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Add replicate element to MJCF. Fixes #553

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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
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Alessio Quaglino
2024-04-30 06:28:09 -07:00
committed by Copybara-Service
parent 6a5bbb5157
commit 26f23066d1
30 changed files with 8756 additions and 2807 deletions
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doc/changelog.rst
+27 -20
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@@ -7,15 +7,22 @@ Upcoming version (not yet released)
General
^^^^^^^
1. Added ``mjModel.mesh_scale``: the scaling applied to asset vertices, as specified in the
.. youtube:: 5k0_wsIRAFc
:align: right
:width: 240px
1. Added the :ref:`replicate<replicate>` to MJCF, a :ref:`meta-element<meta-element>` which permits to repeat a subtree
with incremental translational and rotational offsets.
2. Added ``mjModel.mesh_scale``: the scaling applied to asset vertices, as specified in the
:ref:`scale<asset-mesh-scale>` attribute.
2. Added visual properties which are ignored by the native renderer, but can be used by external renderers:
3. Added visual properties which are ignored by the native renderer, but can be used by external renderers:
- :ref:`light/bulbradius<body-light-bulbradius>` attribute and corresponding ``mjModel.light_bulbradius`` field.
- :ref:`material/metallic<asset-material-metallic>` attribute and corresponding ``mjModel.material_metallic`` field.
- :ref:`material/roughness<asset-material-roughness>` attribute and corresponding ``mjModel.material_roughness``
field.
3. The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was changed from ``int``
4. The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was changed from ``int``
to ``size_t``.
MJX
@@ -23,33 +30,33 @@ MJX
.. admonition:: Breaking API changes
:class: attention
4. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
5. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
functionality.
**Migration:** Use ``mjx.get_data_into`` instead of ``mjx.device_get_into``, and ``mjx.put_data`` instead of
``mjx.device_put``.
5. Added cylinder plane collisions.
6. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
7. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
8. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
9. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
10. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
6. Added cylinder plane collisions.
7. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
8. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
9. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
10. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
11. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
geoms.
11. Fixed a bug where capsules might be ignored in broadphase colliision checking.
12. Added cylinder collisions using SDFs.
13. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
14. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
15. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
16. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
12. Fixed a bug where capsules might be ignored in broadphase colliision checking.
13. Added cylinder collisions using SDFs.
14. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
15. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
16. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
17. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
Bug fixes
^^^^^^^^^
17. Defaults of lights were not being saved, now fixed.
18. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
19. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
18. Defaults of lights were not being saved, now fixed.
19. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
20. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.
20. Fixed bug that prevented memory allocations larger than 2.15 GB.
21. Fixed bug that prevented memory allocations larger than 2.15 GB.
Version 3.1.4 (April 10th, 2024)