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Add mj_setKeyframe function to save current state in k-th model keyframe.

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Fixes #1719.

Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.

PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
This commit is contained in:
Yuval Tassa
2024-06-12 09:21:54 -07:00
committed by Copybara-Service
parent f37f840880
commit c9bcf8371e
13 changed files with 169 additions and 13 deletions
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doc/changelog.rst
+5 -4
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@@ -21,13 +21,14 @@ General
:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
attributes, respectively.
3. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
4. Add support for ``ball`` joints in the URDF parser.
4. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
5. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
MJX
~~~
5. Added support for :ref:`elliptic friction cones<option-cone>`.
6. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
7. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
6. Added support for :ref:`elliptic friction cones<option-cone>`.
7. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
8. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
Version 3.1.6 (Jun 3, 2024)
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