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Update changelog for version 2.3.4.

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PiperOrigin-RevId: 525773208
Change-Id: I54a0e16f069718737719e3d145f3f4795d19e9c8
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Saran Tunyasuvunakool
2023-04-20 09:46:42 -07:00
committed by Copybara-Service
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commit 0db9a453dc
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Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 2.3.4 (April 20, 2023)
------------------------------
General
^^^^^^^
- Removed the "global" setting of the :ref:`compiler/coordinate<compiler-coordinate>` attribute. This rarely-used
setting complicates the compiler logic and is blocking future improvements. In order to convert older models which
used this option, load and save them in MuJoCo 2.3.3 or older.
1. Removed the "global" setting of the :ref:`compiler/coordinate<compiler-coordinate>` attribute. This rarely-used
setting complicates the compiler logic and is blocking future improvements. In order to convert older models which
used this option, load and save them in MuJoCo 2.3.3 or older.
.. image:: images/changelog/ellipsoidinertia.gif
:align: right
:width: 240px
- Added :ref:`visual-global<visual-global>` flag :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` to visualize
equivalent body inertias with ellipsoids instead of the default boxes.
- Added documentation for :ref:`engine plugins<exPlugin>`.
- Added struct information to the ``introspect`` module.
- Added a new extension mechanism called "resource provider" . This extensible mechanism allows MuJoCo
to read assets from data sources other than the local OS filesystem or
the :ref:`Virtual file system<Virtualfilesystem>`.
2. Added :ref:`visual-global<visual-global>` flag :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` to visualize
equivalent body inertias with ellipsoids instead of the default boxes.
#. Added midphase and broadphase collision statistics to :ref:`mjData`.
#. Added documentation for :ref:`engine plugins<exPlugin>`.
#. Added struct information to the ``introspect`` module.
#. Added a new extension mechanism called "resource provider" . This extensible mechanism allows MuJoCo
to read assets from data sources other than the local OS filesystem or
the :ref:`Virtual file system<Virtualfilesystem>`.
Python bindings
^^^^^^^^^^^^^^^
- Offscreen rendering on macOS is no longer restricted to the main thread. This is achieved by using the low-level
Core OpenGL (CGL) API to create the OpenGL context, rather than going via GLFW which relies on Cocoa's NSOpenGL.
The resulting context is not tied to a Cocoa window, and is therefore not tied to the main thread.
- Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions could previously
return before an internal call to ``mj_forward``. This allows user code to continue and potentially modify physics
state concurrently with the internal ``mj_forward``, resulting in e.g.
`MuJoCo stack overflow error <https://github.com/deepmind/mujoco/issues/783>`_
or `segmentation fault <https://github.com/deepmind/mujoco/issues/790>`_.
- The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The passive
viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics state. This
is to avoid race conditions that can result in visual artifacts. See :ref:`documentation<PyViewer>` for details.
- The ``viewer.launch_repl`` function has been removed since its functionality is superceded by ``launch_passive``.
- Added a small number of missing struct fields discovered through the new ``introspect`` metadata.
7. Offscreen rendering on macOS is no longer restricted to the main thread. This is achieved by using the low-level
Core OpenGL (CGL) API to create the OpenGL context, rather than going via GLFW which relies on Cocoa's NSOpenGL.
The resulting context is not tied to a Cocoa window, and is therefore not tied to the main thread.
#. Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions could previously
return before an internal call to ``mj_forward``. This allows user code to continue and potentially modify physics
state concurrently with the internal ``mj_forward``, resulting in e.g.
`MuJoCo stack overflow error <https://github.com/deepmind/mujoco/issues/783>`_
or `segmentation fault <https://github.com/deepmind/mujoco/issues/790>`_.
#. The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The
passive viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics
state. This is to avoid race conditions that can result in visual artifacts. See :ref:`documentation<PyViewer>` for
details.
#. The ``viewer.launch_repl`` function has been removed since its functionality is superceded by ``launch_passive``.
#. Added a small number of missing struct fields discovered through the new ``introspect`` metadata.
Bug fixes
^^^^^^^^^
- Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator. If using the
(as-yet undocumented) ellipsoid-based fluid model, please use a different integrator until the next release.
12. Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator. If using the
(as-yet undocumented) ellipsoid-based fluid model, please use a different integrator until the next release.
#. Removed spurious whole-arena copying in `mj_copyData`, which can considerably
`slow down <https://github.com/deepmind/mujoco/issues/568>`_ the copying operation.
#. Make ``shellinertia`` ignore ``exactmeshinertia``, which is only used for legacy volume computations
(`#759 <https://github.com/deepmind/mujoco/issues/759>`_).
Version 2.3.3 (March 20, 2023)