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@@ -3,92 +3,92 @@ Changelog
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=========
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Upcoming version (not yet released)
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Version 2.3.1 (December 5, 2022)
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-----------------------------------
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Python bindings
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^^^^^^^^^^^^^^^
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- The ``simulate`` GUI is now available through the ``mujoco`` Python package as ``mujoco.viewer``.
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See :ref:`documentation<PyViewer>` for details. (Contribution by `Levi Burner <https://github.com/aftersomemath>`_.)
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- The ``Renderer`` class from the MuJoCo tutorial Colab is now available directly in the native Python bindings.
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1. The ``simulate`` GUI is now available through the ``mujoco`` Python package as ``mujoco.viewer``.
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See :ref:`documentation<PyViewer>` for details. (Contribution by `Levi Burner <https://github.com/aftersomemath>`_.)
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#. The ``Renderer`` class from the MuJoCo tutorial Colab is now available directly in the native Python bindings.
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General
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^^^^^^^
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- The tendon :at:`springlength` attribute can now take two values. Given two non-decreasing values, `springlength`
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specifies a `deadband <https://en.wikipedia.org/wiki/Deadband>`_ range for spring stiffness. If the tendon length is
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between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with
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the spring resting length corresponding to the nearest :at:`springlength` value. This can be used to create tendons
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whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See
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`tendon_springlength.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/tendon_springlength.xml>`_
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example model.
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3. The tendon :at:`springlength` attribute can now take two values. Given two non-decreasing values, `springlength`
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specifies a `deadband <https://en.wikipedia.org/wiki/Deadband>`_ range for spring stiffness. If the tendon length is
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between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with
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the spring resting length corresponding to the nearest :at:`springlength` value. This can be used to create tendons
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whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See
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`tendon_springlength.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/tendon_springlength.xml>`_
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example model.
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.. attention::
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This is a minor breaking API change. ``mjModel.tendon_lengthspring`` now has size ``ntendon x 2`` rather than
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``ntendon x 1``.
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.. attention::
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This is a minor breaking API change. ``mjModel.tendon_lengthspring`` now has size ``ntendon x 2`` rather than
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``ntendon x 1``.
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.. youtube:: -PJ6afdETUg
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:align: right
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:height: 150px
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.. youtube:: -PJ6afdETUg
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:align: right
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:height: 150px
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- Removed the requirement that stateless actuators come before stateful actuators.
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- Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
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- Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
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See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.
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- Renamed the ``cable`` plugin library to ``elasticity``.
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- Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
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for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
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activation dynamics to
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`engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.
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- Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
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joints. See the two new examples:
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`particle_free.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free.xml>`_ and
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`particle_free2d.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free2d.xml>`_.
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- Performance improvements for non-AVX configurations:
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#. Removed the requirement that stateless actuators come before stateful actuators.
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#. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
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#. Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and bouyancy.
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See `balloons.xml <https://github.com/deepmind/mujoco/tree/main/model/balloons/balloons.xml>`_ example model.
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#. Renamed the ``cable`` plugin library to ``elasticity``.
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#. Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
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for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
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activation dynamics to
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`engine_forward_test.cc <https://github.com/deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.
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#. Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
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joints. See the two new examples:
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`particle_free.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free.xml>`_ and
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`particle_free2d.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free2d.xml>`_.
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#. Performance improvements for non-AVX configurations:
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- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test
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<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
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- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
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<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
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- Added new :at:`solid` passive force plugin:
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- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test
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<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
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- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
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<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
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#. Added new :at:`solid` passive force plugin:
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.. youtube:: AGcTGHbbze4
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:align: right
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:height: 150px
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.. youtube:: AGcTGHbbze4
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:align: right
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:height: 150px
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- This is new force field compatible with the :ref:`composite<body-composite>` particles.
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- Generates a tetrahedral mesh having particles with mass concentrated at vertices.
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- Uses a piecewise-constant strain model equivalent to finite elements but expressed in a coordinate-free
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formulation. This implies that all quantities can be precomputed except edge elongation, as in a mass-spring model.
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- Only suitable for small strains (large displacements but small deformations). Tetrahedra may invert if subject to
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large loads.
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- This is new force field compatible with the :ref:`composite<body-composite>` particles.
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- Generates a tetrahedral mesh having particles with mass concentrated at vertices.
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- Uses a piecewise-constant strain model equivalent to finite elements but expressed in a coordinate-free
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formulation. This implies that all quantities can be precomputed except edge elongation, as in a mass-spring model.
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- Only suitable for small strains (large displacements but small deformations). Tetrahedra may invert if subject to
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large loads.
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- Add API functions ``mj_loadPluginLibrary`` and ``mj_loadAllPluginLibraries``. The first function is identical to
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``dlopen`` on a POSIX system, and to ``LoadLibraryA`` on Windows. The second function scans a specified directory for
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all dynamic libraries file and loads each library found. Dynamic libraries opened by these functions are assumed to
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register one or more MuJoCo plugins on load.
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- Add an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``. This callback allows
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custom plugin visualizations. Enable stree visualization for the Cable plugin as an example.
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- Sensors of type :ref:`user<sensor-user>` no longer require :at:`objtype`, :at:`objname` and :at:`needstage`. If
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unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now
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:at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`.
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- Add support for capsules in URDF import.
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- On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`_
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translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of
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`AVX <https://en.wikipedia.org/wiki/Advanced_Vector_Extensions>`_ instructions on x86-64 machines, which is not
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supported by Rosetta 2. (Before this version, users only get a cryptic "Illegal instruction" message.)
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#. Add API functions ``mj_loadPluginLibrary`` and ``mj_loadAllPluginLibraries``. The first function is identical to
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``dlopen`` on a POSIX system, and to ``LoadLibraryA`` on Windows. The second function scans a specified directory for
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all dynamic libraries file and loads each library found. Dynamic libraries opened by these functions are assumed to
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register one or more MuJoCo plugins on load.
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#. Add an optional ``visualize`` callback to plugins, which is called during ``mjv_updateScene``. This callback allows
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custom plugin visualizations. Enable stress visualization for the Cable plugin as an example.
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#. Sensors of type :ref:`user<sensor-user>` no longer require :at:`objtype`, :at:`objname` and :at:`needstage`. If
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unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now
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:at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`.
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#. Add support for capsules in URDF import.
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#. On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`_
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translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of
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`AVX <https://en.wikipedia.org/wiki/Advanced_Vector_Extensions>`_ instructions on x86-64 machines, which is not
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supported by Rosetta 2. (Before this version, users only get a cryptic "Illegal instruction" message.)
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Bug fixes
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^^^^^^^^^
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- Fixed bug in ``mj_addFileVFS`` that was causing the file path to be ignored (introduced in 2.1.4).
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17. Fixed bug in ``mj_addFileVFS`` that was causing the file path to be ignored (introduced in 2.1.4).
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Simulate
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^^^^^^^^
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- Renamed the directory in which the ``simulate`` application searches for plugins from ``plugin`` to ``mujoco_plugin``.
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- Mouse force perturbations are now applied at the selection point rather than the body center of mass.
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18. Renamed the directory in which the ``simulate`` application searches for plugins from ``plugin`` to ``mujoco_plugin``.
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#. Mouse force perturbations are now applied at the selection point rather than the body center of mass.
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Version 2.3.0 (October 18, 2022)
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Kyle Bayes