres. Before this fix, tendons that wrapped around spheres with an
externally-placed :ref:`sidesite<spatial-geom-sidesite>` could jump inside the sphere instead of wrapping around it.
Python bindings Python bindings
^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^