Apply version number 2.3.6 to the pending changelog.
PiperOrigin-RevId: 541964989 Change-Id: I66a18f2bae624f63962f28f434b9a5cf90d260c7
This commit is contained in:
Saran Tunyasuvunakool
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Copybara-Service
Copybara-Service
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Changelog
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Changelog
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=========
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=========
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Upcoming version (not yet released)
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Version 2.3.6 (June 20, 2023)
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-----------------------------------
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-----------------------------
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.. note::
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MuJoCo 2.3.6 is the last version to officially support Python 3.7.
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.. youtube:: ZppeDArq6AU
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.. youtube:: ZppeDArq6AU
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:align: right
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:align: right
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@@ -12,22 +15,22 @@ Upcoming version (not yet released)
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Models
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Models
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^^^^^^
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^^^^^^
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- Added `3x3x3 cube <https://github.com/deepmind/mujoco/blob/main/model/cube/cube_3x3x3.xml>`__ example model. See
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1. Added `3x3x3 cube <https://github.com/deepmind/mujoco/blob/main/model/cube/cube_3x3x3.xml>`__ example model. See
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`README <https://github.com/deepmind/mujoco/blob/main/model/cube/README.md>`__ for details.
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`README <https://github.com/deepmind/mujoco/blob/main/model/cube/README.md>`__ for details.
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Bug fixes
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Bug fixes
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^^^^^^^^^
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^^^^^^^^^
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- Fixed a bug that was causing an incorrect computation of the mesh bounding box and coordinate frame if the volume was
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2. Fixed a bug that was causing an incorrect computation of the mesh bounding box and coordinate frame if the volume was
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invalid. In such case, now MuJoCo only accepts a non-watertight geometry if
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invalid. In such case, now MuJoCo only accepts a non-watertight geometry if
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:ref:`shellinertia<body-geom-shellinertia>` is equal to ``true``.
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:ref:`shellinertia<body-geom-shellinertia>` is equal to ``true``.
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- Fixed the sparse Jacobian multiplication logic that is used to compute derivatives for tendon damping and fluid force,
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#. Fixed the sparse Jacobian multiplication logic that is used to compute derivatives for tendon damping and fluid force,
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which affects the behaviour of the :ref:`implicit and implicitfast integrators<geIntegration>`.
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which affects the behaviour of the :ref:`implicit and implicitfast integrators<geIntegration>`.
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- Fixes to :ref:`mj_ray`, in line with geom visualisation conventions:
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#. Fixes to :ref:`mj_ray`, in line with geom visualisation conventions:
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- Planes and height-fields respect the ``geom_group`` and ``flg_static`` arguments. Before this change, rays would
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- Planes and height-fields respect the ``geom_group`` and ``flg_static`` arguments. Before this change, rays would
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intersect planes and height-fields unconditionally.
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intersect planes and height-fields unconditionally.
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- ``flg_static`` now apllies to all static geoms, not just those which are direct children of the world body.
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- ``flg_static`` now applies to all static geoms, not just those which are direct children of the world body.
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.. youtube:: hqIMTNGaLF4
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.. youtube:: hqIMTNGaLF4
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:align: right
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:align: right
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@@ -36,9 +39,9 @@ Bug fixes
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Plugins
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Plugins
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^^^^^^^
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^^^^^^^
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- Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
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5. Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
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for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/touch_grid.xml>`_
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for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/touch_grid.xml>`_
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example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
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example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
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Simulate
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Simulate
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^^^^^^^^
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^^^^^^^^
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@@ -47,42 +50,42 @@ Simulate
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:align: right
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:align: right
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:width: 240px
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:width: 240px
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- Added Visualization tab to simulate UI, corresponding to elements of the :ref:`visual<visual>` MJCF element. After
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6. Added Visualization tab to simulate UI, corresponding to elements of the :ref:`visual<visual>` MJCF element. After
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modifying values in the GUI, a saved XML will contain the new values. The modifyable members of
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modifying values in the GUI, a saved XML will contain the new values. The modifyable members of
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:ref:`mjStatistic` (:ref:`extent<statistic-extent>`, :ref:`meansize<statistic-meansize>` and
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:ref:`mjStatistic` (:ref:`extent<statistic-extent>`, :ref:`meansize<statistic-meansize>` and
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:ref:`center<statistic-center>`) are computed by the compiler and therefore do not have defaults. In order for these
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:ref:`center<statistic-center>`) are computed by the compiler and therefore do not have defaults. In order for these
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attributes to appear in the saved XML, a value must be specified in the loaded XML.
