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Add framelinvel and frameangvel sensors to MJX.

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PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
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Taylor Howell
2024-08-31 06:11:57 -07:00
committed by Copybara-Service
parent 651868ab05
commit 9805df616b
4 changed files with 91 additions and 4 deletions
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doc/changelog.rst
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@@ -32,7 +32,8 @@ MJX
- Added position-dependent sensors: ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``,
``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``,
``SUBTREECOM``, ``CLOCK``.
- Added velocity-dependent sensors: ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``.
- Added velocity-dependent sensors: ``VELOCIMETER``, ``GYRO``, ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``,
``FRAMELINVEL``, ``FRAMEANGVEL``.
- Added acceleration/force-dependent sensors: ``ACTUATORFRC``, ``JOINTACTFRC``.
- Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
- Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.