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Add tendon velocity sensor to MJX.

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PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
This commit is contained in:
Taylor Howell
2024-10-14 06:47:05 -07:00
committed by Copybara-Service
parent 1e7c109887
commit ac91a7639d
5 changed files with 11 additions and 4 deletions
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doc/changelog.rst
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@@ -24,7 +24,7 @@ MJX
- Added support for :ref:`spatial tendons <tendon-spatial>` with pulleys and external sphere and cylinder wrapping.
- Added sphere-cylinder and sphere-ellipsoid collision functions (:github:issue:`2126`).
- Fixed a bug with frictionloss constraints.
- Added ``TENDONPOS`` sensor.
- Added ``TENDONPOS`` and ``TENDONVEL`` sensors.
- Fixed a bug with the computation of tangential contact forces in ``_decode_pyramid``.
Bug fixes