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Add support for actuatorfrc and jointactfrc sensors in MJX.

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PiperOrigin-RevId: 665804850
Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf
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Taylor Howell
2024-08-21 03:45:40 -07:00
committed by Copybara-Service
parent f986a52e1e
commit 806b8c8e2e
4 changed files with 44 additions and 7 deletions
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doc/changelog.rst
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@@ -21,21 +21,22 @@ MJX
``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``SUBTREECOM``,
``CLOCK``.
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``.
10. Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
8. Added acceleration/force-dependent sensors: ``ACTUATORFRC``, ``JOINTACTFRC``.
9. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
10. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
11. Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
:doc:`fluid drag <computation/fluid>`.
Bug fixes
^^^^^^^^^
11. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
12. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
contribution by :github:user:`michael-ahn`).
12. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
13. 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
^^^^^^^^^^^^^^^
13. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
14. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
Version 3.2.2 (Aug 8, 2024)