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Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts.

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PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
This commit is contained in:
Erik Frey
2023-11-13 16:48:12 -08:00
committed by Copybara-Service
parent 97ad543051
commit c8146372cf
16 changed files with 263 additions and 254 deletions
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doc/changelog.rst
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@@ -59,6 +59,7 @@ MJX
- Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
- Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
- Removed empty EFC rows from ``MJX``, for joints with no limits (fixes :github:issue:`1117`).
- Fixed bug in ``scan.body_tree`` that led to incorrect smooth dynamics for some kinematic tree layouts.
Python bindings
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