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Add tendon velocity sensor to MJX.

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PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
This commit is contained in:
Taylor Howell
2024-10-14 06:47:05 -07:00
committed by Copybara-Service
parent 1e7c109887
commit ac91a7639d
5 changed files with 11 additions and 4 deletions
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doc/changelog.rst
+1 -1
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@@ -24,7 +24,7 @@ MJX
- Added support for :ref:`spatial tendons <tendon-spatial>` with pulleys and external sphere and cylinder wrapping.
- Added sphere-cylinder and sphere-ellipsoid collision functions (:github:issue:`2126`).
- Fixed a bug with frictionloss constraints.
- Added ``TENDONPOS`` sensor.
- Added ``TENDONPOS`` and ``TENDONVEL`` sensors.
- Fixed a bug with the computation of tangential contact forces in ``_decode_pyramid``.
Bug fixes
doc/mjx.rst
+3 -3
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@@ -219,9 +219,9 @@ The following features are **fully supported** in MJX:
* - :ref:`Sensors <mjtSensor>`
- ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``, ``TENDONPOS``, ``ACTUATORPOS``, ``BALLQUAT``,
``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``, ``SUBTREECOM``, ``CLOCK``,
``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``, ``FRAMEANGVEL``,
``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``, ``ACTUATORFRC``, ``JOINTACTFRC``,
``FRAMELINACC``, ``FRAMEANGACC``.
``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``TENDONVEL``, ``ACTUATORVEL``, ``BALLANGVEL``, ``FRAMELINVEL``,
``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``, ``ACTUATORFRC``,
``JOINTACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``.
The following features are **in development** and coming soon: