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Raise error in mjx.rne_postconstraint for currently unsupported connect and weld constraints and raise error in mjx.put_model for unsupported sensor and equality constraint combinations.

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PiperOrigin-RevId: 702119449
Change-Id: I034363db41629f19ef98bea79ec89140052a7a3c
This commit is contained in:
Taylor Howell
2024-12-02 16:27:29 -08:00
committed by Copybara-Service
parent c90a63a926
commit a793a3417a
4 changed files with 59 additions and 2 deletions
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doc/mjx.rst
+7 -2
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@@ -244,8 +244,10 @@ The following features are **fully supported** in MJX:
- ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``, ``TENDONPOS``, ``ACTUATORPOS``, ``BALLQUAT``,
``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``,
``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``TENDONVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``,
``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``TOUCH``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``,
``ACTUATORFRC``, ``JOINTACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``.
``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``TOUCH``, ``ACTUATORFRC``, ``JOINTACTFRC``,
``FRAMELINACC``, ``FRAMEANGACC``
- ``ACCELEROMETER``, ``FORCE``, and ``TORQUE`` are supported if the model does not include connect or weld equality
constraints.
The following features are **in development** and coming soon:
@@ -274,6 +276,9 @@ The following features are **in development** and coming soon:
- All except ``PLUGIN``, ``USER``
* - Lights
- Positions and directions of lights
* - :ref:`Sensors <mjtSensor>`
- ``ACCELEROMETER``, ``FORCE``, and ``TORQUE`` for models that include connect or weld equality
constraints.
The following features are **unsupported**: