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Adds support for explicit dense/sparse mass matrices to MJX.

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This increases performance, particularly for the Newton solver on TPU.

PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
This commit is contained in:
Erik Frey
2024-01-23 00:31:01 -08:00
committed by Copybara-Service
parent aceb52bd09
commit 0a7be1732c
14 changed files with 324 additions and 143 deletions
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doc/changelog.rst
+10 -8
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@@ -26,21 +26,23 @@ MJX
5. Added :at:`site` transmission.
6. Updated MJX colab tutorial with more stable quadruped environment.
7. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
8. Added ``mjx.is_sparse`` which mirrors :ref:`mj_isSparse` and ``mjx.full_m`` which mirrors :ref:`mj_fullM`.
9. Added support for specifying sparse or dense mass matrices via :ref:`option-jacobian`.
Python bindings
^^^^^^^^^^^^^^^
8. Improved the implmentation of the :ref:`rollout<PySample>` module. Note the changes below are breaking, dependent
code will require modification.
10. Improved the implmentation of the :ref:`rollout<PySample>` module. Note the changes below are breaking, dependent
code will require modification.
- Uses :ref:`mjSTATE_FULLPHYSICS<geFullPhysics>` as state spec, enabling divergence detection by inspecting time.
- Allows user-defined control spec for any combination of :ref:`user input<geInput>` fields as controls.
- Outputs are no longer squeezed and always have dim=3.
- Uses :ref:`mjSTATE_FULLPHYSICS<geFullPhysics>` as state spec, enabling divergence detection by inspecting time.
- Allows user-defined control spec for any combination of :ref:`user input<geInput>` fields as controls.
- Outputs are no longer squeezed and always have dim=3.
Bug fixes
^^^^^^^^^
9. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
:github:issue:`1270`.
10. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
11. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
:github:issue:`1270`.
12. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
bound of the length range. Fixes :github:issue:`1342`.