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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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mjx/mujoco/mjx/test_data/constraints.xml
+21 -1
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@@ -14,7 +14,7 @@
</default>
<worldbody>
<geom pos="0 0 -1" type="plane" size="10 10 .01"/>
<geom pos="0 0 -1" type="plane" size="20 20 .01" condim="1"/>
<body name="anchor1" pos="-3 0 0"/>
<body name="beam1" pos="-3 0 0">
@@ -37,6 +37,26 @@
<joint name="joint4" axis="1 0 0" type="hinge" damping="1.0"/> <!-- tests no joint range -->
<geom class="box"/>
</body>
<body name="box_condim1" pos="4 0 0">
<freejoint/>
<geom class="box" condim="1"/>
</body>
<body name="box_condim3" pos="5 0 0">
<freejoint/>
<geom class="box" condim="3"/>
</body>
<body name="box_condim4" pos="6 0 0">
<freejoint/>
<geom class="box" condim="4"/>
</body>
<body name="box_condim6" pos="6 0 0">
<freejoint/>
<geom class="box" condim="6"/>
</body>
</worldbody>
<equality>