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Add support for computing elliptic cone contact forces to MJX. Fixes #2153.

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PiperOrigin-RevId: 691829630
Change-Id: I862ac9c7db07d0a74b718d2a41e19d5ae636a260
This commit is contained in:
Taylor Howell
2024-10-31 09:22:02 -07:00
committed by Copybara-Service
parent 18682aac6a
commit 554641060b
4 changed files with 44 additions and 19 deletions
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mjx/mujoco/mjx/test_data/sensor/sensor.xml
+4 -4
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@@ -106,22 +106,22 @@
<geom type="plane" size="2 2 .1" pos="-20 -20 -20"/>
<body pos="-20 -20 -20">
<freejoint/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125"/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125" condim="1"/>
<site name="touch_sphere" type="sphere" pos="-0.5 0 0" size="0.025"/>
</body>
<body pos="-20 -20.25 -20">
<freejoint/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125"/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125" condim="3"/>
<site name="touch_capsule" type="capsule" fromto="0.4 0 0.0 0.5 0 0.0" size="0.025"/>
</body>
<body pos="-20 -20.5 -20">
<freejoint/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125"/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125" condim="6"/>
<site name="touch_box" pos="-0.5 0 0" type="box" size="0.025 0.025 0.025"/>
</body>
<body pos="-20 -20.75 -20">
<freejoint/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125"/>
<geom type="capsule" fromto="-.5 0 0 .5 0 0" size="0.0125" condim="3"/>
<site name="touch_ellipsoid" type="ellipsoid" pos="0.5 0 0.0" size="0.05 0.01 0.02"/>
</body>
</worldbody>