Prepare changelog for release
PiperOrigin-RevId: 869124525 Change-Id: I7ea6f3c1cf163e98b1bc0b8ed87f8e44afd59ab5
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Yuval Tassa
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@@ -8,16 +8,18 @@ Upcoming version (not yet released)
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Significant new features
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^^^^^^^^^^^^^^^^^^^^^^^^
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- Added new System Identification toolbox (Python), see
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1. :doc:`MuJoCo Warp <mjwarp/index>` is now officially released.
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2. Added a new **System Identification** toolbox (Python), see
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`README <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/sysid/README.md>`__ for details.
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A Colab notebook demonstrating the toolbox is available here: |sysid_colab|
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Contribution by :github:user:`kevinzakka`, :github:user:`aftersomemath`, :github:user:`jonathanembleyriches`,
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|br| A Colab notebook demonstrating the toolbox is available here: |sysid_colab|
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|br| Contribution by :github:user:`kevinzakka`, :github:user:`aftersomemath`, :github:user:`jonathanembleyriches`,
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:github:user:`qiayuanl`, :github:user:`spjardim` and :github:user:`gizemozd`.
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.. |sysid_colab| image:: https://colab.research.google.com/assets/colab-badge.png
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:target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mujoco/sysid/sysid.ipynb
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- Actuators and sensors now support arbitrary delays via history buffers, and sensors values can be computed at
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3. Actuators and sensors now support arbitrary delays via history buffers, and sensor values can be computed at
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intervals larger than the simulation timestep. Using a delay or interval introduces a new ``mjData.history`` variable
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to the :ref:`Physics state<siPhysicsState>`. See :ref:`Delays<CDelay>` for details.
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@@ -26,29 +28,25 @@ Significant new features
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:align: right
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:target: https://github.com/google-deepmind/mujoco/blob/main/model/flex/poncho.xml
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- Added new :ref:`flexvert<equality-flexvert>` equality constraints that enable cloth simulations with coarser meshes.
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This adds a new option ``vert`` to flexcomp edge :ref:`equality<flexcomp-edge-equality>` and the new equality type
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:ref:`flexvert<equality-flexvert>`.
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- Added implicit integration support for deformable objects (flex) in ``implicit`` and ``implicitfast``
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4. Added new :ref:`flexvert<equality-flexvert>` equality constraints that enable cloth simulations with coarser meshes.
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This adds a new attribute value ``vert`` to flexcomp edge :ref:`equality<flexcomp-edge-equality>` and the new
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equality type :ref:`flexvert<equality-flexvert>`. Uses the method described in
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`Chen, Kry and Vouga, 2019 <https://arxiv.org/abs/1911.05204>`__.
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5. Added implicit integration support for deformable objects (flex) in ``implicit`` and ``implicitfast``
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:ref:`integrators<geIntegration>`. This method extracts the flex degrees of freedom and solves them as a dense block,
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enabling increased stability for stiff flex objects without reducing the timestep. It is compatible with the
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``trilinear`` and ``quadratic`` :ref:`dof<body-flexcomp-dof>` types.
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.. container:: custom-clear
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.. raw:: html
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<div style="clear: both;"></div>
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.. image:: images/XMLreference/rfcamera.png
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:width: 45%
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:align: right
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:target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/sensor/rfcamera.xml
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- Rangefinder sensors can now be attached to a camera using the :ref:`ragefinder/camera<sensor-rangefinder-camera>`
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attribute. In this case, the sensor will cast multiple ray, one for each pixel.
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- :ref:`Rangefinders<sensor-rangefinder>` can now report various kinds of information besides ray distances,
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including surface normals.
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6. Rangefinder sensors can now be attached to a camera using the :ref:`rangefinder/camera<sensor-rangefinder-camera>`
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attribute. In this case, the sensor respects the :ref:`camera/resolution<body-camera-resolution>` attribute and casts
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multiple rays, one for each pixel.
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7. :ref:`Rangefinders<sensor-rangefinder>` can now report various kinds of information besides ray distances,
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including surface normals and intersection points.
