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Update MJX documentation for ellipsoid and cylinder collision support.

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fixes #1908

PiperOrigin-RevId: 669244021
Change-Id: I5f757562be333b5b9923655d155d51ed3dbd09c4
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Taylor Howell
2024-08-30 01:58:26 -07:00
committed by Copybara-Service
parent 494e166f28
commit 8272211dd5
1 changed files with 4 additions and 2 deletions
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doc/mjx.rst
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@@ -196,7 +196,8 @@ The following features are **fully supported** in MJX:
* - :ref:`Actuator Bias <mjtBias>`
- ``NONE``, ``AFFINE``
* - :ref:`Geom <mjtGeom>`
- ``PLANE``, ``HFIELD``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH`` are fully implemented. ``ELLIPSOID`` and ``CYLINDER`` are implemented but only collide with other primitives.
- ``PLANE``, ``HFIELD``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH`` are fully implemented. ``ELLIPSOID`` and
``CYLINDER`` are implemented but only collide with other primitives, note that ``BOX`` is implemented as a mesh.
* - :ref:`Constraint <mjtConstraint>`
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_FRICTIONLESS``, ``CONTACT_PYRAMIDAL``, ``CONTACT_ELLIPTIC``
* - :ref:`Equality <mjtEq>`
@@ -225,7 +226,8 @@ The following features are **in development** and coming soon:
* - Category
- Feature
* - :ref:`Geom <mjtGeom>`
- ``SDF``. Collisions between (``SPHERE``, ``BOX``, ``MESH``, ``HFIELD``) and ``CYLINDER``. Collisions between (``BOX``, ``MESH``, ``HFIELD``) and ``ELLIPSOID``.
- ``SDF``. Collisions between (``SPHERE``, ``BOX``, ``MESH``, ``HFIELD``) and ``CYLINDER``. Collisions between
(``BOX``, ``MESH``, ``HFIELD``) and ``ELLIPSOID``.
* - :ref:`Constraint <mjtConstraint>`
- :ref:`Frictionloss <coFriction>`, ``FRICTION_DOF``
* - :ref:`Integrator <mjtIntegrator>`