Bump version number to 2.3.0.
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@@ -3,82 +3,81 @@ Changelog
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=========
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Upcoming version (not yet released)
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-----------------------------------
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Version 2.3.0 (October 18, 2022)
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--------------------------------
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General
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^^^^^^^
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- The ``contact`` array and arrays prefixed with ``efc_`` in ``mjData`` were moved out of the ``buffer`` into a new
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``arena`` memory space. These arrays are no longer allocated with fixed sizes when ``mjData`` is created.
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Instead, the exact memory requirement is determined during each call to :ref:`mj_forward` (specifically,
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in :ref:`mj_collision` and :ref:`mj_makeConstraint`) and the arrays are allocated from the ``arena`` space. The
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``stack`` now also shares its available memory with ``arena``. This change reduces the memory footprint of ``mjData``
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in models that do not use the PGS solver, and will allow for significant memory reductions in the future.
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See the :ref:`Memory allocation <CSize>` section for details.
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1. The ``contact`` array and arrays prefixed with ``efc_`` in ``mjData`` were moved out of the ``buffer`` into a new
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``arena`` memory space. These arrays are no longer allocated with fixed sizes when ``mjData`` is created.
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Instead, the exact memory requirement is determined during each call to :ref:`mj_forward` (specifically,
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in :ref:`mj_collision` and :ref:`mj_makeConstraint`) and the arrays are allocated from the ``arena`` space. The
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``stack`` now also shares its available memory with ``arena``. This change reduces the memory footprint of ``mjData``
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in models that do not use the PGS solver, and will allow for significant memory reductions in the future.
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See the :ref:`Memory allocation <CSize>` section for details.
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.. youtube:: RHnXD6uO3Mg
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:align: right
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:height: 150px
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.. youtube:: RHnXD6uO3Mg
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:align: right
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:height: 150px
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- Added colab notebook tutorial showing how to balance the humanoid on one leg with a Linear Quadratic Regulator. The
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notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for easy rendering in Python.
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|br| Try it yourself: |LQRopenincolab|
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#. Added colab notebook tutorial showing how to balance the humanoid on one leg with a Linear Quadratic Regulator. The
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notebook uses MuJoCo's native Python bindings, and includes a draft ``Renderer`` class, for easy rendering in Python.
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|br| Try it yourself: |LQRopenincolab|
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.. |LQRopenincolab| image:: https://colab.research.google.com/assets/colab-badge.svg
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:target: https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb
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:target: https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb
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- Updates to humanoid model:
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#. Updates to humanoid model:
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- Added two keyframes (stand-on-one-leg and squat).
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- Increased maximum hip flexion angle.
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- Added hamstring tendons which couple the hip and knee at high hip flexion angles.
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- General cosmetic improvements, including improved use of defaults and better naming scheme.
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* Added two keyframes (stand-on-one-leg and squat).
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* Increased maximum hip flexion angle.
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* Added hamstring tendons which couple the hip and knee at high hip flexion angles.
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* General cosmetic improvements, including improved use of defaults and better naming scheme.
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- Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained
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Quadratic Program:
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#. Added :ref:`mju_boxQP` and allocation function :ref:`mju_boxQPmalloc` for solving the box-constrained
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Quadratic Program:
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.. math::
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x^* = \text{argmin} \; \tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u
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The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_,
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converges after 2-5 Cholesky factorisations, independent of problem size.
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The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_,
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converges after 2-5 Cholesky factorisations, independent of problem size.
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- Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both
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sides. The function returns :math:`x^TMy`.
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#. Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both
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sides. The function returns :math:`x^TMy`.
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- Added new plugin API. Plugins allow developers to extend MuJoCo's capability without modifying core engine code.
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The plugin mechanism is intended to replace the existing callbacks, though these will remain for the time being as an
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option for simple use cases and backward compatibility. The new mechanism manages stateful plugins and supports
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multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a modular fashion, rather than
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as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally.
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If you are interested in using the plugin mechanism, please get in touch first.
