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Implicitfast integration for MJX.

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PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
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Erik Frey
2024-08-19 11:11:34 -07:00
committed by Copybara-Service
parent 5d91231d31
commit a68141eeff
9 changed files with 75 additions and 9 deletions
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doc/changelog.rst
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@@ -23,17 +23,19 @@ MJX
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
:doc:`fluid drag <computation/fluid>`.
Bug fixes
^^^^^^^^^
10. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
11. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
contribution by :github:user:`michael-ahn`).
11. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
12. 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
^^^^^^^^^^^^^^^
12. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
13. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
Version 3.2.2 (Aug 8, 2024)