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

Add support for joint and tendon frictionloss to MJX.

Browse Source 
PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
This commit is contained in:
Baruch Tabanpour
2024-09-03 13:16:27 -07:00
committed by Copybara-Service
parent 2d3d5415b7
commit 49711fa14f
8 changed files with 143 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+1
View File
@@ -45,6 +45,7 @@ MJX
- Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
:doc:`fluid drag <computation/fluid>`.
- Fixed a bug where ``qLDiagInv`` had the wrong size for sparse mass matrices.
- Added support for joint and tendon :ref:`frictionloss <coFriction>`.
Bug fixes
^^^^^^^^^
doc/mjx.rst
+1 -3
View File
@@ -199,7 +199,7 @@ The following features are **fully supported** in MJX:
- ``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.
* - :ref:`Constraint <mjtConstraint>`
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_FRICTIONLESS``, ``CONTACT_PYRAMIDAL``, ``CONTACT_ELLIPTIC``
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_FRICTIONLESS``, ``CONTACT_PYRAMIDAL``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``, ``FRICTION_TENDON``
* - :ref:`Equality <mjtEq>`
- ``CONNECT``, ``WELD``, ``JOINT``, ``TENDON``
* - :ref:`Integrator <mjtIntegrator>`
@@ -228,8 +228,6 @@ The following features are **in development** and coming soon:
* - :ref:`Geom <mjtGeom>`
- ``SDF``. Collisions between (``SPHERE``, ``BOX``, ``MESH``, ``HFIELD``) and ``CYLINDER``. Collisions between
(``BOX``, ``MESH``, ``HFIELD``) and ``ELLIPSOID``.
* - :ref:`Constraint <mjtConstraint>`
- :ref:`Frictionloss <coFriction>`, ``FRICTION_DOF``
* - :ref:`Integrator <mjtIntegrator>`
- ``IMPLICIT``
* - Dynamics