f1d557c125
Support for MJX bind set() for scalars.
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PiperOrigin-RevId: 715832281
Change-Id: I217021e81fae95e44e9297a1c447891ff76572bd
2025-01-15 09:38:02 -08:00
ff1ff44e34
Fix typo MjsHfield->MjsHField.
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PiperOrigin-RevId: 715808003
Change-Id: Ic510f7a3dc4d2c93789ce27162d004b20762bd12
2025-01-15 08:21:38 -08:00
64d0f57c50
Fixes for MJX tendons and muscle actuators. Fixes #2317 .
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PiperOrigin-RevId: 714951834
Change-Id: I823b3a01b2b76cb4707cb313afd1a187f9bdb333
2025-01-13 06:58:12 -08:00
da32b0db30
Handle ctrl special case explicitly in bind().
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PiperOrigin-RevId: 714055763
Change-Id: I020008723af4a590926268a2ea615af54e20aa0b
2025-01-10 08:08:03 -08:00
3f32cc2479
Add mjSpec binding to MJX.
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PiperOrigin-RevId: 714026500
Change-Id: I5cb3fe6cc975b3aa43d44185e3bc186b45845cf3
2025-01-10 06:16:32 -08:00
0be7e6a1f6
Fix #2306 .
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PiperOrigin-RevId: 712575320
Change-Id: Ia74ef0b31b4e7098647340760572a1f6368eab64
2025-01-06 10:28:12 -08:00
b5df2c10bf
Remove mjData.C_diag, no longer required as C is now lower triangular.
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PiperOrigin-RevId: 712514204
Change-Id: I8293f65ebc09c6a8fed76b0e59d2e2a667e01a43
2025-01-06 06:58:19 -08:00
69c9ac074a
Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2.
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- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
2024-12-30 15:24:36 -08:00
8cb253b6ca
Fix typos.
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PiperOrigin-RevId: 710678815
Change-Id: Iab6f603f8f4d782ac7f34140add39e1f37625167
2024-12-30 04:15:29 -08:00
4d0865c2e8
Add light fields to mjx.Model, needed for Madrona.
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PiperOrigin-RevId: 707996293
Change-Id: I238dac72b8f209955b2a1060571db3b14e355dd5
2024-12-19 12:42:09 -08:00
a364308d5a
Use GJK to recover contact points for sphere and capsule geoms in nativeccd.
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PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
2024-12-10 08:53:27 -08:00
f3b3024291
Add pyink and isort config. Reformat.
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PiperOrigin-RevId: 704533915
Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
2024-12-09 21:10:50 -08:00
6f6244b739
Fix MJX get_data_into.
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PiperOrigin-RevId: 704367029
Change-Id: I720e624f996a01ab2210a907c610b68ff1ad109c
2024-12-09 11:54:49 -08:00
3a14ada308
Store index of diagonal element for C and D in mjData.
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PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
2024-12-09 08:01:30 -08:00
b8344c191f
Internal change.
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PiperOrigin-RevId: 704273388
Change-Id: I6de2aa5bf80353dae4f2faf408c4b4c1c2e14f15
2024-12-09 07:09:24 -08:00
c1d97d4a22
Fix #2237 .
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PiperOrigin-RevId: 703547316
Change-Id: I279876a299e56a16f8d5227fc1d0f64265477853
2024-12-06 10:46:38 -08:00
fa8af0eea9
Add MuJoCo sparsification fields to MJX data structures.
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PiperOrigin-RevId: 703482996
Change-Id: I981bfc80825a9d4d6597d54035bc40a4f4ae068a
2024-12-06 06:40:56 -08:00
a793a3417a
Raise error in mjx.rne_postconstraint for currently unsupported connect and weld constraints and raise error in mjx.put_model for unsupported sensor and equality constraint combinations.
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PiperOrigin-RevId: 702119449
Change-Id: I034363db41629f19ef98bea79ec89140052a7a3c
2024-12-02 16:28:23 -08:00
f2e9e38edf
Set geom_matid as a jax.Array for visual domain randomization.
