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Add pulley support to spatial tendons in MJX.

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PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a
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Taylor Howell
2024-10-07 03:00:02 -07:00
committed by Copybara-Service
parent bce43b63ed
commit 160ed9bfe2
10 changed files with 480 additions and 15 deletions
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doc/changelog.rst
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@@ -17,7 +17,7 @@ General
MJX
^^^
- Added ``mocap_pos`` and ``mocap_quat`` in kinematics.
- Added support for :ref:`spatial tendons <tendon-spatial>` with external sphere and cylinder wrapping.
- Added support for :ref:`spatial tendons <tendon-spatial>` with pulleys and external sphere and cylinder wrapping.
Bug fixes
^^^^^^^^^
doc/mjx.rst
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@@ -196,7 +196,7 @@ The following features are **fully supported** in MJX:
* - :ref:`Actuator Bias <mjtBias>`
- ``NONE``, ``AFFINE``
* - :ref:`Tendon Wrapping <mjtWrap>`
- ``JOINT``, ``SITE``
- ``JOINT``, ``SITE``, ``PULLEY``
* - :ref:`Geom <mjtGeom>`
- ``PLANE``, ``HFIELD``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH`` are fully implemented. ``ELLIPSOID`` and
``CYLINDER`` are implemented but only collide with other primitives, note that ``BOX`` is implemented as a mesh.
@@ -247,7 +247,7 @@ The following features are **in development** and coming soon:
* - :ref:`Actuator Bias <mjtBias>`
- ``MUSCLE``
* - :ref:`Tendon Wrapping <mjtWrap>`
- ``PULLEY``, ``SPHERE``, ``CYLINDER``
- ``SPHERE``, ``CYLINDER``
* - Fluid Model
- :ref:`flEllipsoid`
* - :ref:`Tendons <tendon>`