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Add userdata support to MJX.

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PiperOrigin-RevId: 622948369
Change-Id: I5eca0afcb8cd50f53eacc57a78bfdf68ccde12e7
This commit is contained in:
Tom Erez
2024-04-08 14:13:06 -07:00
committed by Copybara-Service
parent bb4389eb43
commit b441923598
3 changed files with 9 additions and 2 deletions
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doc/changelog.rst
+3 -2
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@@ -36,10 +36,11 @@ MJX
5. Fixed bug for sphere/capsule-convex deep penetration.
6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
7. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
8. Added support for userdata.
Simulate
^^^^^^^^
8. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
9. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
:ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the
other flag.
@@ -50,7 +51,7 @@ Python bindings
:align: right
:width: 240px
9. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
10. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
Kinematics, is available here: |ls_colab|
|br| The video on the right shows example clips from the tutorial.