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
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
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
a2649d6cec
Add efc_margin to MJX.
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PiperOrigin-RevId: 666273240
Change-Id: I12d6cc0d3edd3c3faff5a876335910b42e9cc9bf
2024-08-22 03:27:02 -07:00
b2174a7ec3
Add framequat sensor to MJX.
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PiperOrigin-RevId: 666254481
Change-Id: I50be8574e1e4677ef5dc23a2bdcbc296f301d7fc
2024-08-22 02:21:20 -07:00
b42780a5f4
Add subtree_vel function to MJX. This function matches mj_subtreeVel.
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PiperOrigin-RevId: 666078305
Change-Id: Ia0ecbf8279e914f49ee60b862541d697e8d4abb1
2024-08-21 16:21:57 -07:00
e76168141a
Merge pull request #1914 from google-deepmind:dependabot/pip/mjx/zipp-3.19.1
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PiperOrigin-RevId: 665892706
Change-Id: Ib9891d5bb75560251d9eb0dac8100e04ca06f54f
2024-08-21 08:35:00 -07:00
806b8c8e2e
Add support for actuatorfrc and jointactfrc sensors in MJX.
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PiperOrigin-RevId: 665804850
Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf
2024-08-21 03:46:26 -07:00
029fbd5172
Bump zipp from 3.17.0 to 3.19.1 in /mjx
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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
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Signed-off-by: dependabot[bot] <support@github.com >
2024-08-20 12:13:10 +00:00
a68141eeff
Implicitfast integration for MJX.
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PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
2024-08-19 11:12:36 -07:00
6241814ad7
Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity.
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PiperOrigin-RevId: 664461284
Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76
2024-08-18 08:47:35 -07:00
6a12787a32
Add camera projection sensor to MJX.
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PiperOrigin-RevId: 664426007
Change-Id: I0f2681c156b12ab62503d45beb2cd8752e7202d6
2024-08-18 05:57:33 -07:00
51733c2a8a
Add rangefinder sensor to MJX.
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PiperOrigin-RevId: 664417458
Change-Id: I1ad7720e48541349f155984584314b2b49ccbf36
2024-08-18 05:15:58 -07:00
6acf40613d
Add support for disabling MJX sensors.
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PiperOrigin-RevId: 664410169
Change-Id: Icb278e9d7a9a493d5a61ab04c1300d8e412d0e83
2024-08-18 04:41:24 -07:00
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
2c56946547
Increase mjVERSIONSTRING to 3.2.3 after release.
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PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
2024-08-08 10:31:57 -07:00
ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
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PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -07:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
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PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -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
Baruch Tabanpour