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

Update changelog for the 3.9.0 release.

Browse Source 
PiperOrigin-RevId: 922002472
Change-Id: I92489261c59cff10b29def784698868e67aa43da
This commit is contained in:
Michael Moss
2026-05-27 02:46:48 -07:00
committed by Copybara-Service
parent f6cd0234fd
commit 237c17e485
1 changed files with 64 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+64 -63
View File
@@ -2,93 +2,94 @@
Changelog Changelog
========= =========
Upcoming version (not yet released) Version 3.9.0 (May 27, 2026)
----------------------------------- ----------------------------
General General
^^^^^^^ ^^^^^^^
- Added ``mjData.efc_Y``, the whitened constraint Jacobian :math:`Y = J M^{-1/2}`, allocated in the arena when 1. Added ``mjData.efc_Y``, the whitened constraint Jacobian :math:`Y = J M^{-1/2}`, allocated in the arena when
dual solvers (PGS or NoSlip) are used or when :ref:`diagexact<option-flag-diagexact>` is enabled. dual solvers (PGS or NoSlip) are used or when :ref:`diagexact<option-flag-diagexact>` is enabled.
- Added the :ref:`diagexact<option-flag-diagexact>` enable flag, which computes the exact diagonal of the 2. Added the :ref:`diagexact<option-flag-diagexact>` enable flag, which computes the exact diagonal of the
constraint-space inertia matrix at the current configuration, replacing the default compile-time approximation. constraint-space inertia matrix at the current configuration, replacing the default compile-time approximation.
This improves solver quality for models with anisotropic inertias or complex kinematic coupling. See This improves solver quality for models with anisotropic inertias or complex kinematic coupling. See
:ref:`Exact diagonal <soExactDiag>` for details. :ref:`Exact diagonal <soExactDiag>` for details.
- The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous 3. The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous
release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which introduced subtle yet release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which introduced subtle yet
undesirable time dependence. undesirable time dependence.
- Flexes are now allowed to sleep, with the exception of completely passive (constraint-free) flexes. 4. Flexes are now allowed to sleep, with the exception of completely passive (constraint-free) flexes.
- Added compiler timing diagnostics via the new :ref:`mjtCTimer` enum and the :ref:`mjs_getTimer` C API. After 5. Added compiler timing diagnostics via the new :ref:`mjtCTimer` enum and the :ref:`mjs_getTimer` C API. After
:ref:`mj_compile`, per-category timings (total, assets, mesh loading, convex hull, normals, inertia, BVH, octree, :ref:`mj_compile`, per-category timings (total, assets, mesh loading, convex hull, normals, inertia, BVH, octree,
textures) are available via ``mjs_getTimer(spec)``. The :ref:`compile<saCompile>` sample prints a detailed timing textures) are available via ``mjs_getTimer(spec)``. The :ref:`compile<saCompile>` sample prints a detailed timing
breakdown when run without an output file. breakdown when run without an output file.
- Added :ref:`mjtBool` to represent boolean variables, replacing :ref:`mjtByte` across all boolean fields in 6. Added :ref:`mjtBool` to represent boolean variables, replacing :ref:`mjtByte` across all boolean fields in
:ref:`mjModel`, :ref:`mjData`, and public C API function signatures. :ref:`mjModel`, :ref:`mjData`, and public C API function signatures.
.. admonition:: Breaking API changes .. admonition:: Breaking API changes
:class: attention :class: attention
- The semantics of the contact ``margin`` and ``gap`` parameters have been redesigned for conceptual clarity and 7. The semantics of the contact ``margin`` and ``gap`` parameters have been redesigned for conceptual clarity and
consistency with `Newton <https://github.com/newton-physics/newton>`__. See the new consistency with `Newton <https://github.com/newton-physics/newton>`__. See the new
:ref:`margin and gap<coMarginGap>` documentation section for details. :ref:`margin and gap<coMarginGap>` documentation section for details.
Previously, ``margin`` controlled the *detection threshold* (contacts exist when ``dist < margin``) and ``gap`` Previously, ``margin`` controlled the *detection threshold* (contacts exist when ``dist < margin``) and ``gap``
was subtracted from it to produce the *force threshold* (forces generated when ``dist < margin - gap``). This was was subtracted from it to produce the *force threshold* (forces generated when ``dist < margin - gap``). This was
unintuitive: users expected ``margin`` to mean geometric inflation and ``gap`` to mean a spatial gap. unintuitive: users expected ``margin`` to mean geometric inflation and ``gap`` to mean a spatial gap.
