214 Commits

Author	SHA1	Message	Date
Copybara-Service	3ea8be2dcb	Merge pull request #2078 from hartikainen:enable-mjb-for-mjx-testspeed ... PiperOrigin-RevId: 682328610 Change-Id: I1329d8f7a0a47234e3eda61c457567825c89bd88	2024-10-04 08:22:53 -07:00
Taylor Howell	c7c2edf758	Add external sphere and cylinder wrapping for spatial tendons to MJX. ... PiperOrigin-RevId: 681808698 Change-Id: I37612e2c6b781b759f9009e1bc6ae10b4e861c8d	2024-10-03 03:56:24 -07:00
Baruch Tabanpour	1a9d307042	Use mocap pos/quat in smooth.kinematics. ... PiperOrigin-RevId: 681136974 Change-Id: I0ece009ed1e68b61b0b96da2e685e86000f7f6b8	2024-10-01 13:12:33 -07:00
Baruch Tabanpour	cb745db412	Ensure ten_wrapnum/wrapadr are int type. ... PiperOrigin-RevId: 680709773 Change-Id: Iebc0c796e66e657b8bebcc5fe4b2d347d9bdf42c	2024-09-30 14:02:48 -07:00
Kristian Hartikainen	6f031f2293	Enable binary .mjb in mjx/viewer.py	2024-09-26 12:40:20 +03:00
Kristian Hartikainen	827401554e	Enable binary .mjb in mjx/testspeed.py	2024-09-26 12:40:13 +03:00
Erik Frey	2785dbc0da	Add tendon types to MJX name2id and id2name. ... PiperOrigin-RevId: 678424789 Change-Id: I2634be0810f8f7dafec597919c512752d2efcfa6	2024-09-24 15:46:33 -07:00
Baruch Tabanpour	306e52c30f	internal change. ... PiperOrigin-RevId: 678355240 Change-Id: I271bece139de5d6e2e629d7f2fe84a4e2dd71138	2024-09-24 12:37:58 -07:00
Baruch Tabanpour	b09c1a977e	Add jit flag to viewer (easier debugging). Make convex.xml stable. ... PiperOrigin-RevId: 678312872 Change-Id: I0d65d7c2d05a7b5103fa0be2233cbc5ba232817c	2024-09-24 10:49:34 -07:00
Baruch Tabanpour	3a17be2d24	Add pause key to MJX viewer. ... PiperOrigin-RevId: 677959701 Change-Id: I7f816eb6bf702461f0d749b2aa6cd1664c258f3d	2024-09-23 15:23:13 -07:00
Erik Frey	5838f84777	Fix bug where MJX data tendon fields are incorrect after calling put_data. ... PiperOrigin-RevId: 677911639 Change-Id: I75f536fa348e2941d9ec2d454f475cd067e6d3af	2024-09-23 13:12:49 -07:00
Google DeepMind	bbe8a0c516	Strip weak_types in mjx.put_model. ... PiperOrigin-RevId: 677859138 Change-Id: I9ef010c0c37d04f9931adf884ab1dce0521b8567	2024-09-23 10:54:53 -07:00
Taylor Howell	76b48b8e61	Add site semantics to weld constraint in MJX. ... PiperOrigin-RevId: 677823461 Change-Id: Iab20e042695dfad416d61fa7cc938faba8c7a6b6	2024-09-23 09:25:08 -07:00
Taylor Howell	ab3954d892	Set actuator_force in MJX. Fixes #2068. ... PiperOrigin-RevId: 676867005 Change-Id: I80514a050ff40cb6d43a95b74c4a36c4991db588	2024-09-20 09:16:55 -07:00
Taylor Howell	f9401776d4	Add framelinacc and frameangacc sensors to MJX. ... PiperOrigin-RevId: 675141513 Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8	2024-09-16 07:34:16 -07:00
Taylor Howell	9d73211757	Add force and torque sensors to MJX. ... PiperOrigin-RevId: 675130978 Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d	2024-09-16 06:57:00 -07:00
Taylor Howell	e3d3a24b36	Add spatial tendons with site wrapping to MJX. ... PiperOrigin-RevId: 673783473 Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d	2024-09-12 04:17:16 -07:00
Taylor Howell	8710126d08	Raise NotImplementedError for unsupported sensors in MJX. Update MJX feature parity docs to include fully supported sensors. ... PiperOrigin-RevId: 673325233 Change-Id: Ib262bdd37937c5230765c11d1f61581e55e8c397	2024-09-11 03:50:46 -07:00
