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Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.

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PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551
This commit is contained in:
Tom Erez
2023-08-25 12:07:28 -07:00
committed by Copybara-Service
parent 4db3377467
commit 819b5cb982
16 changed files with 268 additions and 29 deletions
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doc/changelog.rst
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@@ -36,17 +36,19 @@ General
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
#. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
#. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
Python bindings
^^^^^^^^^^^^^^^
7. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
8. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Bug fixes
^^^^^^^^^
#. Fixed a bug that was causing the geom margins to be ignored during the midphase.
9. Fixed a bug that was causing the geom margins to be ignored during the midphase.
Version 2.3.7 (July 20, 2023)