3e2d62c248
Improve performance of getting and putting MJX device data with large numpy arrays.
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ndarray.tobytes() is faster than converting arrays to tuples by orders of magnitude.
PiperOrigin-RevId: 605437697
Change-Id: I7d42c10e178b1aec80ff38a82e863e0701c15e62
2024-02-08 15:02:21 -08:00
ea69f20b43
Unrolled matmul for small matrices in MJX improves steps/sec by 10-20%.
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PiperOrigin-RevId: 605033188
Change-Id: I9da723d01e1f6511abaf4522b4c8f829a8091772
2024-02-07 10:48:45 -08:00
19c41aa965
Merge pull request #1401 from driesmarzougui:main
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PiperOrigin-RevId: 604771114
Change-Id: I9389828e9b588c22eb24a4074a23283943ca748d
2024-02-06 14:49:35 -08:00
38cbc9e543
Improve MJX performance on NVIDIA GPU by enabling Triton GEMM.
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PiperOrigin-RevId: 604691509
Change-Id: Iba11a9e1b79848624a1ef6eb4e61e2093d36e662
2024-02-06 10:31:49 -08:00
ed36956b0d
fix https://github.com/google-deepmind/mujoco/issues/1379
2024-02-05 10:59:08 +01:00
92c161a61b
Add ncon to __init__.
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PiperOrigin-RevId: 603468404
Change-Id: I20c622b8f6f84ecacb9f3cdd26ac9560cf2788be
2024-02-01 13:38:23 -08:00
8be966cdf9
Avoid NaN in gradient of where. Fixes #1349 .
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PiperOrigin-RevId: 602461299
Change-Id: I7c976d3b7262027bdc63967dcc00674fb2802e70
2024-01-29 12:09:29 -08:00
508669a9f2
Raise not implemented for frictionloss for now. #1344
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PiperOrigin-RevId: 602453907
Change-Id: I0ea506b54f96c4fadc0f29f9ed0a21b0b6a7e5d9
2024-01-29 11:45:36 -08:00
a1e5ede266
Allow Brax data structures to inherit from MJX data structures.
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PiperOrigin-RevId: 601290735
Change-Id: I6dad1b6d7e6b3e71acecc36189ab59cc81ab90b4
2024-01-24 18:03:17 -08:00
e59605135a
Make benchmarks and viewer more accessible.
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- Drop google_benchmark module dependency, wasn't really using it.
- Move benchmark models into test_data
- Rename benchmark => testspeed, make default output more like MJ testspeed.
- Update viewer to use new io functions and add get_data_into.
- Add "mjx-testspeed" and "mjx-viewer" bin scripts
PiperOrigin-RevId: 601277135
Change-Id: I782f666c58a96ac1a0a1c5ffc8ecf29d9fcd810f
2024-01-24 17:04:02 -08:00
0a7be1732c
Adds support for explicit dense/sparse mass matrices to MJX.
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This increases performance, particularly for the Newton solver on TPU.
PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
2024-01-23 00:32:07 -08:00
5cbaa23388
Remove TEST_FILES from MJX test_util.py.
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PiperOrigin-RevId: 599886327
Change-Id: I4d166e09db22fffc959dbe34fa3469bd4a1b9f84
2024-01-19 11:15:06 -08:00
a02fc405af
Add naive ray mesh implementation.
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PiperOrigin-RevId: 598993152
Change-Id: I708505bf20a89d5a4840451a11b99771195003e6
2024-01-16 16:29:11 -08:00
ee922be393
Benchmark improvements.
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- Use multiple devices if present
- FLAGS more agnostic to diverse platforms
PiperOrigin-RevId: 598990299
Change-Id: Ifbd454ca521a788324f2b62f1c79e7d4b8305a30
2024-01-16 16:17:56 -08:00
85ab6183bc
Add ray filtering based on geom transparency and filter params.
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PiperOrigin-RevId: 597316447
Change-Id: If9619320f0024c486bb7abe2c63e9a1ba1a631f0
2024-01-10 11:59:11 -08:00
feb92bf535
MJX ray for planes, spheres, capsules, and boxes.
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PiperOrigin-RevId: 596004453
Change-Id: I6c15268f7ec6afc1aadd370a78ef225ab9c5fd04
2024-01-05 08:42:17 -08:00
8ce2c92021
Add refsite transmission.
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PiperOrigin-RevId: 595239860
Change-Id: Id1ca8fe2ffab4b55013e8987e92eb99847278dc4
2024-01-02 16:45:50 -08:00
77b4132c47
Add site transmission to MJX.
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PiperOrigin-RevId: 592373042
Change-Id: I54d941f4ee6f74404fe2aea7253f5b426d097e23
2023-12-19 16:19:17 -08:00
80f50c943c
Add filterexact to MJX.
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PiperOrigin-RevId: 592026712
Change-Id: Ia73d67f36db5a4a1786a2532b5daa9e9a36f714c
2023-12-18 15:29:18 -08:00
0915d69c3f
Correctly transform site_xmat in MJX get_data/put_data.
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PiperOrigin-RevId: 590750273
Change-Id: I836e1f5d20725ed9b93bf86fe3e8e61954a56b47
2023-12-13 16:34:42 -08:00
b3ccf67ebf
Cleanup MJX tests and migrate them to put_model/put_data.
