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Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.

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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
This commit is contained in:
Yuval Tassa
2024-03-28 14:00:55 -07:00
committed by Copybara-Service
parent d258d5e152
commit 47ba72ea59
16 changed files with 257 additions and 79 deletions
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doc/changelog.rst
+26 -19
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@@ -7,15 +7,35 @@ Upcoming version (not yet released)
General
^^^^^^^
1. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
1. Added the :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>` joint attribute. When enabled, gravity compensation
forces on the joint are treated as applied by actuators. See attribute documentation for more details. The example
model
`refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`__,
which demostrates Cartesian actuation of an arm, has been updated to use this attribute.
2. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
MJX
^^^
3. Improved performance of SAT for convex collisions.
4. Fixed bug for sphere/capsule-convex deep penetration.
5. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
6. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
Simulate
^^^^^^^^
7. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
:ref:`invdiscrete<option-flag-invdiscrete>` or :ref:`sensornoise<option-flag-sensornoise>`
flags would actually toggle the other flag.
Python bindings
^^^^^^^^^^^^^^^
8. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
Kinematics, is available here: |ls_colab|
.. |ls_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
:target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb
2. Improved performance of SAT for convex collisions.
3. Fixed bug for sphere/capsule-convex deep penetration.
4. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
5. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
Version 3.1.3 (March 5th, 2024)
-------------------------------
@@ -37,7 +57,6 @@ General
MJX
^^^
4. Improved performance of getting and putting device data.
- Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
@@ -56,21 +75,9 @@ Python bindings
^^^^^^^^^^^^^^^
11. Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex`` array members
of the ``mjContact`` struct, and all array members of the ``mjrContext`` struct.
12. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
Kinematics, is available here: |ls_colab|
.. |ls_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
:target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb
Simulate
^^^^^^^^
13. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
:ref:`invdiscrete<option-flag-invdiscrete>` or :ref:`sensornoise<option-flag-sensornoise>`
flags would actually toggle the other flag.
Version 3.1.2 (February 05, 2024)
-----------------------------------
---------------------------------
General
^^^^^^^