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Add island support to CG solver.

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Add island support to CG solver.

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PiperOrigin-RevId: 565653886
Change-Id: Ib971ae37dd011b8f2cbe1f88d8875e0ed657c7af
This commit is contained in:
Yuval Tassa
2023-09-15 05:46:35 -07:00
committed by Copybara-Service
parent 492b6a72ec
commit 2cc1205498
7 changed files with 394 additions and 106 deletions
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doc/changelog.rst
+10 -8
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@@ -12,11 +12,11 @@ New features
:align: right
:width: 240px
1. Added constraint island discovery in :ref:`mj_island`. Constraint islands are disjoint sets of constraints
and degrees-of-freedom that do not interact. In a future release the constraint solver will be refactored to
exploit this disjoint structure. Island discovery can be activated using a new :ref:`enable flag<option-flag-island>`
which will be removed after the refactor. If island discovery is enabled, geoms, contacts and
tendons will be colored according to the corresponding island, see video.
1. Added constraint island discovery with :ref:`mj_island`. Constraint islands are disjoint sets of constraints
and degrees-of-freedom that do not interact. The only solver which currently supports islands is
:ref:`CG<option-solver>`. Island discovery can be activated using a new :ref:`enable flag<option-flag-island>`.
If island discovery is enabled, geoms, contacts and tendons will be colored according to the corresponding island,
see video.
.. youtube:: QewlEqIZi1o
:align: right
@@ -74,8 +74,9 @@ General
12. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
13. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning.
14. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store normalizing transformation.
linesearch stopping criteria in CG and Newton solvers. These can be useful for performance tuning.
14. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
mesh assets. Fixes `#409 <https://github.com/google-deepmind/mujoco/issues/409>`__ .
15. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
sensor. If camera resolution is set to positive values, the camera projection sensor will report the location of a
target site, projected onto the camera image, in pixel coordinates.
@@ -89,7 +90,8 @@ Python bindings
Bug fixes
^^^^^^^^^
17. Fixed a bug that was causing the geom margins to be ignored during the midphase.
17. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
midphase collision trees.
Version 2.3.7 (July 20, 2023)