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Adds support for Newton solver to MJX.

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PiperOrigin-RevId: 578738033
Change-Id: Id0e68c7b961380cb1ed88b40d99f202c3fa8e228
This commit is contained in:
Erik Frey
2023-11-01 22:04:02 -07:00
committed by Copybara-Service
parent e82cb9f420
commit 3c0a56c1e5
14 changed files with 128 additions and 74 deletions
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mjx/tutorial.ipynb
+6 -1
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@@ -356,6 +356,9 @@
" )\n",
" mj_model = mujoco.MjModel.from_xml_path(\n",
" (path / 'humanoid.xml').as_posix())\n",
" mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n",
" mj_model.opt.iterations = 6\n",
" mj_model.opt.ls_iterations = 6\n",
"\n",
" physics_steps_per_control_step = 5\n",
" kwargs['physics_steps_per_control_step'] = kwargs.get(\n",
@@ -834,7 +837,6 @@
"cell_type": "code",
"execution_count": null,
"metadata": {
"cellView": "form",
"id": "y79PoJOCIl-O"
},
"outputs": [],
@@ -912,6 +914,9 @@
" )\n",
" mj_model = mujoco.MjModel.from_xml_path(\n",
" (path / 'barkour_v0_mjx.xml').as_posix())\n",
" mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n",
" mj_model.opt.iterations = 4\n",
" mj_model.opt.ls_iterations = 6\n",
"\n",
" physics_steps_per_control_step = 10\n",
" kwargs['physics_steps_per_control_step'] = kwargs.get(\n",