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#. Added new plugin API. Plugins allow developers to extend MuJoCo's capability without modifying core engine code.
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The plugin mechanism is intended to replace the existing callbacks, though these will remain for the time being as an
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option for simple use cases and backward compatibility. The new mechanism manages stateful plugins and supports
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multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a modular fashion, rather
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than as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally.
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If you are interested in using the plugin mechanism, please get in touch first.
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- Added :at:`assetdir` compiler option, which sets the values of both :at:`meshdir` and :at:`texturedir`. Values in
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the latter attributes take precedence over :at:`assetdir`.
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#. Added :at:`assetdir` compiler option, which sets the values of both :at:`meshdir` and :at:`texturedir`. Values in
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the latter attributes take precedence over :at:`assetdir`.
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- Added :at:`realtime` option to :ref:`visual` for starting a simulation at a slower speed.
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#. Added :at:`realtime` option to :ref:`visual` for starting a simulation at a slower speed.
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- Added new :at:`cable` composite type:
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#. Added new :at:`cable` composite type:
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* Cable elements are connected with ball joints.
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* The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
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* The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`.
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* The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
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* The orientation of the body frame **is** the orientation of the material frame of the curve.
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- Cable elements are connected with ball joints.
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- The `initial` parameter specifies the joint at the starting boundary: :at:`free`, :at:`ball`, or :at:`none`.
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- The boundary bodies are exposed with the names :at:`B_left` and :at:`B_right`.
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- The vertex initial positions can be specified directly in the XML with the parameter :at:`vertex`.
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- The orientation of the body frame **is** the orientation of the material frame of the curve.
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- Added new :at:`cable` passive force plugin:
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#. Added new :at:`cable` passive force plugin:
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* Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
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* The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
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* New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example
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showing the formation of plectoneme.
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* New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example
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showing a curved equilibrium configuration.
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* New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example
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showing interaction between twist and anisotropy.
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* Added test using cantilever exact solution.
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- Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
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- The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
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- New `cable.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/cable.xml>`_ example showing the
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formation of plectoneme.
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- New `coil.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/coil.xml>`_ example showing a curved
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equilibrium configuration.
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- New `belt.xml <https://github.com/deepmind/mujoco/tree/main/model/plugin/belt.xml>`_ example showing interaction
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between twist and anisotropy.
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- Added test using cantilever exact solution.
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.. youtube:: 25kQP671fJE
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:align: right
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@@ -94,16 +93,16 @@ General
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Python bindings
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^^^^^^^^^^^^^^^
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11. Added ``id`` and ``name`` properties to
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`named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`_ objects.
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These provide more Pythonic API access to ``mj_name2id`` and ``mj_id2name`` respectively.
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- Added ``id`` and ``name`` properties to
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`named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`_ objects. These provide more
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Pythonic API access to ``mj_name2id`` and ``mj_id2name`` respectively.
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#. The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be straightforwardly used as
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an iterator without needing to check ``ncon``.
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- The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be straightforwardly used as
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an iterator without needing to check ``ncon``.
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#. Fix a memory leak when a Python callable is installed as callback
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(`#527 <https://github.com/deepmind/mujoco/issues/527>`_).
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- Fix a memory leak when a Python callable is installed as callback
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(`#527 <https://github.com/deepmind/mujoco/issues/527>`_).
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Version 2.2.2 (September 7, 2022)
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---------------------------------
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+2
-2
@@ -30,14 +30,14 @@ _____
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The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
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a trusted binary. Then, copy the dynamic library file from
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``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.2.2.dylib`` (it can be
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``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.0.dylib`` (it can be
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found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
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Linux
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_____
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Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
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``~/.mujoco/mujoco-2.2.2/lib/libmujoco.so.2.2.2`` and rename it as ``libmujoco.so``.
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``~/.mujoco/mujoco-2.3.0/lib/libmujoco.so.2.3.0`` and rename it as ``libmujoco.so``.
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Windows
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_______
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