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Add flag for disabling implicit integration of joint damping in the Euler integrator.

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PiperOrigin-RevId: 559398414
Change-Id: I43b23c5e75a2830a64b1898daeaa16f19e011718
This commit is contained in:
Yuval Tassa
2023-08-23 05:50:52 -07:00
committed by Copybara-Service
parent 5f2a2a325c
commit b7cf479abe
13 changed files with 156 additions and 18 deletions
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doc/changelog.rst
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@@ -34,11 +34,13 @@ General
#. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
: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.
Python bindings
^^^^^^^^^^^^^^^
4. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
7. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.