Under the new semantics, ``margin`` is the geometric inflation of the geom surface and ``gap`` is an additional Under the new semantics, ``margin`` is the geometric inflation of the geom surface and ``gap`` is an additional
detection buffer beyond the inflated surface: detection buffer beyond the inflated surface:
- **Detection**: contacts are created when ``dist < margin + gap``. - **Detection**: contacts are created when ``dist < margin + gap``.
- **Force generation**: constraint forces are applied when ``dist < margin``. - **Force generation**: constraint forces are applied when ``dist < margin``.
- **Inactive contacts**: contacts with ``margin < dist ≤ margin + gap`` are included in ``mjData.contact`` but - **Inactive contacts**: contacts with ``margin < dist ≤ margin + gap`` are included in ``mjData.contact`` but
generate no force (``efc_address = -1``). This is useful for :ref:`adhesion<actuator-adhesion>` actuators and generate no force (``efc_address = -1``). This is useful for :ref:`adhesion<actuator-adhesion>` actuators and
custom callbacks. custom callbacks.
With the default values ``margin = 0``, ``gap = 0``, the behavior is unchanged. With the default values ``margin = 0``, ``gap = 0``, the behavior is unchanged.
.. image:: images/modeling/margin_gap_light.svg .. image:: images/modeling/margin_gap_light.svg
:width: 80% :width: 80%
:align: center :align: center
:class: only-light :class: only-light
.. image:: images/modeling/margin_gap_dark.svg .. image:: images/modeling/margin_gap_dark.svg
:width: 80% :width: 80%
:align: center :align: center
:class: only-dark :class: only-dark
| |
**Migration:** Models that use the default ``gap="0"`` (the vast majority) require no changes. For models with **Migration:** Models that use the default ``gap="0"`` (the vast majority) require no changes. For models with
``gap > 0``, apply the following transformation to preserve identical behavior: ``gap > 0``, apply the following transformation to preserve identical behavior:
.. code-block:: .. code-block::
margin_new = margin_old - gap_old margin_new = margin_old - gap_old
gap_new = gap_old gap_new = gap_old
For example, a geom with the old attributes ``margin="0.1" gap="0.1"`` should be changed to For example, a geom with the old attributes ``margin="0.1" gap="0.1"`` should be changed to
``margin="0" gap="0.1"``. ``margin="0" gap="0.1"``.
Negative ``margin`` values are now permitted (corresponding to ``gap > margin`` under the old semantics). The Negative ``margin`` values are now permitted (corresponding to ``gap > margin`` under the old semantics). The
constraint ``margin + gap >= 0`` should be maintained to ensure valid collision detection. constraint ``margin + gap >= 0`` should be maintained to ensure valid collision detection.
- The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact` 8. The :ref:`mjfCollision` functions now populate the :ref:`mjPreContact` struct instead of the :ref:`mjContact`
struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection. struct. The :ref:`mjPreContact` only contains the necessary fields needed for the narrowphase collision detection.
- The header file ``mjtnum.h`` was renamed to 9. The header file ``mjtnum.h`` was renamed to
`mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>` and now includes all `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>` and now includes all
enum type definitions. enum type definitions.
- The :ref:`tactile<sensor-tactile>` sensor now reports raw depth instead of an estimated pressure. 10. The :ref:`tactile<sensor-tactile>` sensor now reports raw depth instead of an estimated pressure.
- MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of 11. MJX: Removed the deprecated ``nconmax`` argument from ``mjx.make_data`` and ``mjx.put_data`` in favor of
``naconmax``. ``naconmax``.
12. Maybe-breaking: Added `mjassert.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjassert.h>`__, a new header containing
compile-time assertions that verify the sizes of MuJoCo's public types for ABI stability. This is a first step
towards replacing ``int`` with strongly-typed enums in the public API. If these assertions fail on your compiler or
platform, please report the issue on GitHub.
- Maybe-breaking: Added `mjassert.h
<https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjassert.h>`__, a new header containing
compile-time assertions that verify the sizes of MuJoCo's public types for ABI stability. This is a first step
towards replacing ``int`` with strongly-typed enums in the public API. If these assertions fail on your compiler or
platform, please report the issue on GitHub.
Version 3.8.1 (May 11, 2026) Version 3.8.1 (May 11, 2026)
---------------------------- ----------------------------