 Saran Tunyasuvunakool
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fa8af0eea9
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Add MuJoCo sparsification fields to MJX data structures.
PiperOrigin-RevId: 703482996
Change-Id: I981bfc80825a9d4d6597d54035bc40a4f4ae068a
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2024-12-06 06:40:56 -08:00 |
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Taylor Howell
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a793a3417a
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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.
PiperOrigin-RevId: 702119449
Change-Id: I034363db41629f19ef98bea79ec89140052a7a3c
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2024-12-02 16:28:23 -08:00 |
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Baruch Tabanpour
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f2e9e38edf
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Set geom_matid as a jax.Array for visual domain randomization.
PiperOrigin-RevId: 700706160
Change-Id: I13ef4da8cd3a671446e4bdd186dcacb4d0b3fb00
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2024-11-27 08:13:36 -08:00 |
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Taylor Howell
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b716837395
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Modify MJX solver to support elliptic friction cones with condim=3 and condim=4.
PiperOrigin-RevId: 700306231
Change-Id: I50fd20cd367ecab11b23c03c0e0080266cc404e6
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2024-11-26 05:22:48 -08:00 |
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Taylor Howell
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aae5fd6906
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Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.
PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
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2024-11-20 04:30:47 -08:00 |
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Baruch Tabanpour
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1feaf8fd67
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Add *rgba fields as jax.Arrays for visual domain rando.
PiperOrigin-RevId: 697038459
Change-Id: Ic6eae248e916329daa8fbbeb0770cf689f06b87b
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2024-11-15 16:55:44 -08:00 |
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Taylor Howell
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0f381a9ebd
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Add muscle actuators to MJX.
PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
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2024-11-11 07:46:20 -08:00 |
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Baruch Tabanpour
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f9569cdab0
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Fix #2212.
PiperOrigin-RevId: 693294401
Change-Id: Ifef2b268f61b90f557580f61316786c50dc9698d
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2024-11-05 04:17:48 -08:00 |
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Baruch Tabanpour
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47ebb0614e
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Set some visual params as jax.Arrays for visual domain rando.
PiperOrigin-RevId: 692273879
Change-Id: I80475aa65744de06a6bfebbfb95a44faa751595f
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2024-11-01 13:24:29 -07:00 |
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Taylor Howell
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a51f346059
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Use sparse (uncompressed) actuator_moment in mj_transmission.
PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
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2024-11-01 08:06:28 -07:00 |
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Yuval Tassa
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c9f78ad8a8
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Rename nnzJ to nJ in mjData.
This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
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2024-10-31 10:43:10 -07:00 |
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Taylor Howell
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554641060b
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Add support for computing elliptic cone contact forces to MJX. Fixes #2153.
PiperOrigin-RevId: 691829630
Change-Id: I862ac9c7db07d0a74b718d2a41e19d5ae636a260
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2024-10-31 09:22:59 -07:00 |
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Baruch Tabanpour
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26ccaeb78e
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Don't populate _qM_sparse, _qLD_sparse, _qLDiagInv_sparse fields if they were never set via _full_compat. Fixes #2188
PiperOrigin-RevId: 691538016
Change-Id: Ib0385166af2dfbbb46cf1986cb692e1fda467a0b
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2024-10-30 13:43:02 -07:00 |
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Baruch Tabanpour
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03d04f6096
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Add texture fields to mjx.Model for madrona collaborators.
PiperOrigin-RevId: 691170517
Change-Id: Icb8e2d6ed65a13d17dc2565d3d84de629a10c37a
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2024-10-29 14:49:12 -07:00 |
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Baruch Tabanpour
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d01fb81b50
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Use eq_active0 in MJX.
PiperOrigin-RevId: 690727109
Change-Id: If60a99d7644e0376a27039478319ff5300b15cc1
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2024-10-28 13:21:05 -07:00 |
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Taylor Howell
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3c21abc0e5
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Add ray intersection with ellipsoid to MJX.
PiperOrigin-RevId: 690557087
Change-Id: Icd2f0be1243574720baeac82b8bdd92e57c6a61c
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2024-10-28 04:25:11 -07:00 |
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Taylor Howell
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1c424644dd
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Fix MJX touch sensor.
