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Fix bug in Cartesian actuation with movable refsite.

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PiperOrigin-RevId: 584035818
Change-Id: I005f6bbbe02f8b36d287ecada0406a6ae4d720ba
This commit is contained in:
Yuval Tassa
2023-11-20 08:36:40 -08:00
committed by Copybara-Service
parent 8ca51b5318
commit cd56a41f83
4 changed files with 137 additions and 0 deletions
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doc/changelog.rst
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@@ -12,6 +12,11 @@ General
for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
robust for very small or large geom sizes.
Bug fixes
^^^^^^^^^
- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
Before this fix such actuators could lead to non-conservation of momentum.
Version 3.0.1 (November 15, 2023)
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