390bce2352
Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data.
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PiperOrigin-RevId: 663808411
Change-Id: Ic55875f87f5c36b9dfe21e5ed5891d64c7003cab
2024-08-16 12:02:21 -07:00
ce9c0ea351
Modify MJX sensor_pos to handle unsupported sensors.
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PiperOrigin-RevId: 663768186
Change-Id: I2e7600e77855a96a47f012fb64b6cc43abbf6f64
2024-08-16 10:10:37 -07:00
6db96e07e4
Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock.
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PiperOrigin-RevId: 663668212
Change-Id: Ifc9adc6bff4544172ab22572da04a093aebfdbd4
2024-08-16 03:10:24 -07:00
a74c184f9d
Add efc_pos to MJX.
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fixes #1388
PiperOrigin-RevId: 663358494
Change-Id: I63885f9208d12edbaa4b7d123ce4c6d16f40dcbe
2024-08-15 10:33:44 -07:00
1141b4abbc
Force dtype of mjx.Contact.{geom1,geom2,geom} to int32.
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This improves compatibility with MuJoCo.
PiperOrigin-RevId: 662655282
Change-Id: I2a336d9453f40cf0bfa85a7203b55709e23a07fe
2024-08-13 14:34:43 -07:00
ebf887e14d
Add sensors to MJX. Implements jointpos and actuatorpos as examples.
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PiperOrigin-RevId: 660891329
Change-Id: Ie6c282a397de2f52843775ec747495e9be46d307
2024-08-08 10:33:19 -07:00
2d24c58819
Adds support for fixed tendons to MJX.
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PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
2024-07-22 10:49:13 -07:00
d49d4bf64c
Make unsupported feature checking optional in put_model.
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PiperOrigin-RevId: 654141976
Change-Id: I35b5f1e4c5b07e32075e847d4a757698a0b603c1
2024-07-19 15:23:32 -07:00
db1d51a1f5
Add more fields to mjx.Option and mjx.Statistic for MuJoCo compatibility.
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Also add metadata fields to the Python bindings of mjModel and mjOption,
and fix dtype of a number of fields.
PiperOrigin-RevId: 654138876
Change-Id: If2bbe41bf3dfdb350d60b5289afc65fffb397ce9
2024-07-19 15:13:01 -07:00
85532b74e1
Speed up hfield JIT time by reducing XLA code generation overhead.
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PiperOrigin-RevId: 653766462
Change-Id: I9d7e7fa3a4d33ae0fa9d00babd5c5478eb4eff88
2024-07-18 15:01:43 -07:00
dbe18f5740
Add additional MuJoCo fields to MJX structs.
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PiperOrigin-RevId: 653270676
Change-Id: I5f7a62d3bd542abc0d618e63d2426663e7d6406f
2024-07-17 10:04:52 -07:00
c145b79f6e
Using typing instead of collections.abc. Fixes #1763
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PiperOrigin-RevId: 651186508
Change-Id: I844ec884b802837554b0b60f2414d6bc37f2da14
2024-07-10 16:21:00 -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
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
86e6fc6de7
Fixes #1668
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PiperOrigin-RevId: 634483090
Change-Id: I30b55bbf419e57a7b2966dfca4da6bb57d5879ad
2024-05-16 11:58:09 -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
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
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
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
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
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
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
9f1651b7bd
Raise error for gravcomp.
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PiperOrigin-RevId: 624292351
Change-Id: Ia8cfce33f990616035772fb88c34fb1434c73220
2024-04-12 14:25:34 -07:00
2b3f336bd3
Add ellipsoid sdf collisions to MJX.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 623415479
Change-Id: Id061c8e083357d063f1ccddf0989f2fafe415eed
2024-04-10 01:41:10 -07:00
b441923598
Add userdata support to MJX.
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PiperOrigin-RevId: 622948369
Change-Id: I5eca0afcb8cd50f53eacc57a78bfdf68ccde12e7
2024-04-08 14:14:12 -07:00
d7f131e086
Add ellipsoid plane.
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Co-authored-by: Alessio Quaglino <quaglino@google.com >
PiperOrigin-RevId: 621208833
Change-Id: I270c1ae0cecd7dd2d9b41da4e4d0b6378b105aaf
2024-04-02 09:49:46 -07:00
d258d5e152
Check all edge pairs in convex-convex.
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PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032
2024-03-28 11:33:46 -07:00
2019d42ca6
Small change to testspeed file.
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PiperOrigin-RevId: 618323795
Change-Id: I3a6307b8ae6d9af0d17c0ae85eae673d60112ddf
2024-03-22 17:04:49 -07:00
624becca52
Fix some more bugs in sphere/capsule-convex collisions.
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PiperOrigin-RevId: 617646119
Change-Id: Ie0c99ccbe1dd2a18663d45a111e77fed4112e638
2024-03-20 15:46:13 -07:00
9b86329797
Add 01-10 humanoids for benchmarking.
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PiperOrigin-RevId: 617318016
Change-Id: Ic5dc0623266d4d6bef6da97d03370010e2817a2a
2024-03-19 15:48:48 -07:00
b4694ee331
Fix bug in MJX viewer.
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PiperOrigin-RevId: 617297574
Change-Id: I34fb797db47308a8b2f29a6c54f2b59d77f84a32
2024-03-19 14:36:15 -07:00
2386353b02
Throw an error for margin/gap with meshes.
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PiperOrigin-RevId: 615937263
Change-Id: I3289cf1b1fec93385cc78a01e53866427453db59
2024-03-14 16:21:05 -07:00
02c62c118c
Fix bug where treedef for mjx.make_data doesn't match mjx.put_data.
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PiperOrigin-RevId: 615928973
Change-Id: I08af97ac0300b9d51c1f4b46d48dde98d24197fa
2024-03-14 15:51:15 -07:00
e5811ce2b4
Further improve edge contact for capsule-convex.
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PiperOrigin-RevId: 615900645
Change-Id: I7fd495b10b7b3121da7aa5ed15cde413d916bc84
2024-03-14 14:15:44 -07:00
f818a16ae4
Fix the bugfix for capsule-convex collisions.
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PiperOrigin-RevId: 615809115
Change-Id: I183336630a76a9ada5b0730559b49779dd94f8e5
2024-03-14 09:41:33 -07:00
f2e107f7aa
Fix deep penetration for sphere/capsule-convex.
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PiperOrigin-RevId: 615539264
Change-Id: I6a5aac0574ddcb39bae8aafaf63f9561ca69288b
2024-03-13 14:12:42 -07:00
a49f3f63fc
Remove disable_jit in test.
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PiperOrigin-RevId: 614824680
Change-Id: I15f1441dfb1a70b98e5a221c0e15b06572860748
2024-03-11 16:03:40 -07:00
22cd96fbbc
Speed up convex-convex collisions.
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PiperOrigin-RevId: 613450874
Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
2024-03-06 21:48:51 -08:00
224fbd00c8
Fix egregious bug in broadphase.
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PiperOrigin-RevId: 612856292
Change-Id: I622ca00509c27f351ce5efefc139b2f2e141c8e9
2024-03-05 08:48:09 -08:00
419be4c605
Add crude broadphase impl.
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PiperOrigin-RevId: 611643683
Change-Id: Id7816dadd7e9f1b8855268b815353c61540c4e0c
2024-02-29 17:12:58 -08:00
Erik Frey