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59 Commits

Author SHA1 Message Date
Taylor Howell ddb7eb07c7 Initial implementation of contact sensor for MJX JAX backend. 
PiperOrigin-RevId: 786742643
Change-Id: Idabd98320a4716c597bb596e32a8a90f3cd5f356
 2025-07-24 09:59:40 -07:00
Taylor Howell 8b94bd0ef6 Update MJX feature parity documentation. 
PiperOrigin-RevId: 785411252
Change-Id: I2bf6619c8114f2e9d9eedceed26177a5a8c3b073
 2025-07-21 06:20:51 -07:00
Taylor Howell 2a700c98aa Check MJX with JAX backend for flex. 
PiperOrigin-RevId: 782964265
Change-Id: I744d114569738ad0d5c4ee11ffba90bd50ef25ed
 2025-07-14 10:49:30 -07:00
Taylor Howell 8d9556db7c Update MJX feature parity. 
PiperOrigin-RevId: 775147260
Change-Id: I48097c2ac4ef17b7f17f6fd8a894ae00a25abf63
 2025-06-24 02:54:23 -07:00
Taylor Howell f317bd17c3 Add tendon actuator force sensor to MJX. 
PiperOrigin-RevId: 747344916
Change-Id: Iab513ff953408c002216ffff12e3f8c825cedc10
 2025-04-14 03:51:20 -07:00
Taylor Howell 51c489fc30 Add inverse dynamics to MJX. 
PiperOrigin-RevId: 745998273
Change-Id: I203af89332ace5d7a60fff3ec6ff4cc88c02340d
 2025-04-10 06:08:41 -07:00
Kyle Bayes ed16f2daf2 Set nativeccd as default. 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
 2025-02-26 09:15:15 -08:00
Taylor Howell f4096bcab9 Add sphere and cylinder internal wrapping for spatial tendons to MJX. 
PiperOrigin-RevId: 720507688
Change-Id: I49fda2839e68623ff5e1f3c46bdc3d77acfc36ef
 2025-01-28 03:22:14 -08:00
Yuval Tassa 8c22181156 Fix documentation typos. 
PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
 2025-01-27 10:58:22 -08:00
Taylor Howell bd1d94c282 Fix mjx.rst. 
PiperOrigin-RevId: 704301576
Change-Id: Ia663f5b7fe224ca3e7865829744379eac38fac3e
 2024-12-09 08:47:46 -08:00
Alessandro Croci 342a72839a Fix typo in mjx.rst 2024-12-06 09:16:37 +01:00
Jake Harmon fb8e40208c Update references to JAX's GitHub repo 
JAX has moved from https://github.com/google/jax to https://github.com/jax-ml/jax

PiperOrigin-RevId: 703126479
Change-Id: Ie50003b4620db767663f2f95be40557cfe0b8dd3
 2024-12-05 08:37:01 -08:00
Taylor Howell 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. 
PiperOrigin-RevId: 702119449
Change-Id: I034363db41629f19ef98bea79ec89140052a7a3c
 2024-12-02 16:28:23 -08:00
Taylor Howell 0f381a9ebd Add muscle actuators to MJX. 
PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
 2024-11-11 07:46:20 -08:00
Kevin Zakka a9737c60e8 Copybara import of the project: 
--
5b525ccaef3d7184d3167815be63ed630781a064 by Kevin Zakka <kevinarmandzakka@gmail.com>:

Add command line scripts to MJX docs.

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2196 from kevinzakka:typo-fixes 5b525ccaef3d7184d3167815be63ed630781a064
PiperOrigin-RevId: 691497203
Change-Id: I7c5d6a8fcbd2a42939673cee5eadb30bebdad833
 2024-10-30 11:41:11 -07:00
Taylor Howell b00a7c6705 Add touch sensor to MJX. 
PiperOrigin-RevId: 688056696
Change-Id: I50b0ebf3141aab0a5b07e5ae770101ff8b7737d4
 2024-10-21 02:48:36 -07:00
Taylor Howell 096853e192 Add JOINTINPARENT actuator transmission type to MJX. 
PiperOrigin-RevId: 686083761
Change-Id: I5159d050812d32e15ced06df132d3e434fced814
 2024-10-15 06:38:02 -07:00
Taylor Howell ac91a7639d Add tendon velocity sensor to MJX. 
PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
 2024-10-14 06:47:59 -07:00
Taylor Howell 223892c051 Add tendon position sensor to MJX. 
PiperOrigin-RevId: 684851437
Change-Id: Ica0a30762a9cb3d612357b40b6f87cd2fc544fdb
 2024-10-11 08:47:52 -07:00
Taylor Howell 160ed9bfe2 Add pulley support to spatial tendons in MJX. 
PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a
 2024-10-07 03:00:53 -07:00
Taylor Howell f9401776d4 Add framelinacc and frameangacc sensors to MJX. 
PiperOrigin-RevId: 675141513
Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8
 2024-09-16 07:34:16 -07:00
Taylor Howell 9d73211757 Add force and torque sensors to MJX. 
PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
 2024-09-16 06:57:00 -07:00
Taylor Howell e3d3a24b36 Add spatial tendons with site wrapping to MJX. 
PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
 2024-09-12 04:17:16 -07:00
Taylor Howell 8710126d08 Raise NotImplementedError for unsupported sensors in MJX. Update MJX feature parity docs to include fully supported sensors. 
PiperOrigin-RevId: 673325233
Change-Id: Ib262bdd37937c5230765c11d1f61581e55e8c397
 2024-09-11 03:50:46 -07:00
Baruch Tabanpour dd45e67ec4 MJX documentation update. Fixes #1703. 
PiperOrigin-RevId: 672667174
Change-Id: I528a16c4233c1448cbca660bd6c7ab2e70d0c6ee
 2024-09-09 14:07:16 -07:00
Baruch Tabanpour 49711fa14f Add support for joint and tendon frictionloss to MJX. 
PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
 2024-09-03 13:17:41 -07:00
Taylor Howell a94694f608 Fix formatting in mjx.rst 
PiperOrigin-RevId: 669262462
Change-Id: I6354b152eff36923b85918e10fedf89a44c851f6
 2024-08-30 03:16:46 -07:00
Taylor Howell 8272211dd5 Update MJX documentation for ellipsoid and cylinder collision support. 
fixes #1908

