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

Adds support for fixed tendons to MJX.

Browse Source 
PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
This commit is contained in:
Erik Frey
2024-07-22 10:47:57 -07:00
committed by Copybara-Service
parent 33e5960653
commit 2d24c58819
15 changed files with 229 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+5 -1
View File
@@ -18,10 +18,14 @@ MJX
^^^
4. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
5. Added support for :ref:`fixed tendons <tendon-fixed>`.
6. Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`).
7. Added support for tendon equality constraints (``mjEQ_TENDON`` in :ref:`mjtEq`).
8. Added support for tendon actuator transmission (``mjTRN_TENDON`` in :ref:`mjtTrn`).
Python bindings
^^^^^^^^^^^^^^^
5. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
9. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
``mujoco.spec.compile``.
Version 3.2.0 (Jul 15, 2024)
doc/mjx.rst
+5 -7
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_JOINT``, ``TRN_SITE``, ``TRN_TENDON``
* - :ref:`Actuator Dynamics <mjtDyn>`
- ``NONE``, ``INTEGRATOR``, ``FILTER``, ``FILTEREXACT``
* - :ref:`Actuator Gain <mjtGain>`
@@ -200,7 +200,7 @@ The following features are **fully supported** in MJX:
* - :ref:`Constraint <mjtConstraint>`
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_FRICTIONLESS``, ``CONTACT_PYRAMIDAL``, ``CONTACT_ELLIPTIC``
* - :ref:`Equality <mjtEq>`
- ``CONNECT``, ``WELD``, ``JOINT``
- ``CONNECT``, ``WELD``, ``JOINT``, ``TENDON``
* - :ref:`Integrator <mjtIntegrator>`
- ``EULER``, ``RK4``
* - :ref:`Cone <mjtCone>`
@@ -211,6 +211,8 @@ The following features are **fully supported** in MJX:
- ``CG``, ``NEWTON``
* - Fluid Model
- :ref:`flInertia`
* - :ref:`Tendons <tendon>`
- :ref:`Fixed <tendon-fixed>`
The following features are **in development** and coming soon:
@@ -230,8 +232,6 @@ The following features are **in development** and coming soon:
- ``IMPLICIT``, ``IMPLICITFAST``
* - Dynamics
- :ref:`Inverse <mj_inverse>`
* - :ref:`Transmission <mjtTrn>`
- ``TRN_TENDON``
* - :ref:`Actuator Dynamics <mjtDyn>`
- ``MUSCLE``
* - :ref:`Actuator Gain <mjtGain>`
@@ -243,9 +243,7 @@ The following features are **in development** and coming soon:
* - Fluid Model
- :ref:`flEllipsoid`
* - :ref:`Tendons <tendon>`
- :ref:`Spatial <tendon-spatial>`, :ref:`Fixed <tendon-fixed>`
* - :ref:`Equality <mjtEq>`
- ``TENDON``
- :ref:`Spatial <tendon-spatial>`
* - :ref:`Sensors <mjtSensor>`
- All except ``PLUGIN``, ``USER``
* - Lights