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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/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