PiperOrigin-RevId: 669244021
Change-Id: I5f757562be333b5b9923655d155d51ed3dbd09c4
 2024-08-30 01:59:27 -07:00
Erik Frey a68141eeff Implicitfast integration for MJX. 
PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
 2024-08-19 11:12:36 -07:00
Nimrod Gileadi c486f62cb7 Fix some broken links in documentation. 
Remove references to deleted sample Makefiles.

PiperOrigin-RevId: 660753375
Change-Id: Iaed2d893e1c03b1c6d348a54e7d7f834db7f6089
 2024-08-08 02:41:08 -07:00
Erik Frey 2d24c58819 Adds support for fixed tendons to MJX. 
PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
 2024-07-22 10:49:13 -07:00
Erik Frey 4c3d9461ae Elliptic friction in MJX. 
PiperOrigin-RevId: 641384367
Change-Id: I510c565940324fbbf392ce537ce27e0cb9af3eb1
 2024-06-07 16:05:58 -07:00
Baruch Tabanpour c511d02265 Add hfield. Fixes #1655 #1491 #1695 
PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
 2024-05-29 16:21:34 -07:00
JunYoung Kim 9e0a437e2a fixed minimal example shown at mjx.rst 2024-05-21 16:32:54 +09:00
peterdavidfagan 848c33e16b fix put_data function signature 2024-05-17 12:22:58 +01:00
Baruch Tabanpour b56d7d6e30 Add more info to doc about static fields. Fixes #1615. 
PiperOrigin-RevId: 627528282
Change-Id: I88aa1ece0e530a53a3ae18c8dc935d3ea9c56c09
 2024-04-23 15:47:49 -07:00
Erik Frey 71333938ec Add support for condim to MJX. 
PiperOrigin-RevId: 627136131
Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
 2024-04-22 13:20:57 -07:00
Baruch Tabanpour d258d5e152 Check all edge pairs in convex-convex. 
PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032
 2024-03-28 11:33:46 -07:00
Baruch Tabanpour 2386353b02 Throw an error for margin/gap with meshes. 
PiperOrigin-RevId: 615937263
Change-Id: I3289cf1b1fec93385cc78a01e53866427453db59
 2024-03-14 16:21:05 -07:00
Baruch Tabanpour 22cd96fbbc Speed up convex-convex collisions. 
PiperOrigin-RevId: 613450874
Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
 2024-03-06 21:48:51 -08:00
Yuval Tassa 3d24bdb217 Small improvements to MJX performance tuning section. 
PiperOrigin-RevId: 612377295
Change-Id: I542aba7a33372556b62e3cdb4bf0c1c4d97dc98a
 2024-03-04 02:49:11 -08:00
Baruch Tabanpour 2067e2083a Add cameras to MJX. Fixes #1422 
PiperOrigin-RevId: 610870732
Change-Id: Iaa39bd00f56046c595dc961281ac23446ca5bdf2
 2024-02-27 14:17:21 -08:00
Erik Frey 38cbc9e543 Improve MJX performance on NVIDIA GPU by enabling Triton GEMM. 
PiperOrigin-RevId: 604691509
Change-Id: Iba11a9e1b79848624a1ef6eb4e61e2093d36e662
 2024-02-06 10:31:49 -08:00
Erik Frey 0a7be1732c Adds support for explicit dense/sparse mass matrices to MJX. 
This increases performance, particularly for the Newton solver on TPU.

PiperOrigin-RevId: 600696483
Change-Id: If69bb9a2e21ba8dad6ca23f093ce7b7ceae644ff
 2024-01-23 00:32:07 -08:00
Baruch Tabanpour edc254b213 Update MJX doc for #1344. 
PiperOrigin-RevId: 599220357
Change-Id: I532f42ed086da59632eeaac0dcd3de6ffcf93cd4
 2024-01-17 10:38:53 -08:00
Baruch Tabanpour d4e8070a3f Update doc about MJX meshes, fixes #1325. 
PiperOrigin-RevId: 597342387
Change-Id: Iccb47b4b57adf2392fa5c5a38b2a28e87ace1e3d
 2024-01-10 13:36:45 -08:00
Baruch Tabanpour 77b4132c47 Add site transmission to MJX. 
PiperOrigin-RevId: 592373042
Change-Id: I54d941f4ee6f74404fe2aea7253f5b426d097e23
 2023-12-19 16:19:17 -08:00
Baruch Tabanpour 80f50c943c Add filterexact to MJX. 
PiperOrigin-RevId: 592026712
Change-Id: Ia73d67f36db5a4a1786a2532b5daa9e9a36f714c
 2023-12-18 15:29:18 -08:00
Yuval Tassa 6a83b86553 Update M1 Pro with M3 Max benchmarks in MJX docs 
PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125
 2023-11-23 10:46:54 -08:00
Yuval Tassa 530058cadb Clarify support for muscles/tendons in future MJX. Add details to the large scene benchmark. 
PiperOrigin-RevId: 583018058
Change-Id: I3d93a73b4bd71ade1ecf28b8cff9a114259e71e1
 2023-11-16 06:10:34 -08:00