From bd1d94c2825b727d9e5fe16d44aeb69922c33723 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Mon, 9 Dec 2024 08:46:45 -0800
Subject: [PATCH] Fix mjx.rst.

PiperOrigin-RevId: 704301576
Change-Id: Ia663f5b7fe224ca3e7865829744379eac38fac3e
---
 doc/mjx.rst | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/doc/mjx.rst b/doc/mjx.rst
index 116161c1..cc50fe2e 100644
--- a/doc/mjx.rst
+++ b/doc/mjx.rst
@@ -233,7 +233,7 @@ The following features are **fully supported** in MJX:
    * - :ref:`Cone <mjtCone>`
      - ``PYRAMIDAL``, ``ELLIPTIC``
    * - :ref:`Condim <coContact>`
-     - 1, 3, 4, 6
+     - 1, 3, 4, 6 (1 is not supported with ``ELLIPTIC``)
    * - :ref:`Solver <mjtSolver>`
      - ``CG``, ``NEWTON``
    * - Fluid Model
@@ -244,10 +244,9 @@ 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``, ``ACTUATORFRC``, ``JOINTACTFRC``,
-       ``FRAMELINACC``, ``FRAMEANGACC``
-     - ``ACCELEROMETER``, ``FORCE``, and ``TORQUE`` are supported if the model does not include connect or weld equality
-       constraints.
+       ``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``TOUCH``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``,
+       ``ACTUATORFRC``, ``JOINTACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``
+       (``ACCELEROMETER``, ``FORCE``, ``TORQUE`` not supported with connect or weld equality constraints)
 
 The following features are **in development** and coming soon:
 
@@ -267,7 +266,7 @@ The following features are **in development** and coming soon:
    * - Dynamics
      - :ref:`Inverse <mj_inverse>`
    * - :ref:`Tendon Wrapping <mjtWrap>`
-     - ``SPHERE``, ``CYLINDER``
+     - ``SPHERE``, ``CYLINDER`` (external wrapping is supported)
    * - Fluid Model
      - :ref:`flEllipsoid`
    * - :ref:`Tendons <tendon>`
@@ -276,9 +275,6 @@ 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**: