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Fixes to the MJX Euler integrator and Newton solver, and test improvements to catch future bugs like this.

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PiperOrigin-RevId: 606389094
Change-Id: I50d0143f338fe29a823c930dba82995ce8a64ce2
This commit is contained in:
Erik Frey
2024-02-12 15:45:25 -08:00
committed by Copybara-Service
parent 805d862d5f
commit 47bb4a828e
6 changed files with 89 additions and 46 deletions
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mjx/mujoco/mjx/_src/forward.py
+4 -2
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@@ -287,8 +287,10 @@ def euler(m: Model, d: Data) -> Data:
# integrate damping implicitly
qacc = d.qacc
if not m.opt.disableflags & DisableBit.EULERDAMP:
# TODO(robotics-simulation): can this be done with a smaller perf hit
dh = d.replace(qM=d.qM.at[m.dof_Madr].add(m.opt.timestep * m.dof_damping))
if support.is_sparse(m):
dh = d.replace(qM=d.qM.at[m.dof_Madr].add(m.opt.timestep * m.dof_damping))
else:
dh = d.replace(qM=d.qM + jp.diag(m.opt.timestep * m.dof_damping))
dh = smooth.factor_m(m, dh)
qfrc = d.qfrc_smooth + d.qfrc_constraint
qacc = smooth.solve_m(m, dh, qfrc)