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Add attach tag to MJCF.

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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
This commit is contained in:
Alessio Quaglino
2024-07-10 12:40:50 -07:00
committed by Copybara-Service
parent 5b080bacc4
commit 27b9ddda5b
19 changed files with 419 additions and 248 deletions
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doc/changelog.rst
+15 -12
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@@ -39,27 +39,30 @@ General
:align: right
:width: 240px
7. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
7. Add :ref:`attach<body-attach>` meta-element to MJCF, which allows attaching a model to a body.
8. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
attributes, respectively.
8. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
9. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
10. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
11. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
9. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
10. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
11. Added support for ``ball`` joints in the URDF parser ("spherical" in URDF).
12. Deprecated :ref:`mju_rotVecMat` and :ref:`mju_rotVecMatT` in favor of :ref:`mju_mulMatVec3` and
:ref:`mju_mulMatTVec3`. These functions names and argument ordering are more consistent with the rest of the API.
13. Replaced ``mjUSEDOUBLE`` which was previously hard-coded in
`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtnum.h>`__
with the build-time flag ``mjUSESINGLE``. If this symbol is not defined, MuJoCo will use double-precision floating
point, as usual. If ``mjUSESINGLE`` is defined, MuJoCo will use single-precision floating point. See :ref:`mjtNum`.
Relatedly, fixed various type errors that prevented building with single-precision.
12. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
14. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
:ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
``mjData->qpos`` will be normalized.
MJX
~~~
13. Added support for :ref:`elliptic friction cones<option-cone>`.
14. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
15. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
15. Added support for :ref:`elliptic friction cones<option-cone>`.
16. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
17. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
.. youtube:: P83tKA1iz2Y
@@ -68,14 +71,14 @@ MJX
Simulate
^^^^^^^^
16. Added improved tutorial video.
17. Improved the Brownian noise generator.
18. Added improved tutorial video.
19. Improved the Brownian noise generator.
|br| |br| |br| |br|
Python bindings
^^^^^^^^^^^^^^^
18. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
20. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
Version 3.1.6 (Jun 3, 2024)
---------------------------