PiperOrigin-RevId: 690544118
Change-Id: Ic909c6f6ce0e31237cbe317fbbfbb1fd267bd462
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2024-10-28 03:39:53 -07:00 |
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Baruch Tabanpour
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078c7bb42e
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internal change
PiperOrigin-RevId: 689931872
Change-Id: Icc7b261b6d98e181a6bf0845f44a050af2833db2
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2024-10-25 15:29:39 -07:00 |
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Baruch Tabanpour
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f24de91cc9
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Use eq_active in MJX. Fixes #2173.
PiperOrigin-RevId: 689549368
Change-Id: I14d9817c5ca5dfc2a735ab8bacfb11b75c9feadc
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2024-10-24 16:08:14 -07:00 |
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Baruch Tabanpour
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2de430a61f
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Use newton by default in benchmark.
PiperOrigin-RevId: 689538944
Change-Id: I99b5588ae5980eee43fb33ac390122ce38000dd3
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2024-10-24 15:35:01 -07:00 |
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Kyle Bayes
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ca348632a9
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Change tolerances for ellipsoid-capsule and ellipsoid-sphere collision tests in MJX.
PiperOrigin-RevId: 689301610
Change-Id: I86be65524d13a19abd0b378b0933a5fbbe0ecab8
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2024-10-24 02:42:16 -07:00 |
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Taylor Howell
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b00a7c6705
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Add touch sensor to MJX.
PiperOrigin-RevId: 688056696
Change-Id: I50b0ebf3141aab0a5b07e5ae770101ff8b7737d4
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2024-10-21 02:48:36 -07:00 |
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Baruch Tabanpour
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680fb3e5dd
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Add more public support functions for MJX.
PiperOrigin-RevId: 687469475
Change-Id: I4218cc2f6d51d3f2f63b1a9a96953d550a5503a5
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2024-10-18 17:15:18 -07:00 |
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Taylor Howell
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096853e192
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Add JOINTINPARENT actuator transmission type to MJX.
PiperOrigin-RevId: 686083761
Change-Id: I5159d050812d32e15ced06df132d3e434fced814
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2024-10-15 06:38:02 -07:00 |
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Taylor Howell
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ac91a7639d
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Add tendon velocity sensor to MJX.
PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
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2024-10-14 06:47:59 -07:00 |
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Taylor Howell
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1945926351
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Fix computation of tangential contact forces in MJX _decode_pyramid.
PiperOrigin-RevId: 685665382
Change-Id: Icdbba4a3ee5fec804340d73d525a36ee570c2aa8
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2024-10-14 05:01:00 -07:00 |
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Taylor Howell
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223892c051
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Add tendon position sensor to MJX.
PiperOrigin-RevId: 684851437
Change-Id: Ica0a30762a9cb3d612357b40b6f87cd2fc544fdb
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2024-10-11 08:47:52 -07:00 |
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Baruch Tabanpour
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22e4f7fc31
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Fix bug in MJX frictionloss.
PiperOrigin-RevId: 684198925
Change-Id: I5f6575759729712550bcb8d7659aaa7a657c66fc
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2024-10-09 15:50:58 -07:00 |
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Taylor Howell
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356d172f56
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Update MJX SolverType docstring with Newton.
PiperOrigin-RevId: 684040839
Change-Id: I27bc87b387b6b405f5c76350438d1fdd6867450a
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2024-10-09 08:08:36 -07:00 |
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Baruch Tabanpour
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fa22e6d001
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Add sphere-ellipsoid, sphere-cylinder. #2126
PiperOrigin-RevId: 683747371
Change-Id: Ic11803bb395944380d25ce848d9fbcf19afaad77
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2024-10-08 13:37:00 -07:00 |
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Taylor Howell
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160ed9bfe2
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Add pulley support to spatial tendons in MJX.
PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a
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2024-10-07 03:00:53 -07:00 |
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Copybara-Service
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3ea8be2dcb
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Merge pull request #2078 from hartikainen:enable-mjb-for-mjx-testspeed
PiperOrigin-RevId: 682328610
Change-Id: I1329d8f7a0a47234e3eda61c457567825c89bd88
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2024-10-04 08:22:53 -07:00 |
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Taylor Howell
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c7c2edf758
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Add external sphere and cylinder wrapping for spatial tendons to MJX.
