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Merge pull request #1450 from v-r-a:angmomMat

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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
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Copybara-Service
2024-03-05 07:35:15 -08:00
parent 49ddb7ca2e 93f9154d44
commit 6b7d714291
12 changed files with 279 additions and 9 deletions
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doc/changelog.rst
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@@ -16,27 +16,30 @@ General
its internal file buffers. :ref:`mj_addBufferVFS` allocates an empty buffer with a given name in an mjVFS and
copies the data buffer into it, combining and replacing the deprecated two-step process of calling
:ref:`mj_makeEmptyFileVFS` followed by a direct copy into the given mjVFS internal file buffer.
3. Added :ref:`mj_angmomMat` which computes the ``3 x nv`` angular momentum matrix :math:`H(q)`, providing the linear
mapping from generalized velocities to subtree angular momentum :math:`h = H \dot q`. Contribution by
:github:user:`v-r-a`.
MJX
^^^
3. Improved performance of getting and putting device data.
4. Improved performance of getting and putting device data.
- Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
- Avoid reallocating host ``mjData`` arrays when array shapes are unchanged.
- Speed up calculation of ``mjx.ncon`` for models with many geoms.
- Avoid calling ``mjx.ncon`` in ``mjx.get_data_into`` when ``nc`` can be derived from ``mjx.Data``.
4. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
5. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
``mjx.get_data_into`` function call.
5. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
6. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
7. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
8. Added support for cameras in ``mjx.Model`` and ``mjx.Data``. Fixes :github:issue:`1422`.
9. Added an implementation of broadphase using `top_k` and bounding spheres.
6. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
7. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
8. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
9. Added support for cameras in ``mjx.Model`` and ``mjx.Data``. Fixes :github:issue:`1422`.
10. Added an implementation of broadphase using `top_k` and bounding spheres.
Python bindings
^^^^^^^^^^^^^^^
10. Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex`` array members
11. Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex`` array members
of the ``mjContact`` struct, and all array members of the ``mjrContext`` struct.