11f0997edf
Internal change.
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PiperOrigin-RevId: 842636101
Change-Id: I5fc8e1f5e4caee9d909963ebe396572b13b455b7
2025-12-10 02:58:38 -08:00
1483aefe5f
Make actuator_length, cdof and cdof_dot public.
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PiperOrigin-RevId: 842182467
Change-Id: Id14a1c8266e13a6f95e1c87ea07da993b614b62e
2025-12-09 04:57:42 -08:00
3dec35a91e
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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PiperOrigin-RevId: 797826112
Change-Id: Ibc51624adc3ec42c265958bf77696b33231431c1
2025-08-21 10:44:05 -07:00
47bc16a37c
Add mujoco_warp as an implementation in mjx.
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PiperOrigin-RevId: 789366860
Change-Id: I84b49e744552092434df49d855f1052b04291b87
2025-07-31 09:33:35 -07:00
ddb7eb07c7
Initial implementation of contact sensor for MJX JAX backend.
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PiperOrigin-RevId: 786742643
Change-Id: Idabd98320a4716c597bb596e32a8a90f3cd5f356
2025-07-24 09:59:40 -07:00
caaf7b3a69
Add tendon armature to MJX.
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PiperOrigin-RevId: 769294284
Change-Id: Idfbd4f355eb26fba5035973ab989a9d3af05c85f
2025-06-09 14:27:18 -07:00
6cfea71985
Allow for different MJX backend implementations.
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PiperOrigin-RevId: 755935704
Change-Id: Ic135cd00137c2857c73c683ed9fdc5ac4418715d
2025-05-07 11:28:39 -07:00
51c489fc30
Add inverse dynamics to MJX.
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PiperOrigin-RevId: 745998273
Change-Id: I203af89332ace5d7a60fff3ec6ff4cc88c02340d
2025-04-10 06:08:41 -07:00
8fc616bf8f
Add tendon actuator force limits to MJX.
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PiperOrigin-RevId: 745529685
Change-Id: I43c372116daefc3dd2ed6ad1bb9c6e3978bc8527
2025-04-09 04:28:45 -07:00
54f132f3f0
Resolve discrepancy in RK4 between MJX and MJ.
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PiperOrigin-RevId: 743185866
Change-Id: I478faca1d8733999cc9a0682e931b19ee05e3843
2025-04-02 10:16:07 -07:00
0f381a9ebd
Add muscle actuators to MJX.
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PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
2024-11-11 07:46:20 -08:00
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
a68141eeff
Implicitfast integration for MJX.
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PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
2024-08-19 11:12:36 -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
e9709900b4
Add gravcomp.
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PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
2024-04-24 11:19:34 -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
2067e2083a
Add cameras to MJX. Fixes #1422
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PiperOrigin-RevId: 610870732
Change-Id: Iaa39bd00f56046c595dc961281ac23446ca5bdf2
2024-02-27 14:17:21 -08:00
47bb4a828e
Fixes to the MJX Euler integrator and Newton solver, and test improvements to catch future bugs like this.
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PiperOrigin-RevId: 606389094
Change-Id: I50d0143f338fe29a823c930dba82995ce8a64ce2
2024-02-12 15:46:27 -08:00
0a7be1732c
Adds support for explicit dense/sparse mass matrices to MJX.
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This increases performance, particularly for the Newton solver on TPU.
PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
2024-01-23 00:32:07 -08:00
80f50c943c
Add filterexact to MJX.
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PiperOrigin-RevId: 592026712
Change-Id: Ia73d67f36db5a4a1786a2532b5daa9e9a36f714c
2023-12-18 15:29:18 -08:00
b3ccf67ebf
Cleanup MJX tests and migrate them to put_model/put_data.
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PiperOrigin-RevId: 588304729
Change-Id: I58075383e6eed64ae00cea305a568eba6465b0b0
2023-12-05 23:08:05 -08:00
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
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
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