Add hfield. Fixes #1655 #1491 #1695

PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848

doc/changelog.rst

@@ -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

@@ -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>`