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Initial implementation of contact sensor for MJX JAX backend.

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PiperOrigin-RevId: 786742643
Change-Id: Idabd98320a4716c597bb596e32a8a90f3cd5f356
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Taylor Howell
2025-07-24 09:58:39 -07:00
committed by Copybara-Service
parent 5eab59d026
commit ddb7eb07c7
7 changed files with 323 additions and 15 deletions
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doc/mjx.rst
+3 -2
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@@ -243,8 +243,9 @@ 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``, ``ACCELEROMETER``, ``FORCE``, ``TORQUE``,
``ACTUATORFRC``, ``JOINTACTFRC``, ``TENDONACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``
``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``, ``TOUCH``, ``CONTACT``, ``ACCELEROMETER``, ``FORCE``,
``TORQUE``, ``ACTUATORFRC``, ``JOINTACTFRC``, ``TENDONACTFRC``, ``FRAMELINACC``, ``FRAMEANGACC``
(``CONTACT``: matching ``none-none``, ``geom-geom``; reduction ``mindist``, ``maxforce``; data ``all``)
* - Lights
- Positions and directions of lights