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attributes to appear in the saved XML, a value must be specified in the loaded XML.
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.. image:: images/changelog/simulate_text_width.png
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.. image:: images/changelog/simulate_text_width.png
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:align: right
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:align: right
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:width: 380px
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:width: 380px
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:alt: Before / After
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:alt: Before / After
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- Increased text width for UI elements in the default spacing. [before / after]:
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7. Increased text width for UI elements in the default spacing. [before / after]:
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General
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General
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^^^^^^^
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^^^^^^^
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- Added :ref:`mj_getState` and :ref:`mj_setState` for getting and setting the simulation state as a concatenated vector
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8. Added :ref:`mj_getState` and :ref:`mj_setState` for getting and setting the simulation state as a concatenated vector
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of floating point numbers. See the :ref:`State<geState>` section for details.
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of floating point numbers. See the :ref:`State<geState>` section for details.
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- Added :ref:`mjContact.solreffriction<mjContact>`, allowing different :ref:`solref<CSolver>` parameters for the normal
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#. Added :ref:`mjContact.solreffriction<mjContact>`, allowing different :ref:`solref<CSolver>` parameters for the normal
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and frictional axes of contacts when using :ref:`elliptic friction cones<option-cone>`. This attribute is required
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and frictional axes of contacts when using :ref:`elliptic friction cones<option-cone>`. This attribute is required
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for elastic frictional collisions, see associated
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for elastic frictional collisions, see associated
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`example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/spin_recoil.xml>`__ mimicking the
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`example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/spin_recoil.xml>`__ mimicking the
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spin-bounce recoil behaviour of `elastic rubber balls <https://www.youtube.com/watch?v=uFLJcRegIVQ&t=3s>`__.
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spin-bounce recoil behaviour of `elastic rubber balls <https://www.youtube.com/watch?v=uFLJcRegIVQ&t=3s>`__.
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This is an advanced option currently only supported by explicit :ref:`contact pairs<contact-pair>`, using the
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This is an advanced option currently only supported by explicit :ref:`contact pairs<contact-pair>`, using the
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:ref:`solreffriction<contact-pair-solreffriction>` attribute.
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:ref:`solreffriction<contact-pair-solreffriction>` attribute.
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- Added :ref:`mjd_inverseFD` for finite-differenced inverse-dynamics derivatives.
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#. Added :ref:`mjd_inverseFD` for finite-differenced inverse-dynamics derivatives.
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- Added functions for operations on banded-then-dense "arrowhead" matrices. Such matrices are common when doing direct
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#. Added functions for operations on banded-then-dense "arrowhead" matrices. Such matrices are common when doing direct
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trajectory optimization. See :ref:`mju_cholFactorBand` documentation for details.
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trajectory optimization. See :ref:`mju_cholFactorBand` documentation for details.
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- Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
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#. Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
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This is significantly faster than calling :ref:`mj_ray` multiple times.
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This is significantly faster than calling :ref:`mj_ray` multiple times.
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- Ray-mesh collisions are now up to 10x faster, using a bounding volume hierarchy of mesh faces.
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#. Ray-mesh collisions are now up to 10x faster, using a bounding volume hierarchy of mesh faces.
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- Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
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#. Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
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- Added :ref:`documentation<exProvider>` for resource providers.