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.. container:: custom-clear
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@@ -62,51 +60,43 @@ General
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.. admonition:: Breaking API changes
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:class: attention
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- Ray-cast functions now optionally compute the surface normal at the ray intersection. This is a breaking change due
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to the addition of the ``mjtNum normal[3]`` argument. The modified functions are :ref:`mj_ray`, :ref:`mj_multiRay`,
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:ref:`mju_rayGeom`, :ref:`mj_rayFlex`, :ref:`mj_rayHfield` and :ref:`mj_rayMesh`.
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8. Ray-cast functions now optionally compute the surface normal at the ray intersection. This is a breaking change
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due to the addition of the ``mjtNum normal[3]`` argument. The modified functions are :ref:`mj_ray`,
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:ref:`mj_multiRay`, :ref:`mju_rayGeom`, :ref:`mj_rayFlex`, :ref:`mj_rayHfield` and :ref:`mj_rayMesh`.
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**Migration:** In C/C++, pass ``NULL`` to the ``normal`` argument. In Python, in all functions except
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:ref:`mj_multiRay`, it defaults to ``None``, so no action is required.
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- ``mju_rayFlex`` has been renamed to :ref:`mj_rayFlex` for consistency with other functions that take
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9. ``mju_rayFlex`` has been renamed to :ref:`mj_rayFlex` for consistency with other functions that take
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``mjModel*`` and ``mjData*`` arguments.
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- The ``mjModel.cam_orthographic`` field has been renamed to ``cam_projection``, with the semantic of a new enum type
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:ref:`mjtProjection`. This will allow for more projection types in the future like fisheye cameras.
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10. The ``mjModel.cam_orthographic`` field has been renamed to ``cam_projection``, with the semantic of a new enum
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type :ref:`mjtProjection`. This will allow for more projection types in the future like fisheye cameras.
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Relatedly, the ``camera/orthographic`` MJCF attribute for cameras has been renamed to
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:ref:`camera/projection<body-camera-projection>` and now accepts the values ``orthographic`` and ``perspective``.
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**Migration:** Replace ``orthographic = "false/true"`` with ``projection="perspective/orthographic"``,
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respectively.
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- Removed ``getdir`` from the ``mjpResourceProvider`` struct. All Resource Providers now use the same shared
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11. Removed ``getdir`` from the ``mjpResourceProvider`` struct. All Resource Providers now use the same shared
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implementation.
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- When combining the ``margin`` and ``gap`` :ref:`parameters<CContact>` of two geoms to obtain the parameters
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of a contact, the respective values are now **summed** rather than than taking the maximum. This allows geom
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12. When combining the ``margin`` or ``gap`` :ref:`parameters<CContact>` of two geoms to obtain the parameters
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of a contact, the respective values are now **summed** rather than taking the maximum. This allows geom
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margins to be a proper "inflation" of the geom.
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- Camera frustum visualization is now triggered by setting :ref:`resolution<body-camera-resolution>` to values larger
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13. Camera frustum visualization is now triggered by setting :ref:`resolution<body-camera-resolution>` to values larger
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than 1. Relatedly, frustum visualization also works for :ref:`orthographic<body-camera-projection>` cameras.
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See :ref:`rangefinder<sensor-rangefinder>` for details.
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- Cameras now have an :ref:`output<body-camera-output>` attribute, parsed into the ``mjModel.cam_output`` bitfield.
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14. Cameras now have an :ref:`output<body-camera-output>` attribute, parsed into the ``mjModel.cam_output`` bitfield.
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Unused by the renderer, it serves as a convenient location to store a camera's supported output types.
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- Added :ref:`mj_mountVFS` and :ref:`mj_unmountVFS` functions for mounting a custom VFS provider. Mounting Allows
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15. Added :ref:`mj_mountVFS` and :ref:`mj_unmountVFS` functions for mounting a custom VFS provider. Mounting allows
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providers to be used to open/read/close resources dynamically at arbitrary paths.
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- The optimization whereby sequential :ref:`collision sensors<collision-sensors>` with identical attributes shared
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16. The optimization whereby sequential :ref:`collision sensors<collision-sensors>` with identical attributes shared
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computation has been removed. This results in a (likely minor) performance regression for models which exploited
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this optimization. To recover the performance, use the :ref:`fromto<sensor-fromto>` and compute the other values
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manually. If ``from = fromto[0:3]`` and ``to = fromto[3:6]`` then ``distance = norm(to-from)`` and
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``normal = normalize(to-from)``.