PiperOrigin-RevId: 681808698
Change-Id: I37612e2c6b781b759f9009e1bc6ae10b4e861c8d
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2024-10-03 03:56:24 -07:00 |
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Baruch Tabanpour
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1a9d307042
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Use mocap pos/quat in smooth.kinematics.
PiperOrigin-RevId: 681136974
Change-Id: I0ece009ed1e68b61b0b96da2e685e86000f7f6b8
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2024-10-01 13:12:33 -07:00 |
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Baruch Tabanpour
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cb745db412
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Ensure ten_wrapnum/wrapadr are int type.
PiperOrigin-RevId: 680709773
Change-Id: Iebc0c796e66e657b8bebcc5fe4b2d347d9bdf42c
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2024-09-30 14:02:48 -07:00 |
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Kristian Hartikainen
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6f031f2293
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Enable binary .mjb in mjx/viewer.py
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2024-09-26 12:40:20 +03:00 |
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Kristian Hartikainen
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827401554e
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Enable binary .mjb in mjx/testspeed.py
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2024-09-26 12:40:13 +03:00 |
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Erik Frey
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2785dbc0da
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Add tendon types to MJX name2id and id2name.
PiperOrigin-RevId: 678424789
Change-Id: I2634be0810f8f7dafec597919c512752d2efcfa6
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2024-09-24 15:46:33 -07:00 |
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Baruch Tabanpour
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306e52c30f
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internal change.
PiperOrigin-RevId: 678355240
Change-Id: I271bece139de5d6e2e629d7f2fe84a4e2dd71138
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2024-09-24 12:37:58 -07:00 |
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Baruch Tabanpour
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b09c1a977e
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Add jit flag to viewer (easier debugging). Make convex.xml stable.
PiperOrigin-RevId: 678312872
Change-Id: I0d65d7c2d05a7b5103fa0be2233cbc5ba232817c
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2024-09-24 10:49:34 -07:00 |
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Baruch Tabanpour
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3a17be2d24
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Add pause key to MJX viewer.
PiperOrigin-RevId: 677959701
Change-Id: I7f816eb6bf702461f0d749b2aa6cd1664c258f3d
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2024-09-23 15:23:13 -07:00 |
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Erik Frey
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5838f84777
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Fix bug where MJX data tendon fields are incorrect after calling put_data.
PiperOrigin-RevId: 677911639
Change-Id: I75f536fa348e2941d9ec2d454f475cd067e6d3af
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2024-09-23 13:12:49 -07:00 |
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Google DeepMind
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bbe8a0c516
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Strip weak_types in mjx.put_model.
PiperOrigin-RevId: 677859138
Change-Id: I9ef010c0c37d04f9931adf884ab1dce0521b8567
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2024-09-23 10:54:53 -07:00 |
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Taylor Howell
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76b48b8e61
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Add site semantics to weld constraint in MJX.
PiperOrigin-RevId: 677823461
Change-Id: Iab20e042695dfad416d61fa7cc938faba8c7a6b6
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2024-09-23 09:25:08 -07:00 |
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Taylor Howell
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ab3954d892
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Set actuator_force in MJX. Fixes #2068.
PiperOrigin-RevId: 676867005
Change-Id: I80514a050ff40cb6d43a95b74c4a36c4991db588
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2024-09-20 09:16:55 -07:00 |
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Taylor Howell
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f9401776d4
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Add framelinacc and frameangacc sensors to MJX.
PiperOrigin-RevId: 675141513
Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8
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2024-09-16 07:34:16 -07:00 |
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Taylor Howell
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9d73211757
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Add force and torque sensors to MJX.
PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
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2024-09-16 06:57:00 -07:00 |
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Taylor Howell
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e3d3a24b36
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Add spatial tendons with site wrapping to MJX.
PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
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2024-09-12 04:17:16 -07:00 |
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Taylor Howell
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8710126d08
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Raise NotImplementedError for unsupported sensors in MJX. Update MJX feature parity docs to include fully supported sensors.
PiperOrigin-RevId: 673325233
Change-Id: Ib262bdd37937c5230765c11d1f61581e55e8c397
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2024-09-11 03:50:46 -07:00 |
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Taylor Howell
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fa156ed22f
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Add accelerometer to MJX.
PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
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2024-09-05 06:57:09 -07:00 |
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