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Add subtreelinvel and subtreeangmom sensors to MJX.

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PiperOrigin-RevId: 671347528
Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
This commit is contained in:
Taylor Howell
2024-09-05 06:20:39 -07:00
committed by Copybara-Service
parent 7b073b60c4
commit 20296466b1
4 changed files with 25 additions and 4 deletions
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doc/changelog.rst
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@@ -53,7 +53,7 @@ MJX
``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``,
``SUBTREECOM``, ``CLOCK``.
- Added velocity-dependent sensors: ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``,
``FRAMELINVEL``, ``FRAMEANGVEL``.
``FRAMELINVEL``, ``FRAMEANGVEL``, ``SUBTREELINVEL``, ``SUBTREEANGMOM``.
- Added acceleration/force-dependent sensors: ``ACTUATORFRC``, ``JOINTACTFRC``.
- Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
- Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.