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Add force and torque sensors to MJX.

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PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
This commit is contained in:
Taylor Howell
2024-09-16 06:56:08 -07:00
committed by Copybara-Service
parent b15de2c951
commit 9d73211757
7 changed files with 69 additions and 5 deletions
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doc/changelog.rst
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@@ -63,7 +63,8 @@ MJX
``SUBTREECOM``, ``CLOCK``.
14. Added velocity-dependent sensors: ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``,
``FRAMELINVEL``, ``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``.
15. Added acceleration/force-dependent sensors: ``ACCELEROMETER``, ``ACTUATORFRC``, ``JOINTACTFRC``.
15. Added acceleration/force-dependent sensors: ``ACCELEROMETER``, ``FORCE``, ``TORQUE``, ``ACTUATORFRC``,
``JOINTACTFRC``.
16. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
17. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
18. Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
doc/mjx.rst
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@@ -220,7 +220,7 @@ The following features are **fully supported** in MJX:
- ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``, ``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``,
``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``, ``VELOCIMETER``,
``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``, ``FRAMEANGVEL``, ``SUBTREELINVEL``,
``SUBTREEANGMOM``, ``ACCELEROMETER``, ``ACTUATORFRC``, ``JOINTACTFRC``.
``SUBTREEANGMOM``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``, ``ACTUATORFRC``, ``JOINTACTFRC``.
The following features are **in development** and coming soon: