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

Remove deprecated mjx.device_* functions. They are not suited to upcoming condim support.

Browse Source 
PiperOrigin-RevId: 626486447
Change-Id: Ibd41874bb3903123567168ebbac563399788d2f2
This commit is contained in:
Erik Frey
2024-04-19 15:33:23 -07:00
committed by Copybara-Service
parent e98a95821d
commit 3b64217b96
6 changed files with 24 additions and 532 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+19 -10
View File
@@ -14,20 +14,29 @@ General
MJX
^^^
3. Added cylinder plane collisions.
4. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
5. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
6. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
7. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
8. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
.. admonition:: Breaking API changes
:class: attention
3. 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``.
4. Added cylinder plane collisions.
5. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
6. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
7. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
8. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
9. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
geoms.
9. Fixed a bug where capsules might be ignored in broadphase colliision checking.
10. Fixed a bug where capsules might be ignored in broadphase colliision checking.
Bug fixes
^^^^^^^^^
10. Defaults of lights were not being saved, now fixed.
11. Prevent overwriting of frame names by body names when saving an XML. Introduced in 3.1.4.
12. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
11. Defaults of lights were not being saved, now fixed.
12. Prevent overwriting of frame names by body names when saving an XML. Introduced in 3.1.4.
13. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional.