6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
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These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
2024-06-16 10:02:36 -07:00
28e5ba2d29
Copybara import of the project:
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--
8857485483508e2c82c6a827daee8b457f88d1c8 by Taylor <taylor.athaniel.howell@gmail.com >:
velcoity -> velocity
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1733 from thowell:docs 8857485483508e2c82c6a827daee8b457f88d1c8
PiperOrigin-RevId: 642779993
Change-Id: I84d15237314af8b823fe616f72bd79a088a21d61
2024-06-12 16:42:30 -07:00
238736393b
#mjx Make Data.time strongly typed.
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PiperOrigin-RevId: 641774798
Change-Id: I5e13e3cefeb7942083f623f29757a459656062dd
2024-06-09 20:56:33 -07:00
4c3d9461ae
Elliptic friction in MJX.
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PiperOrigin-RevId: 641384367
Change-Id: I510c565940324fbbf392ce537ce27e0cb9af3eb1
2024-06-07 16:05:58 -07:00
c136f3d6e8
Fix barkour path.
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PiperOrigin-RevId: 641093437
Change-Id: I92b8193c8458461e1a1f80b1e4c099067ed2099a
2024-06-06 19:09:58 -07:00
fb8bf206d9
Update MJX colab with hfield example.
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PiperOrigin-RevId: 641061897
Change-Id: Ia1002173adce7b7b12203857abed18568ae236f1
2024-06-06 16:43:34 -07:00
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
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PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
c511d02265
Add hfield. Fixes #1655 #1491 #1695
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PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
2024-05-29 16:21:34 -07:00
7ca8a629a2
Speed up primitive sdf slightly.
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PiperOrigin-RevId: 637105250
Change-Id: Iec73b0b30d5222617d01622771afbc95a646da45
2024-05-24 20:01:54 -07:00
2a9067a6b3
Replace dt with opt.timestep.
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PiperOrigin-RevId: 636984197
Change-Id: I2b5eaae0c5e5be840f93c4fe8f725884959703cd
2024-05-24 11:35:22 -07:00
86e6fc6de7
Fixes #1668
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PiperOrigin-RevId: 634483090
Change-Id: I30b55bbf419e57a7b2966dfca4da6bb57d5879ad
2024-05-16 11:58:09 -07:00
c6e88d3a72
Add hash for jaxlib wheel.
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PiperOrigin-RevId: 633543166
Change-Id: I36df252d8fc213a3025c017bff0d706f66154cdd
2024-05-14 04:58:26 -07:00
c6b1293e58
Add contact force support function. #1555
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PiperOrigin-RevId: 632591177
Change-Id: I15aa00686d9f885330506d2d63443c700cc029f6
2024-05-10 13:41:45 -07:00
31de1dad9d
Update requirements.txt for mujoco and mjx.
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PiperOrigin-RevId: 632441444
Change-Id: Ia9ff35b453476b2f1f5a7a8facc819a8925dcd8b
2024-05-10 03:30:53 -07:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
24bc1c8b52
Add new differentiable physics tutorial to readme.
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PiperOrigin-RevId: 631458983
Change-Id: Ic0ef9e93397a974be50f0616571a4a5fea6f2b21
2024-05-07 10:00:45 -07:00
8d1f65c01a
Add act to mjx viewer.
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PiperOrigin-RevId: 629451047
Change-Id: I0baf546d3d91632291e93dec39f4dba7c329d370
2024-04-30 10:13:20 -07:00
719476c274
Fix bug in `mjx.ray` and speed up ray-mesh by ~30% for large meshes.
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PiperOrigin-RevId: 629209303
Change-Id: I39466e9a2dc55ec48dcca1780e8abef903d1c754
2024-04-29 15:48:00 -07:00
e9709900b4
Add gravcomp.
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PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
2024-04-24 11:19:34 -07:00
68e33f4c4e
Merge pull request #1601 from Andrew-Luo1:main
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PiperOrigin-RevId: 627779916
Change-Id: I656984b53556360b1ba88ca6adc8ea1cf2e9d215
2024-04-24 10:49:13 -07:00
0a60d555c6
Fix small bug in testspeed.
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PiperOrigin-RevId: 627773755
Change-Id: Iebbcaa41cfdde126312e388d368843a4754abfb8
2024-04-24 10:30:45 -07:00
d15db54537
Add support functions for id2name and name2id.
