b00a7c6705
Add touch sensor to MJX.
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PiperOrigin-RevId: 688056696
Change-Id: I50b0ebf3141aab0a5b07e5ae770101ff8b7737d4
2024-10-21 02:48:36 -07:00
680fb3e5dd
Add more public support functions for MJX.
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PiperOrigin-RevId: 687469475
Change-Id: I4218cc2f6d51d3f2f63b1a9a96953d550a5503a5
2024-10-18 17:15:18 -07:00
43a7493d17
Fix embarrassing bug with ckpt.
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PiperOrigin-RevId: 686679906
Change-Id: I61126ce94214b5f7b25b31e343a243d1a1dbb9f4
2024-10-16 16:23:54 -07:00
ffdb800e45
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
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PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
2024-10-16 14:24:06 -07:00
c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
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PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
096853e192
Add JOINTINPARENT actuator transmission type to MJX.
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PiperOrigin-RevId: 686083761
Change-Id: I5159d050812d32e15ced06df132d3e434fced814
2024-10-15 06:38:02 -07:00
6881ce2437
Remove support for Python 3.8.
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Python 3.8 has been deprecated upstream, and any tests depending on Homebrew already stopped working. Following our support policy, we are removing support for 3.8 from our packages, too.
PiperOrigin-RevId: 686012836
Change-Id: Ibd220eb9c10e9a74bbd4443c1d7286a1fde9e5e5
2024-10-15 01:54:18 -07:00
ac91a7639d
Add tendon velocity sensor to MJX.
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PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
2024-10-14 06:47:59 -07:00
1945926351
Fix computation of tangential contact forces in MJX _decode_pyramid.
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PiperOrigin-RevId: 685665382
Change-Id: Icdbba4a3ee5fec804340d73d525a36ee570c2aa8
2024-10-14 05:01:00 -07:00
223892c051
Add tendon position sensor to MJX.
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PiperOrigin-RevId: 684851437
Change-Id: Ica0a30762a9cb3d612357b40b6f87cd2fc544fdb
2024-10-11 08:47:52 -07:00
22e4f7fc31
Fix bug in MJX frictionloss.
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PiperOrigin-RevId: 684198925
Change-Id: I5f6575759729712550bcb8d7659aaa7a657c66fc
2024-10-09 15:50:58 -07:00
356d172f56
Update MJX SolverType docstring with Newton.
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PiperOrigin-RevId: 684040839
Change-Id: I27bc87b387b6b405f5c76350438d1fdd6867450a
2024-10-09 08:08:36 -07:00
fa22e6d001
Add sphere-ellipsoid, sphere-cylinder. #2126
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PiperOrigin-RevId: 683747371
Change-Id: Ic11803bb395944380d25ce848d9fbcf19afaad77
2024-10-08 13:37:00 -07:00
39af655c1e
Merge pull request #1939 from goncalog:update-humanoid-notebook
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PiperOrigin-RevId: 683668357
Change-Id: Id4a65197efc7d6d36e3e1d9885691b432d6114eb
2024-10-08 10:10:20 -07:00
160ed9bfe2
Add pulley support to spatial tendons in MJX.
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PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a
2024-10-07 03:00:53 -07:00
76a8d01eb9
revert physics_steps_per_control_step
2024-10-05 13:25:47 +01:00
b08d6f4724
revert the solver params
2024-10-05 13:23:47 +01:00
0dde0ba4ba
Fix external import in colab.
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PiperOrigin-RevId: 682514874
Change-Id: I6157c2613464d2f5d3c23a73248913f1a240a9f1
2024-10-04 18:12:43 -07:00
0887f54307
Add Franka Panda env to MJX colab tutorial.
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PiperOrigin-RevId: 682506877
Change-Id: Ifde31e993f63baa783e973c496e5bd7bd6465393
2024-10-04 17:36:49 -07:00
3ea8be2dcb
Merge pull request #2078 from hartikainen:enable-mjb-for-mjx-testspeed
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PiperOrigin-RevId: 682328610
Change-Id: I1329d8f7a0a47234e3eda61c457567825c89bd88
2024-10-04 08:22:53 -07:00
c7c2edf758
Add external sphere and cylinder wrapping for spatial tendons to MJX.
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PiperOrigin-RevId: 681808698
Change-Id: I37612e2c6b781b759f9009e1bc6ae10b4e861c8d
2024-10-03 03:56:24 -07:00
1a9d307042
Use mocap pos/quat in smooth.kinematics.
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PiperOrigin-RevId: 681136974
Change-Id: I0ece009ed1e68b61b0b96da2e685e86000f7f6b8
2024-10-01 13:12:33 -07:00
cb745db412
Ensure ten_wrapnum/wrapadr are int type.
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PiperOrigin-RevId: 680709773
Change-Id: Iebc0c796e66e657b8bebcc5fe4b2d347d9bdf42c
2024-09-30 14:02:48 -07:00
6f031f2293
Enable binary .mjb in mjx/viewer.py
2024-09-26 12:40:20 +03:00
827401554e
Enable binary .mjb in mjx/testspeed.py
2024-09-26 12:40:13 +03:00
2785dbc0da
Add tendon types to MJX name2id and id2name.
