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Add hfield. Fixes #1655 #1491 #1695

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PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
This commit is contained in:
Baruch Tabanpour
2024-05-29 16:20:27 -07:00
committed by Copybara-Service
parent dec55b59fa
commit c511d02265
13 changed files with 604 additions and 106 deletions
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doc/changelog.rst
+11 -2
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@@ -14,12 +14,21 @@ General
2. Added :ref:`timeconst<actuator-position-timeconst>` attribute to the :ref:`position actuator<actuator-position>`.
When set to a positive value, the actuator is made stateful with :at:`filterexact` dynamics.
MJX
^^^
3. Add height-field collision support. Fixes :github:issue:`1491`.
4. Add a pre-compiled field ``mesh_convex`` to ``mjx.Model`` so that mesh properties can be vmapped over.
Fixes :github:issue:`1655`.
5. Fix a bug in convex mesh collisions, where erroneous edge contacts were being created even though face
separating axes were found. Fixes :github:issue:`1695`.
Bug fixes
^^^^^^^^^
3. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
6. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
often the case for URDF imports. Fixes :github:issue:`1069`, :github:issue:`1577`.
4. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
7. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
them. Fixes :github:issue:`1539`.
Version 3.1.5 (May 7, 2024)
doc/mjx.rst
+2 -2
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@@ -196,7 +196,7 @@ The following features are **fully supported** in MJX:
* - :ref:`Actuator Bias <mjtBias>`
- ``NONE``, ``AFFINE``
* - :ref:`Geom <mjtGeom>`
- ``PLANE``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH``
- ``PLANE``, ``HFIELD``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH`` are fully implemented. ``ELLIPSOID`` and ``CYLINDER`` are implemented but only collide with other primitives.
* - :ref:`Constraint <mjtConstraint>`
- ``EQUALITY``, ``LIMIT_JOINT``, ``CONTACT_FRICTIONLESS``, ``CONTACT_PYRAMIDAL``
* - :ref:`Equality <mjtEq>`
@@ -223,7 +223,7 @@ The following features are **in development** and coming soon:
* - Category
- Feature
* - :ref:`Geom <mjtGeom>`
- ``SDF``, ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``
- ``SDF``. Collisions between (``SPHERE``, ``BOX``, ``MESH``, ``HFIELD``) and ``CYLINDER``. Collisions between (``BOX``, ``MESH``, ``HFIELD``) and ``ELLIPSOID``.
* - :ref:`Constraint <mjtConstraint>`
- :ref:`Frictionloss <coFriction>`, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
* - :ref:`Integrator <mjtIntegrator>`