chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add inheritrange attribute to position and intvelocity actuators.

Browse Source 
PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
This commit is contained in:
Yuval Tassa
2024-02-16 04:41:49 -08:00
committed by Copybara-Service
parent 5e353efaaf
commit 05150546e3
11 changed files with 318 additions and 113 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+13 -6
View File
@@ -5,20 +5,27 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
1. Added the :at:`inheritrange` attribute to :ref:`position<actuator-position>` and
:ref:`intvelocity<actuator-intvelocity>` actuators, allowing convenient setting of the actuator's
:at:`ctrlrange` or :at:`actrange` (respectively), according to the range of the transmission
target (joint or tendon). See :ref:`position/inheritrange<actuator-position-inheritrange>` for
details.
MJX
^^^
1. Improved performance of getting and putting device data.
2. Improved performance of getting and putting device data.
- Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
- Avoid reallocating host ``mjData`` arrays when array shapes are unchanged.
- Speed up calculation of ``mjx.ncon`` for models with many geoms.
- Avoid calling ``mjx.ncon`` in ``mjx.get_data_into`` when ``nc`` can be derived from ``mjx.Data``.
2. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
3. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
``mjx.get_data_into`` function call.
3. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
4. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
5. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
4. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
5. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
6. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
Version 3.1.2 (February 05, 2024)
-----------------------------------