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- Non-breaking ABI changes:
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- The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
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``unsigned int`` to ``int``. Before this change, invalid negative arguments passed to this function would result in
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a silent implicit cast, now negativity will trigger an error.
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- Added a :ref:`depth<mjtRndFlag>` rendering flag.
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- Allocating sizes in :ref:`mjModel` now use 64-bit rather than 32-bit integers to accommodate larger scenes.
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- :doc:`OpenUSD <OpenUSD/index>`:
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17. :doc:`OpenUSD <OpenUSD/index>`:
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- Parsing has been moved out of experimental into a mjpDecoder plugin. (documentation pending)
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- OpenUSD can now be built with the
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@@ -116,34 +106,43 @@ General
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library.
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- Users no longer have to set ``PXR_PLUGINPATH_NAME`` environment variable, MuJoCo should load USD plugins
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automatically.
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18. Non-breaking ABI changes:
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- The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
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``unsigned int`` to ``int``. Before this change, invalid negative arguments passed to this function would result
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in a silent implicit cast; now, negativity will trigger an error.
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- Added a :ref:`depth<mjtRndFlag>` rendering flag.
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- Allocation sizes in :ref:`mjModel` now use 64-bit rather than 32-bit integers to accommodate larger scenes.
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MJX
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^^^
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- Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
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- Add ``graph_mode`` argument to ``put_model`` to support multiple Warp graph capture modes.
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19. Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
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20. Add ``graph_mode`` argument to ``put_model`` to support multiple Warp graph capture modes.
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Documentation
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^^^^^^^^^^^^^
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- General improvements to the :ref:`Programming/Simulation<Simulation>` chapter. Notably, the main discussion of
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21. General improvements to the :ref:`Programming/Simulation<Simulation>` chapter. Notably, the main discussion of
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:ref:`state<siStateControl>` has been moved there, and the section on :ref:`mjModel changes<siChange>` has been
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expanded.
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- The usability of the :ref:`MJCF schema<CSchema>` is improved with a collapsible dropdown menu with links to elements
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22. The usability of the :ref:`MJCF schema<CSchema>` is improved with a collapsible dropdown menu with links to elements
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and attributes.
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23. MuJoCo version numbering is now based on Semantic Versioning, see
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`VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__.
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Bug fixes
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^^^^^^^^^
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- Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives were
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24. Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives were
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incorrectly computed when the force was clamped by :ref:`forcerange<actuator-general-forcerange>`.
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- Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives did not
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25. Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives did not
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account for the :ref:`actearly<actuator-general-actearly>` flag.
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- Multi threaded mesh processing, enabled by the :ref:`usethread<compiler-usethread>` compiler flag (on by default), was
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in fact disabled by the flag. Fixing this bug speeds up compilation of mesh-heavy models by (up to) the number of
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available cores.
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- The ``vertid`` argument of :ref:`mj_rayFlex` and :ref:`mju_raySkin` was marked as nullable but was not; it is now
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26. Multi-threaded mesh processing, enabled by the :ref:`usethread<compiler-usethread>` compiler flag (on by default),
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was in fact disabled by the flag. Fixing this bug speeds up compilation of mesh-heavy models by (up to) the number
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of available cores.
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27. The ``vertid`` argument of :ref:`mj_rayFlex` and :ref:`mju_raySkin` was marked as nullable but was not; it is now
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nullable.
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- Fixed :ref:`gravcomp<body-gravcomp>` being ignored for bodies with no joints nested inside jointed parent bodies
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28. Fixed :ref:`gravcomp<body-gravcomp>` being ignored for bodies with no joints nested inside jointed parent bodies
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(:issue:`3066`, reported by :github:user:`Alex108306`).
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Version 3.4.0 (December 5, 2025)
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@@ -11,8 +11,7 @@ MuJoCo Warp (MJWarp)
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MuJoCo Warp (MJWarp) is an implementation of MuJoCo written in `Warp <https://nvidia.github.io/warp/>`__ and optimized
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for `NVIDIA <https://nvidia.com>`__ hardware and parallel simulation. MJWarp lives in the
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`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository and is currently in
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beta.
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`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository.
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MJWarp is developed and maintained as a joint effort by `NVIDIA <https://nvidia.com>`__ and
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`Google DeepMind <https://deepmind.google/>`__.
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