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Implement joint equality constraint. Streamline constraint functions.

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PiperOrigin-RevId: 577905570
Change-Id: I70580d21e3c612606b967cdd84ad22794c672397
This commit is contained in:
Erik Frey
2023-10-30 11:37:18 -07:00
committed by Copybara-Service
parent 50843cad30
commit 7069976557
9 changed files with 233 additions and 177 deletions
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doc/changelog.rst
+9 -8
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@@ -13,29 +13,30 @@ General
MJX
^^^
2. Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
3. Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
4. Removed empty EFC rows from `MJX`, for joints with no limits (fixes :github:issue:`1117`).
2. Added support for joint equality constraints (``mjEQ_JOINT`` in :ref:`mjtEq`).
3. Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
4. Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
5. Removed empty EFC rows from `MJX`, for joints with no limits (fixes :github:issue:`1117`).
Python bindings
^^^^^^^^^^^^^^^
5. Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line
6. Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line
Tools.
Simulate
^^^^^^^^
6. :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
7. :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
Documentation
^^^^^^^^^^^^^
7. Added documentation for the :ref:`UI` framework.
8. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
8. Added documentation for the :ref:`UI` framework.
9. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
Bug fixes
^^^^^^^^^
9. Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
10. Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
Version 3.0.0 (October 18, 2023)
--------------------------------
doc/mjx.rst
+5 -3
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@@ -188,9 +188,9 @@ The following features are **fully supported** in MJX:
* - :ref:`Geom <mjtGeom>`
- ``PLANE``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH``
* - :ref:`Constraint <mjtConstraint>`
- ``EQUALITY``, ``FRICTION_DOF``, ``LIMIT_JOINT``, ``CONTACT_PYRAMIDAL``
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_PYRAMIDAL``
* - :ref:`Equality <mjtEq>`
- ``CONNECT``, ``WELD``
- ``CONNECT``, ``WELD``, ``JOINT``
* - :ref:`Integrator <mjtIntegrator>`
- ``EULER``, ``RK4``
* - :ref:`Cone <mjtCone>`
@@ -218,6 +218,8 @@ The following features are **in development** and coming soon:
- ``TRN_TENDON``
* - :ref:`Geom <mjtGeom>`
- ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``, ``SDF``
* - :ref:`Constraint <mjtConstraint>`
- ``CONTACT_FRICTIONLESS``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
* - :ref:`Integrator <mjtIntegrator>`
- ``IMPLICIT``, ``IMPLICITFAST``
* - :ref:`Cone <mjtCone>`
@@ -231,7 +233,7 @@ The following features are **in development** and coming soon:
* - :ref:`Tendons <tendon>`
- :ref:`Spatial <tendon-spatial>`, :ref:`Fixed <tendon-fixed>`
* - :ref:`Equality <mjtEq>`
- ``JOINT``, ``TENDON``
- ``TENDON``
* - :ref:`Sensors <mjtSensor>`
- All except ``mjSENS_PLUGIN``, ``mjSENS_USER``