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#. Added :ref:`documentation<exProvider>` for resource providers.
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- Changed the formula for :ref:`mju_sigmoid`, a finite-support sigmoid :math:`s \colon \mathbf R \rightarrow [0, 1]`.
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#. Changed the formula for :ref:`mju_sigmoid`, a finite-support sigmoid :math:`s \colon \mathbf R \rightarrow [0, 1]`.
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Previously, the smooth part consisted of two stitched quadratics, once continuously differentiable.
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Previously, the smooth part consisted of two stitched quadratics, once continuously differentiable.
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It is now a single quintic, twice continuously differentiable:
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It is now a single quintic, twice continuously differentiable:
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.. math::
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.. math::
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s(x) =
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s(x) =
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@@ -91,21 +94,22 @@ General
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6x^5 - 15x^4 + 10x^3, & 0 \lt & x \lt 1 \\
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6x^5 - 15x^4 + 10x^3, & 0 \lt & x \lt 1 \\
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1, & 1 \le & x \qquad
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1, & 1 \le & x \qquad
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\end{cases}
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\end{cases}
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- Added optional :ref:`tausmooth<actuator-muscle-tausmooth>` attribute to muscle actuators. When positive, the
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time-constant :math:`\tau` of muscle activation/deactivation uses :ref:`mju_sigmoid` to transition smoothly
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17. Added optional :ref:`tausmooth<actuator-muscle-tausmooth>` attribute to muscle actuators. When positive, the
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between the two extremal values given by the `Millard et al. (2013) <https://doi.org/10.1115/1.4023390>`__ muscle
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time-constant :math:`\tau` of muscle activation/deactivation uses :ref:`mju_sigmoid` to transition smoothly
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model, within a range of width tausmooth. See :ref:`Muscle actuators<CMuscle>` for more details.
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between the two extremal values given by the `Millard et al. (2013) <https://doi.org/10.1115/1.4023390>`__ muscle
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Relatedly, :ref:`mju_muscleDynamics` now takes 3 parameters instead of 2, adding the new smoothing-width parameter.
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model, within a range of width tausmooth. See :ref:`Muscle actuators<CMuscle>` for more details.
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- Moved public C macro definitions out of mujoco.h into a new public header file called
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Relatedly, :ref:`mju_muscleDynamics` now takes 3 parameters instead of 2, adding the new smoothing-width parameter.
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`mjmacro.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__. The new file
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#. Moved public C macro definitions out of mujoco.h into a new public header file called
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is included by mujoco.h so this change does not break existing user code.
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`mjmacro.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__. The new file
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- Added instrumentation for the `Address Sanitizer (ASAN) <https://clang.llvm.org/docs/AddressSanitizer.html>`__ and
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is included by mujoco.h so this change does not break existing user code.
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`Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__ to detect memory bugs when allocating
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#. Added instrumentation for the `Address Sanitizer (ASAN) <https://clang.llvm.org/docs/AddressSanitizer.html>`__ and
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from the ``mjData`` stack and arena.
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`Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__ to detect memory bugs when allocating
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- Removed ``pstack`` and ``parena`` from the output of ``mj_printData``, since these are implementation details of the
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from the ``mjData`` stack and arena.
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``mjData`` allocators that are affected by diagnostic paddings in instrumented builds.
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#. Removed ``pstack`` and ``parena`` from the output of ``mj_printData``, since these are implementation details of the
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- Removed the ``mj_activate`` and ``mj_deactivate`` functions. These had been kept around for compatibility with old
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``mjData`` allocators that are affected by diagnostic paddings in instrumented builds.
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user code from when MuJoCo was closed source, but have been no-op functions since open sourcing.
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#. Removed the ``mj_activate`` and ``mj_deactivate`` functions. These had been kept around for compatibility with old
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user code from when MuJoCo was closed source, but have been no-op functions since open sourcing.
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Version 2.3.5 (April 25, 2023)
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Version 2.3.5 (April 25, 2023)
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