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PiperOrigin-RevId: 588304729
Change-Id: I58075383e6eed64ae00cea305a568eba6465b0b0
2023-12-05 23:08:05 -08:00
67fa7c1dc2
Add put_model, put_data, and get_data to MJX.
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These io functions replace device_put, device_get_into. These new functions correctly copy intermediate fields such as efc_J, which the old functions could not.
PiperOrigin-RevId: 586712273
Change-Id: Ia3a4104af17db2ebd41b41a2ca501c5de9ac5d05
2023-11-30 10:14:46 -08:00
2f37147fc0
Guard against NaNs in MJX solver when no cost is imposed. Fixes #1225 .
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PiperOrigin-RevId: 586020958
Change-Id: I82f398b1538d2c3801a35c80c862e49be3b110a2
2023-11-28 10:12:17 -08:00
35c90844ae
Add sites to MJX.
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PiperOrigin-RevId: 585691582
Change-Id: I6cc594daf436231f91534f137ff259e7b39811d9
2023-11-27 10:28:50 -08:00
4d2a176a8a
Modify name of mjx integration tests.
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PiperOrigin-RevId: 583108693
Change-Id: If972c376181ca98201ff61ff06d200c82d214e2b
2023-11-16 11:24:07 -08:00
c8146372cf
Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts.
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PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
2023-11-13 16:48:49 -08:00
3c0a56c1e5
Adds support for Newton solver to MJX.
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PiperOrigin-RevId: 578738033
Change-Id: Id0e68c7b961380cb1ed88b40d99f202c3fa8e228
2023-11-01 22:05:10 -07:00
45878b7eef
Raise an exception in MJX if given a model with tendons.
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Fixes #1149
PiperOrigin-RevId: 578278430
Change-Id: Ie633975b830379ca554438307a6e674675eaf8e7
2023-10-31 13:09:27 -07:00
7069976557
Implement joint equality constraint. Streamline constraint functions.
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PiperOrigin-RevId: 577905570
Change-Id: I70580d21e3c612606b967cdd84ad22794c672397
2023-10-30 11:38:15 -07:00
86d9c84e59
Fix bug in implementation of torquescale
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PiperOrigin-RevId: 577466789
Change-Id: I3c8e5dd9b4af9a629e777f7ccad8417075b0046c
2023-10-28 08:25:25 -07:00
930c707e00
Ensure equality constraints are active irrespective of sign.
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Fixes #1129
PiperOrigin-RevId: 577337939
Change-Id: Id835bb6d361525e5cb26f7696038d73d3c1a703e
2023-10-27 16:51:58 -07:00
189dcc865b
Use typing for Sequence instead of collections.abc
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PiperOrigin-RevId: 577247039
Change-Id: If09884429070d74bcf517da78a3fa43c158978a2
2023-10-27 10:55:08 -07:00
843360b732
Avoid efc rows for joints with no limit.
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Fixes #1117
PiperOrigin-RevId: 576276387
Change-Id: I7d2a3860b19d83d65acf1995f7be05cb2d1247d4
2023-10-24 14:12:28 -07:00
29f6f06788
Bump benchmarks from V100 to A100 to match published numbers.
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PiperOrigin-RevId: 576230623
Change-Id: Ib17ffd210a781e1024f8bb484c75547ee39876f7
2023-10-24 12:38:01 -07:00
ebe081f27e
Add contact disable flag to collision driver.
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PiperOrigin-RevId: 575245746
Change-Id: If2ea8a5de6f6c751729c9b8dd5efc42e7bdd51ea
2023-10-20 09:51:24 -07:00
e4a9f535a4
Make MJX device_put type validation more verbose.
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PiperOrigin-RevId: 575050350
Change-Id: I7cab4ee54d462b61e9478dbd58d99bb9fb662daf
2023-10-19 17:30:33 -07:00
dd841c9283
Fix bug in joint range for MJX.
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PiperOrigin-RevId: 575023489
Change-Id: I717333064ed4d6971a841bec60e8afd3019120a7
2023-10-19 15:40:09 -07:00
79e9589515
Change test_box_box slightly.
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PiperOrigin-RevId: 574937448
Change-Id: If84c8e192b230fea0e858fdd12beceedaa280f30
2023-10-19 11:07:42 -07:00
2970a2575d
Change assertTrue to np.testing.assert_array_less.
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This gives a more informative error message on failure, e.g. in https://github.com/conda-forge/mujoco-feedstock/pull/31#issuecomment-1770195171
PiperOrigin-RevId: 574879703
Change-Id: I1936c16264b00d6f80c4817d982b0ab4ab6d4b5d
2023-10-19 08:27:08 -07:00
44ba099fd6
Fix bug with single actuator in transmission.
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PiperOrigin-RevId: 574637727
Change-Id: Ibfc01ff3bc80afe5da253fd9d6d76609b8e9198d
2023-10-18 16:18:21 -07:00
8f9c690c85
Add MJX and bump version number to 3.0.0.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 574327508
Change-Id: Ia9b62fbc929c6869dfcec87636b2e10d405a1060
2023-10-18 10:33:29 +01:00
Erik Frey