Taylor Howell	fa156ed22f	Add accelerometer to MJX. ... PiperOrigin-RevId: 671355424 Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7	2024-09-05 06:57:09 -07:00
Taylor Howell	20296466b1	Add subtreelinvel and subtreeangmom sensors to MJX. ... PiperOrigin-RevId: 671347528 Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12	2024-09-05 06:21:50 -07:00
Taylor Howell	7b073b60c4	Add rne_postconstraint function to MJX. This function matches mj_rnePostConstraint and computes cacc, cfrc_ext, and cfrc_int. ... PiperOrigin-RevId: 671336319 Change-Id: I263b46c56a7609b9a8a30895c012798579d3dffa	2024-09-05 05:35:26 -07:00
Taylor Howell	cd8ff4401d	Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX. ... PiperOrigin-RevId: 671225109 Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc	2024-09-04 22:00:36 -07:00
Yuval Tassa	8954a088ce	Add automatic free-joint alignment. ... PiperOrigin-RevId: 671010083 Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef	2024-09-04 10:07:33 -07:00
Baruch Tabanpour	303e5e7718	Fix test threshold for external tests. ... PiperOrigin-RevId: 670720396 Change-Id: I28bff46535ffdd99724c75f8137834d84c3ec534	2024-09-03 15:06:42 -07:00
Baruch Tabanpour	49711fa14f	Add support for joint and tendon frictionloss to MJX. ... PiperOrigin-RevId: 670679777 Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9	2024-09-03 13:17:41 -07:00
Taylor Howell	9805df616b	Add framelinvel and frameangvel sensors to MJX. ... PiperOrigin-RevId: 669647542 Change-Id: I612230e81b456c26f29173d1cb5a60975791875a	2024-08-31 06:12:37 -07:00
Taylor Howell	5391e6011a	Add sensor cutoff to MJX. ... PiperOrigin-RevId: 669363779 Change-Id: Ia5c3f913c1b84e1893aa6072268a334123f00aeb	2024-08-30 10:09:17 -07:00
Taylor Howell	cf02171bf8	Add velocimeter and gyro sensors to MJX. ... PiperOrigin-RevId: 669337697 Change-Id: I5e7f245b96eb334ffddd01757a9f631d9ad862cd	2024-08-30 08:39:40 -07:00
Erik Frey	494e166f28	Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices. ... PiperOrigin-RevId: 669087189 Change-Id: I39e97264a192a621e67ae5e079334fc8be38a25d	2024-08-29 15:40:08 -07:00
Yuval Tassa	088079eff0	Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations. ... PiperOrigin-RevId: 666438658 Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463	2024-08-22 12:01:54 -07:00
Taylor Howell	a2649d6cec	Add efc_margin to MJX. ... PiperOrigin-RevId: 666273240 Change-Id: I12d6cc0d3edd3c3faff5a876335910b42e9cc9bf	2024-08-22 03:27:02 -07:00
Taylor Howell	b2174a7ec3	Add framequat sensor to MJX. ... PiperOrigin-RevId: 666254481 Change-Id: I50be8574e1e4677ef5dc23a2bdcbc296f301d7fc	2024-08-22 02:21:20 -07:00
Taylor Howell	b42780a5f4	Add subtree_vel function to MJX. This function matches mj_subtreeVel. ... PiperOrigin-RevId: 666078305 Change-Id: Ia0ecbf8279e914f49ee60b862541d697e8d4abb1	2024-08-21 16:21:57 -07:00
Copybara-Service	e76168141a	Merge pull request #1914 from google-deepmind:dependabot/pip/mjx/zipp-3.19.1 ... PiperOrigin-RevId: 665892706 Change-Id: Ib9891d5bb75560251d9eb0dac8100e04ca06f54f	2024-08-21 08:35:00 -07:00
Taylor Howell	806b8c8e2e	Add support for actuatorfrc and jointactfrc sensors in MJX. ... PiperOrigin-RevId: 665804850 Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf	2024-08-21 03:46:26 -07:00
