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Add hfield. Fixes #1655 #1491 #1695

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PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
This commit is contained in:
Baruch Tabanpour
2024-05-29 16:20:27 -07:00
committed by Copybara-Service
parent dec55b59fa
commit c511d02265
13 changed files with 604 additions and 106 deletions
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doc/changelog.rst
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@@ -14,12 +14,21 @@ General
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.
MJX
^^^
3. Add height-field collision support. Fixes :github:issue:`1491`.
4. Add a pre-compiled field ``mesh_convex`` to ``mjx.Model`` so that mesh properties can be vmapped over.
Fixes :github:issue:`1655`.
5. Fix a bug in convex mesh collisions, where erroneous edge contacts were being created even though face
separating axes were found. Fixes :github:issue:`1695`.
Bug fixes
^^^^^^^^^
3. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
6. 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`.
4. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
7. 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)