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* Adds initial architecture of the collision driver * sweep-and-prune broadphase * per pair-type kernel launches for narrowphase functions * support functions * a little bit of testing infrastructure. --------- Co-authored-by: twidmer <twidmer@nvidia.com> Co-authored-by: nvtw <110816143+nvtw@users.noreply.github.com> Co-authored-by: Eric Heiden <eheiden@nvidia.com>
…-count-narrowphase adjust the size of the candidate pair buckets
Small test that compares output of put_data and make_data
update forward
modifications to solver
compute actuator_velocity with tile operations
Faster iterative linesearch
compute qfrc_actuator with tile operations
Add support to testspeed to measure ncon, nefc during unroll.
Add support for actuator gain/bias used in position control.
# Conflicts: # mujoco_warp/_src/collision_driver.py
Add proper plane support for the sweep and prune broad phase
enforce max contact count
modifications and updates for broadphase and tests
To enable indexing the tile
njmax force
Colab to train Apptronik Apollo.
Default testspeed function to step.
solver early return
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