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Add ellipsoid sdf collisions to MJX.

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Co-authored-by: Baruch Tabanpour <btaba@google.com>
PiperOrigin-RevId: 623415479
Change-Id: Id061c8e083357d063f1ccddf0989f2fafe415eed
This commit is contained in:
Alessio Quaglino
2024-04-10 01:39:52 -07:00
committed by Copybara-Service
parent 725630c95d
commit 2b3f336bd3
5 changed files with 210 additions and 5 deletions
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doc/changelog.rst
+7 -5
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@@ -8,6 +8,7 @@ Upcoming version (not yet released)
MJX
^^^
1. Added support for userdata.
2. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs).
Version 3.1.4 (April 8th, 2024)
-------------------------------
@@ -43,10 +44,11 @@ MJX
5. Fixed bug for sphere/capsule-convex deep penetration.
6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
7. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
8. Added ellipsoid plane collisions.
Simulate
^^^^^^^^
8. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
9. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
:ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the
other flag.
@@ -57,10 +59,10 @@ Python bindings
:align: right
:width: 240px
9. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
Kinematics, is available here: |ls_colab|
|br| The video on the right shows example clips from the tutorial.
10. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
Kinematics, is available here: |ls_colab|
|br| The video on the right shows example clips from the tutorial.
.. |ls_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
:target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb