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Add support for condim to MJX.

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PiperOrigin-RevId: 627136131
Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
This commit is contained in:
Erik Frey
2024-04-22 13:19:57 -07:00
committed by Copybara-Service
parent 3ddf1b492a
commit 71333938ec
11 changed files with 143 additions and 97 deletions
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doc/changelog.rst
+4 -3
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@@ -38,12 +38,13 @@ MJX
geoms.
11. Fixed a bug where capsules might be ignored in broadphase colliision checking.
12. Added cylinder collisions using SDFs.
13. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
Bug fixes
^^^^^^^^^
13. Defaults of lights were not being saved, now fixed.
14. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
15. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
14. Defaults of lights were not being saved, now fixed.
15. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
16. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
16. Fixed bug that prevented memory allocations larger than 2.15 GB.
doc/mjx.rst
+3 -5
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@@ -191,7 +191,7 @@ The following features are **fully supported** in MJX:
* - :ref:`Geom <mjtGeom>`
- ``PLANE``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH``
* - :ref:`Constraint <mjtConstraint>`
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_PYRAMIDAL``
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_FRICTIONLESS``, ``CONTACT_PYRAMIDAL``
* - :ref:`Equality <mjtEq>`
- ``CONNECT``, ``WELD``, ``JOINT``
* - :ref:`Integrator <mjtIntegrator>`
@@ -199,7 +199,7 @@ The following features are **fully supported** in MJX:
* - :ref:`Cone <mjtCone>`
- ``PYRAMIDAL``
* - :ref:`Condim <coContact>`
- 3
- 1, 3, 4, 6
* - :ref:`Solver <mjtSolver>`
- ``CG``, ``NEWTON``
* - Fluid Model
@@ -217,10 +217,8 @@ The following features are **in development** and coming soon:
- Feature
* - :ref:`Geom <mjtGeom>`
- ``SDF``, ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``
* - :ref:`Condim <coContact>`
- 1, 4, 6
* - :ref:`Constraint <mjtConstraint>`
- :ref:`Frictionloss <coFriction>`, ``CONTACT_FRICTIONLESS``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
- :ref:`Frictionloss <coFriction>`, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
* - :ref:`Integrator <mjtIntegrator>`
- ``IMPLICIT``, ``IMPLICITFAST``
* - Dynamics