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
a306e32707
Add new hash for scipy in mjx/requirements.txt
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PiperOrigin-RevId: 586674164
Change-Id: Idcda8f57addbce331da04cc1510e01ff91563040
2023-11-30 07:48:45 -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
1554048856
Bump dev version number to 3.0.2.
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PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
2023-11-15 12:51:04 -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
f7bdd5dc0e
Upgrade pip to version 23.3.1.
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PiperOrigin-RevId: 579062729
Change-Id: Id6a78e6002a7aabb0f947d7722d5c178d5d9ca62
2023-11-02 21:20:55 -07:00
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
a4588cee12
Fix https://github.com/google-deepmind/mujoco/issues/1123
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PiperOrigin-RevId: 576159322
Change-Id: I29fc3df294af008f55324bc49c0f597d778e3392
2023-10-24 09:08:34 -07:00
a53b5be956
Allow pre-release mujoco installs in mjx source install.
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PiperOrigin-RevId: 575629464
Change-Id: I47615dee0e965c6016d90871fa100f52bb74bf0c
2023-10-22 10:19:24 -07:00
e57b34303a
Reformat notebook and add back sim2sim.
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PiperOrigin-RevId: 575246433
Change-Id: I8627916e7dedd5cf64dab6e0151f41c3153e7a68
2023-10-20 09:53:53 -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
9decb7389f
Make humanoid default in colab.
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PiperOrigin-RevId: 574925299
Change-Id: I619438b4c61b882db27c3984fb8c061ec0c39e4d
2023-10-19 10:38:09 -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
b989a85364
Remove block in colab.
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PiperOrigin-RevId: 574595549
Change-Id: I3814a8ecb909a581d96b614edd99002c05de014b
2023-10-18 14:19:05 -07:00
2fefa7dd8a
Improve MJX Colab description in README.
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PiperOrigin-RevId: 574521404
Change-Id: If236aa97a7d5ef6fa3884728652011f1311031cb
2023-10-18 10:37:37 -07:00
269d88ad92
Bump dev version number to 3.0.1.
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PiperOrigin-RevId: 574451745
Change-Id: Iedbbb3304b88876f31a6196d690a1f05c6428e2f
2023-10-18 15:01:21 +01:00
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