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Add adhesion actuators.

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- Adhesion actuators using contact normals as force transmission mechanism.
- Related video: https://youtu.be/HdBue4MUZys

Closes #229

PiperOrigin-RevId: 464389367
Change-Id: I9f69b3cd152d957e8f65870d208788463c036a6d
This commit is contained in:
Yuval Tassa
2022-07-31 08:53:29 -07:00
committed by Copybara-Service
parent 5c5449bf82
commit 3d77eb1ef4
17 changed files with 475 additions and 63 deletions
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doc/changelog.rst
+36 -33
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@@ -7,9 +7,11 @@ Upcoming version (not yet released)
General
^^^^^^^
- Added :ref:`adhesion actuators<adhesion>`.
- Added an `active adhesion example model <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_.
- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
- Added moment of inertia computation for concave meshes. This is a breaking change, to get back to the previous
behavior set the compiler flag :at:`exactmeshinertia` to false.
- Added moment of inertia computation for concave meshes. This is currently activated by setting the compiler flag
:at:`exactmeshinertia` to ``true`` (defaults to ``false``). This default may change in the future.
- Added parameter :at:`shellinertia` in :at:`geom` for treating a mesh as a boundary mesh (shell) for inertia
computations. This is currently supported only for meshes.
- Raise error if the orientation of mesh faces is not consistent, which causes the inertia computations to be
@@ -17,6 +19,7 @@ General
Bug fixes
^^^^^^^^^
- Fixed rendering of some transparent geoms in relflection.
Version 2.2.1 (July 18, 2022)
-----------------------------
@@ -24,45 +27,45 @@ Version 2.2.1 (July 18, 2022)
General
^^^^^^^
- Added ``mjd_transitionFD`` to compute efficient finite difference approximations of the state-transition and
control-transition matrices, :ref:`see here<derivatives>` for more details.
- Added derivatives for the ellipsoid fluid model.
- Added ``ctrl`` attribute to :ref:`keyframes<keyframe>`.
- Added ``clock`` sensor which :ref:`measures time<sensor-clock>`.
- Added visualisation groups to skins.
- Added actuator visualisation for ``free`` and ``ball`` joints and for actuators with ``site`` transmission.
- Added visualisation for actuator activations.
- Added ``<intvelocity>`` actuator shortcut for "integrated velocity" actuators, documented :ref:`here <intvelocity>`.
- Added ``<damper>`` actuator shortcut for active-damping actuators, documented :ref:`here <damper>`.
- ``mju_rotVecMat`` and ``mju_rotVecMatT`` now support in-place multiplication.
- ``mjData.ctrl`` values are no longer clamped in-place, remain untouched by the engine.
- Arrays in mjData's buffer now align to 64-byte boundaries rather than 8-byte.
- Add memory poisoning when building with Address Sanitizer (ASAN) and Memory Sanitizer (MSAN). This allows ASAN to
detect reads and writes to regions in ``mjModel.buffer`` and ``mjData.buffer`` that do not lie within an array, and
for MSAN to detect reads from uninitialised fields in ``mjData`` following ``mj_resetData``.
- Add a `slider-crank example <https://github.com/deepmind/mujoco/tree/2.2.1/model/slider_crank>`_ to ``model/``.
1. Added ``mjd_transitionFD`` to compute efficient finite difference approximations of the state-transition and
control-transition matrices, :ref:`see here<derivatives>` for more details.
#. Added derivatives for the ellipsoid fluid model.
#. Added ``ctrl`` attribute to :ref:`keyframes<keyframe>`.
#. Added ``clock`` sensor which :ref:`measures time<sensor-clock>`.
#. Added visualisation groups to skins.
#. Added actuator visualisation for ``free`` and ``ball`` joints and for actuators with ``site`` transmission.
#. Added visualisation for actuator activations.
#. Added ``<intvelocity>`` actuator shortcut for "integrated velocity" actuators, documented :ref:`here <intvelocity>`.
#. Added ``<damper>`` actuator shortcut for active-damping actuators, documented :ref:`here <damper>`.
#. ``mju_rotVecMat`` and ``mju_rotVecMatT`` now support in-place multiplication.
#. ``mjData.ctrl`` values are no longer clamped in-place, remain untouched by the engine.
#. Arrays in mjData's buffer now align to 64-byte boundaries rather than 8-byte.
#. Added memory poisoning when building with Address Sanitizer (ASAN) and Memory Sanitizer (MSAN). This allows ASAN to
detect reads and writes to regions in ``mjModel.buffer`` and ``mjData.buffer`` that do not lie within an array, and
for MSAN to detect reads from uninitialised fields in ``mjData`` following ``mj_resetData``.
#. Added a `slider-crank example model <https://github.com/deepmind/mujoco/tree/main/model/slider_crank>`_.
Bug fixes
^^^^^^^^^
- :ref:`Activation clamping <CActRange>` was not being applied in the :ref:`implicit integrator<geIntegration>`.
- Stricter parsing of orientation specifiers. Before this change, a specification that included both ``quat`` and an
:ref:`alternative specifier<COrientation>` e.g., ``<geom ... quat=".1 .2 .3 .4" euler="10 20 30">``, would lead to the
``quat`` being ignored and only ``euler`` being used. After this change a parse error will be thrown.
- Stricter parsing of XML attributes. Before this change an erroneous XML snippet like ``<geom size="1/2 3 4">`` would
have been parsed as ``size="1 0 0"`` and no error would have been thrown. Now throws an error.
- Trying to load a ``NaN`` via XML like ``<geom size="1 NaN 4">``, while allowed for debugging purposes, will now print
a warning.
- Fixed null pointer dereference in ``mj_loadModel``.
- Fixed memory leaks when loading an invalid model from MJB.
- Integer overflows are now avoided when computing ``mjModel`` buffer sizes.
- Added missing warning string for ``mjWARN_BADCTRL``.
15. :ref:`Activation clamping <CActRange>` was not being applied in the :ref:`implicit integrator<geIntegration>`.
#. Stricter parsing of orientation specifiers. Before this change, a specification that included both ``quat`` and an
:ref:`alternative specifier<COrientation>` e.g., ``<geom ... quat=".1 .2 .3 .4" euler="10 20 30">``, would lead to
the ``quat`` being ignored and only ``euler`` being used. After this change a parse error will be thrown.
#. Stricter parsing of XML attributes. Before this change an erroneous XML snippet like ``<geom size="1/2 3 4">`` would
have been parsed as ``size="1 0 0"`` and no error would have been thrown. Now throws an error.
#. Trying to load a ``NaN`` via XML like ``<geom size="1 NaN 4">``, while allowed for debugging purposes, will now print
a warning.
#. Fixed null pointer dereference in ``mj_loadModel``.
#. Fixed memory leaks when loading an invalid model from MJB.
#. Integer overflows are now avoided when computing ``mjModel`` buffer sizes.
#. Added missing warning string for ``mjWARN_BADCTRL``.
Packaging
^^^^^^^^^
- Changed MacOS packaging so that the copy of ``mujoco.framework`` embedded in ``MuJoCo.app`` can be used to build
applications externally.
23. Changed MacOS packaging so that the copy of ``mujoco.framework`` embedded in ``MuJoCo.app`` can be used to build
applications externally.
Version 2.2.0 (May 23, 2022)