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Implement midpoint integrator for free bodies.

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PiperOrigin-RevId: 899043541
Change-Id: I0bb38f6ad94e189b45ab16777a04ad6fefc6adf7
This commit is contained in:
Yuval Tassa
2026-04-13 09:37:51 -07:00
committed by Copybara-Service
parent d9b5d8babb
commit 0c337799bd
12 changed files with 913 additions and 29 deletions
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mjx/mujoco/mjx/_src/forward_test.py
+2
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@@ -78,6 +78,8 @@ class ForwardTest(absltest.TestCase):
# implicitfast
m.opt.integrator = mujoco.mjtIntegrator.mjINT_IMPLICITFAST
# TODO(team): remove this override when the mjx feature matches mujoco
m.opt.enableflags |= mujoco.mjtEnableBit.mjENBL_INVDISCRETE
dx = jax.jit(mjx.implicit)(mx, mjx.put_data(m, d))
mujoco.mj_implicit(m, d)
_assert_attr_eq(d, dx, 'qpos')