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PiperOrigin-RevId: 700706160
Change-Id: I13ef4da8cd3a671446e4bdd186dcacb4d0b3fb00
2024-11-27 08:13:36 -08:00
b716837395
Modify MJX solver to support elliptic friction cones with condim=3 and condim=4.
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PiperOrigin-RevId: 700306231
Change-Id: I50fd20cd367ecab11b23c03c0e0080266cc404e6
2024-11-26 05:22:48 -08:00
aae5fd6906
Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.
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PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:30:47 -08:00
1feaf8fd67
Add *rgba fields as jax.Arrays for visual domain rando.
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PiperOrigin-RevId: 697038459
Change-Id: Ic6eae248e916329daa8fbbeb0770cf689f06b87b
2024-11-15 16:55:44 -08:00
0f381a9ebd
Add muscle actuators to MJX.
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PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
2024-11-11 07:46:20 -08:00
f9569cdab0
Fix #2212 .
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PiperOrigin-RevId: 693294401
Change-Id: Ifef2b268f61b90f557580f61316786c50dc9698d
2024-11-05 04:17:48 -08:00
47ebb0614e
Set some visual params as jax.Arrays for visual domain rando.
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PiperOrigin-RevId: 692273879
Change-Id: I80475aa65744de06a6bfebbfb95a44faa751595f
2024-11-01 13:24:29 -07:00
a51f346059
Use sparse (uncompressed) actuator_moment in mj_transmission.
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PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
2024-11-01 08:06:28 -07:00
c9f78ad8a8
Rename nnzJ to nJ in mjData.
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This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
2024-10-31 10:43:10 -07:00
554641060b
Add support for computing elliptic cone contact forces to MJX. Fixes #2153 .
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PiperOrigin-RevId: 691829630
Change-Id: I862ac9c7db07d0a74b718d2a41e19d5ae636a260
2024-10-31 09:22:59 -07:00
26ccaeb78e
Don't populate _qM_sparse, _qLD_sparse, _qLDiagInv_sparse fields if they were never set via _full_compat. Fixes #2188
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PiperOrigin-RevId: 691538016
Change-Id: Ib0385166af2dfbbb46cf1986cb692e1fda467a0b
2024-10-30 13:43:02 -07:00
03d04f6096
Add texture fields to mjx.Model for madrona collaborators.
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PiperOrigin-RevId: 691170517
Change-Id: Icb8e2d6ed65a13d17dc2565d3d84de629a10c37a
2024-10-29 14:49:12 -07:00
d01fb81b50
Use eq_active0 in MJX.
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PiperOrigin-RevId: 690727109
Change-Id: If60a99d7644e0376a27039478319ff5300b15cc1
2024-10-28 13:21:05 -07:00
3c21abc0e5
Add ray intersection with ellipsoid to MJX.
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PiperOrigin-RevId: 690557087
Change-Id: Icd2f0be1243574720baeac82b8bdd92e57c6a61c
2024-10-28 04:25:11 -07:00
1c424644dd
Fix MJX touch sensor.
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PiperOrigin-RevId: 690544118
Change-Id: Ic909c6f6ce0e31237cbe317fbbfbb1fd267bd462
2024-10-28 03:39:53 -07:00
078c7bb42e
internal change
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PiperOrigin-RevId: 689931872
Change-Id: Icc7b261b6d98e181a6bf0845f44a050af2833db2
2024-10-25 15:29:39 -07:00
f24de91cc9
Use eq_active in MJX. Fixes #2173 .
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PiperOrigin-RevId: 689549368
Change-Id: I14d9817c5ca5dfc2a735ab8bacfb11b75c9feadc
2024-10-24 16:08:14 -07:00
2de430a61f
Use newton by default in benchmark.
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PiperOrigin-RevId: 689538944
Change-Id: I99b5588ae5980eee43fb33ac390122ce38000dd3
2024-10-24 15:35:01 -07:00
ca348632a9
Change tolerances for ellipsoid-capsule and ellipsoid-sphere collision tests in MJX.
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PiperOrigin-RevId: 689301610
Change-Id: I86be65524d13a19abd0b378b0933a5fbbe0ecab8
2024-10-24 02:42:16 -07:00
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
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
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
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
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
Alessio Quaglino