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Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity.

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PiperOrigin-RevId: 664461284
Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76
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Taylor Howell
2024-08-18 08:46:45 -07:00
committed by Copybara-Service
parent 6a12787a32
commit 6241814ad7
4 changed files with 54 additions and 11 deletions
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doc/changelog.rst
+6 -5
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@@ -20,19 +20,20 @@ MJX
6. Added position-dependent sensors: ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``,
``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``SUBTREECOM``,
``CLOCK``.
7. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
8. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
7. Added velocity-dependent sensors: ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``.
8. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
9. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
Bug fixes
^^^^^^^^^
9. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
10. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
contribution by :github:user:`michael-ahn`).
10. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
11. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
integrators, wrong derivatives would be computed.
Python bindings
^^^^^^^^^^^^^^^
11. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
12. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
Version 3.2.2 (Aug 8, 2024)