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PiperOrigin-RevId: 678424789
Change-Id: I2634be0810f8f7dafec597919c512752d2efcfa6
2024-09-24 15:46:33 -07:00
306e52c30f
internal change.
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PiperOrigin-RevId: 678355240
Change-Id: I271bece139de5d6e2e629d7f2fe84a4e2dd71138
2024-09-24 12:37:58 -07:00
b09c1a977e
Add jit flag to viewer (easier debugging). Make convex.xml stable.
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PiperOrigin-RevId: 678312872
Change-Id: I0d65d7c2d05a7b5103fa0be2233cbc5ba232817c
2024-09-24 10:49:34 -07:00
3a17be2d24
Add pause key to MJX viewer.
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PiperOrigin-RevId: 677959701
Change-Id: I7f816eb6bf702461f0d749b2aa6cd1664c258f3d
2024-09-23 15:23:13 -07:00
5838f84777
Fix bug where MJX data tendon fields are incorrect after calling put_data.
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PiperOrigin-RevId: 677911639
Change-Id: I75f536fa348e2941d9ec2d454f475cd067e6d3af
2024-09-23 13:12:49 -07:00
bbe8a0c516
Strip weak_types in mjx.put_model.
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PiperOrigin-RevId: 677859138
Change-Id: I9ef010c0c37d04f9931adf884ab1dce0521b8567
2024-09-23 10:54:53 -07:00
76b48b8e61
Add site semantics to weld constraint in MJX.
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PiperOrigin-RevId: 677823461
Change-Id: Iab20e042695dfad416d61fa7cc938faba8c7a6b6
2024-09-23 09:25:08 -07:00
ab3954d892
Set actuator_force in MJX. Fixes #2068 .
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PiperOrigin-RevId: 676867005
Change-Id: I80514a050ff40cb6d43a95b74c4a36c4991db588
2024-09-20 09:16:55 -07:00
f9401776d4
Add framelinacc and frameangacc sensors to MJX.
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PiperOrigin-RevId: 675141513
Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8
2024-09-16 07:34:16 -07:00
9d73211757
Add force and torque sensors to MJX.
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PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
2024-09-16 06:57:00 -07:00
e3d3a24b36
Add spatial tendons with site wrapping to MJX.
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PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
2024-09-12 04:17:16 -07:00
8710126d08
Raise NotImplementedError for unsupported sensors in MJX. Update MJX feature parity docs to include fully supported sensors.
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PiperOrigin-RevId: 673325233
Change-Id: Ib262bdd37937c5230765c11d1f61581e55e8c397
2024-09-11 03:50:46 -07:00
fa156ed22f
Add accelerometer to MJX.
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PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
2024-09-05 06:57:09 -07:00
20296466b1
Add subtreelinvel and subtreeangmom sensors to MJX.
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PiperOrigin-RevId: 671347528
Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
2024-09-05 06:21:50 -07:00
7b073b60c4
Add rne_postconstraint function to MJX. This function matches mj_rnePostConstraint and computes cacc, cfrc_ext, and cfrc_int.
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PiperOrigin-RevId: 671336319
Change-Id: I263b46c56a7609b9a8a30895c012798579d3dffa
2024-09-05 05:35:26 -07:00
cd8ff4401d
Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX.
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PiperOrigin-RevId: 671225109
Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc
2024-09-04 22:00:36 -07:00
8954a088ce
Add automatic free-joint alignment.
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PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
303e5e7718
Fix test threshold for external tests.
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PiperOrigin-RevId: 670720396
Change-Id: I28bff46535ffdd99724c75f8137834d84c3ec534
2024-09-03 15:06:42 -07:00
49711fa14f
Add support for joint and tendon frictionloss to MJX.
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PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
2024-09-03 13:17:41 -07:00
9805df616b
Add framelinvel and frameangvel sensors to MJX.
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PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
2024-08-31 06:12:37 -07:00
5391e6011a
Add sensor cutoff to MJX.
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PiperOrigin-RevId: 669363779
Change-Id: Ia5c3f913c1b84e1893aa6072268a334123f00aeb
2024-08-30 10:09:17 -07:00
cf02171bf8
Add velocimeter and gyro sensors to MJX.
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PiperOrigin-RevId: 669337697
Change-Id: I5e7f245b96eb334ffddd01757a9f631d9ad862cd
2024-08-30 08:39:40 -07:00
494e166f28
Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices.
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PiperOrigin-RevId: 669087189
Change-Id: I39e97264a192a621e67ae5e079334fc8be38a25d
2024-08-29 15:40:08 -07:00
5faff169b7
Update simulation params in MJX's tutorial
2024-08-29 14:39:08 +01:00
ee731506d7
Update params in humanoid's training
2024-08-29 14:37:38 +01:00
Taylor Howell