chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add JOINTINPARENT actuator transmission type to MJX.

Browse Source 
PiperOrigin-RevId: 686083761
Change-Id: I5159d050812d32e15ced06df132d3e434fced814
This commit is contained in:
Taylor Howell
2024-10-15 06:37:00 -07:00
committed by Copybara-Service
parent 5a95d601ed
commit 096853e192
7 changed files with 26 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+1
View File
@@ -26,6 +26,7 @@ MJX
- Fixed a bug with frictionloss constraints.
- Added ``TENDONPOS`` and ``TENDONVEL`` sensors.
- Fixed a bug with the computation of tangential contact forces in ``_decode_pyramid``.
- Added ``JOINTINPARENT`` actuator transmission type.
Python bindings
^^^^^^^^^^^^^^^
doc/mjx.rst
+2 -2
View File
@@ -188,7 +188,7 @@ The following features are **fully supported** in MJX:
* - :ref:`Joint <mjtJoint>`
- ``FREE``, ``BALL``, ``SLIDE``, ``HINGE``
* - :ref:`Transmission <mjtTrn>`
- ``TRN_JOINT``, ``TRN_SITE``, ``TRN_TENDON``
- ``JOINT``, ``JOINTINPARENT``, ``SITE``, ``TENDON``
* - :ref:`Actuator Dynamics <mjtDyn>`
- ``NONE``, ``INTEGRATOR``, ``FILTER``, ``FILTEREXACT``
* - :ref:`Actuator Gain <mjtGain>`
@@ -270,7 +270,7 @@ The following features are **unsupported**:
* - :ref:`margin<body-geom-margin>` and :ref:`gap<body-geom-gap>`
- Unimplemented for collisions with ``Mesh`` :ref:`Geom <mjtGeom>`.
* - :ref:`Transmission <mjtTrn>`
- ``TRN_JOINTINPARENT``, ``TRN_SLIDERCRANK``, ``TRN_BODY``
- ``SLIDERCRANK``, ``BODY``
* - :ref:`Actuator Dynamics <mjtDyn>`
- ``USER``
* - :ref:`Actuator Gain <mjtGain>`