dependabot[bot]	029fbd5172	Bump zipp from 3.17.0 to 3.19.1 in /mjx ... Bumps [zipp](https://github.com/jaraco/zipp) from 3.17.0 to 3.19.1. - [Release notes](https://github.com/jaraco/zipp/releases) - [Changelog](https://github.com/jaraco/zipp/blob/main/NEWS.rst) - [Commits](https://github.com/jaraco/zipp/compare/v3.17.0...v3.19.1) --- updated-dependencies: - dependency-name: zipp dependency-type: direct:production ... Signed-off-by: dependabot[bot] <support@github.com>	2024-08-20 12:13:10 +00:00
Erik Frey	a68141eeff	Implicitfast integration for MJX. ... PiperOrigin-RevId: 664889120 Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a	2024-08-19 11:12:36 -07:00
Taylor Howell	6241814ad7	Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity. ... PiperOrigin-RevId: 664461284 Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76	2024-08-18 08:47:35 -07:00
Taylor Howell	6a12787a32	Add camera projection sensor to MJX. ... PiperOrigin-RevId: 664426007 Change-Id: I0f2681c156b12ab62503d45beb2cd8752e7202d6	2024-08-18 05:57:33 -07:00
Taylor Howell	51733c2a8a	Add rangefinder sensor to MJX. ... PiperOrigin-RevId: 664417458 Change-Id: I1ad7720e48541349f155984584314b2b49ccbf36	2024-08-18 05:15:58 -07:00
Taylor Howell	6acf40613d	Add support for disabling MJX sensors. ... PiperOrigin-RevId: 664410169 Change-Id: Icb278e9d7a9a493d5a61ab04c1300d8e412d0e83	2024-08-18 04:41:24 -07:00
Erik Frey	390bce2352	Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data. ... PiperOrigin-RevId: 663808411 Change-Id: Ic55875f87f5c36b9dfe21e5ed5891d64c7003cab	2024-08-16 12:02:21 -07:00
Taylor Howell	ce9c0ea351	Modify MJX sensor_pos to handle unsupported sensors. ... PiperOrigin-RevId: 663768186 Change-Id: I2e7600e77855a96a47f012fb64b6cc43abbf6f64	2024-08-16 10:10:37 -07:00
Taylor Howell	6db96e07e4	Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock. ... PiperOrigin-RevId: 663668212 Change-Id: Ifc9adc6bff4544172ab22572da04a093aebfdbd4	2024-08-16 03:10:24 -07:00
Taylor Howell	a74c184f9d	Add efc_pos to MJX. ... fixes #1388 PiperOrigin-RevId: 663358494 Change-Id: I63885f9208d12edbaa4b7d123ce4c6d16f40dcbe	2024-08-15 10:33:44 -07:00
Saran Tunyasuvunakool	1141b4abbc	Force dtype of mjx.Contact.{geom1,geom2,geom} to int32. ... This improves compatibility with MuJoCo. PiperOrigin-RevId: 662655282 Change-Id: I2a336d9453f40cf0bfa85a7203b55709e23a07fe	2024-08-13 14:34:43 -07:00
Taylor Howell	ebf887e14d	Add sensors to MJX. Implements jointpos and actuatorpos as examples. ... PiperOrigin-RevId: 660891329 Change-Id: Ie6c282a397de2f52843775ec747495e9be46d307	2024-08-08 10:33:19 -07:00
Taylor Howell	2c56946547	Increase mjVERSIONSTRING to 3.2.3 after release. ... PiperOrigin-RevId: 660891033 Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62	2024-08-08 10:31:57 -07:00
Gabe Oppenheimer	ebc48d2783	Update the MuJoCo version to v3.2.2 following the 3.2.1 release. ... PiperOrigin-RevId: 660036707 Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140	2024-08-06 11:39:30 -07:00
Gabe Oppenheimer	d538bf994d	Update version to 3.2.1 following the 3.2.0 release. ... PiperOrigin-RevId: 658412236 Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793	2024-08-01 08:35:42 -07:00