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Adds support for fixed tendons to MJX.

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PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
This commit is contained in:
Erik Frey
2024-07-22 10:47:57 -07:00
committed by Copybara-Service
parent 33e5960653
commit 2d24c58819
15 changed files with 229 additions and 68 deletions
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mjx/mujoco/mjx/_src/forward.py
+5 -1
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@@ -66,6 +66,7 @@ def fwd_position(m: Model, d: Data) -> Data:
d = smooth.kinematics(m, d)
d = smooth.com_pos(m, d)
d = smooth.camlight(m, d)
d = smooth.tendon(m, d)
d = smooth.crb(m, d)
d = smooth.factor_m(m, d)
d = collision_driver.collision(m, d)
@@ -77,7 +78,10 @@ def fwd_position(m: Model, d: Data) -> Data:
@named_scope
def fwd_velocity(m: Model, d: Data) -> Data:
"""Velocity-dependent computations."""
d = d.replace(actuator_velocity=d.actuator_moment @ d.qvel)
d = d.replace(
actuator_velocity=d.actuator_moment @ d.qvel,
ten_velocity=d.ten_J @ d.qvel,
)
d = smooth.com_vel(m, d)
d = passive.passive(m, d)
d = smooth.rne(m, d)