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PiperOrigin-RevId: 627525330
Change-Id: Ic8069f64c94ef4b8f96f62b88ece62a8b296d870
2024-04-23 15:35:59 -07:00
554771f6b3
Merge branch 'main' of https://github.com/Andrew-Luo1/mujoco_apg_tutorial into main
2024-04-23 13:50:08 +02:00
9530aa11e3
add a reference
2024-04-23 13:50:00 +02:00
a8aa15af4d
clean up text
2024-04-23 08:16:38 +02:00
a1d53711bc
revert pyproject
2024-04-23 06:17:47 +02:00
e6b95f3cfc
Merge branch 'google-deepmind:main' into main
2024-04-23 06:12:20 +02:00
c6ab354bd7
Remove type annotations unavailable in python < 3.10. Fixes #1590
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PiperOrigin-RevId: 627188913
Change-Id: I9adc627349a4001291ac6d05080b761fee155ab0
2024-04-22 16:22:36 -07:00
71333938ec
Add support for condim to MJX.
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PiperOrigin-RevId: 627136131
Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
2024-04-22 13:20:57 -07:00
c2d0c5dd1b
Add cylinder collisions using SDFs.
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PiperOrigin-RevId: 626998709
Change-Id: I669a639b1cabf5ed522c73a07e54684d675fa396
2024-04-22 05:07:43 -07:00
001d2dfa85
comments
2024-04-21 22:29:58 +02:00
eb6624bd86
further clean up text, add comments, remove irrelevant observations in get_obs, regenerate apg outputs
2024-04-21 22:06:36 +02:00
f3a9d7790a
Merge branch 'google-deepmind:main' into main
2024-04-21 17:15:31 +02:00
3b64217b96
Remove deprecated mjx.device_* functions. They are not suited to upcoming condim support.
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PiperOrigin-RevId: 626486447
Change-Id: Ibd41874bb3903123567168ebbac563399788d2f2
2024-04-19 15:34:28 -07:00
ab7d8fe167
update comments
2024-04-19 06:44:59 +02:00
3e12452bc9
git clone mujoco menagerie rather than import anymal_c locally
2024-04-19 06:30:57 +02:00
a4df912018
Prepare MJX for condim.
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This is a refactor of collision_driver and some of its surrounding code in order to prepare for condim in MJX. In this change we reify types that are needed for condim: dim, efc_address, efc_type. We make explicit the way contacts are organized and grouped to guarantee that dim and efc_type are statically defined.
This change simplifies the way meshes are organized on device and slightly speeds up mesh collisions for cases where a single mesh is instanced across many geoms.
PiperOrigin-RevId: 626119500
Change-Id: Ic0c8599bcda2326f2e19cd3246a673e56097886b
2024-04-18 12:43:36 -07:00
8b7f1094f1
Fix jax deprecation warning for jax.tree_map.
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PiperOrigin-RevId: 626092308
Change-Id: I78145efe62ae118726c1755856d7cb9b1abd988a
2024-04-18 11:13:35 -07:00
5d2986f9c7
change default option on brax apg
2024-04-18 05:05:28 +02:00
568e1f2d59
refine text
2024-04-18 04:50:21 +02:00
bfad82d475
fix typos
2024-04-17 14:23:10 +02:00
8043e95c00
revert pyproject
2024-04-17 12:12:33 +02:00
ad86492986
Merge branch 'main' of https://github.com/Andrew-Luo1/mujoco_apg_tutorial into main
2024-04-17 11:59:21 +02:00
9b2274593d
update text
2024-04-17 11:59:09 +02:00
4ae47dd4ec
Merge branch 'google-deepmind:main' into main
2024-04-17 11:13:32 +02:00
7a7c33a23b
benchmark against ppo
2024-04-17 11:07:46 +02:00
7db18c4081
upload videos
2024-04-17 08:02:05 +02:00
daaf81fa56
slightly stabler quadruped training
2024-04-16 04:54:22 +02:00
0fa0437313
Add cylinder plane.
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PiperOrigin-RevId: 625099227
Change-Id: I02cb86c3e8c7fd5914a082f1e8a3bae6274b3c8e
2024-04-15 15:18:04 -07:00
38fa5083eb
Fix support for deep penetration in plane-convex.
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PiperOrigin-RevId: 625088511
Change-Id: I30bd4d475f4bfde98b5ae6254dd67bbe0fc09c08
2024-04-15 14:42:41 -07:00
Yuval Tassa