Change GitHub org name to google-deepmind.
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Saran Tunyasuvunakool
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@@ -68,7 +68,7 @@ General
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Python bindings
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^^^^^^^^^^^^^^^
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13. Fixed `#870 <https://github.com/deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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13. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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camera name used the default camera.
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Bug fixes
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@@ -103,17 +103,18 @@ Python bindings
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7. The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``, and
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``update_texture`` methods to allow users to update renderable assets.
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(`#812 <https://github.com/deepmind/mujoco/issues/812>`_, `#958 <https://github.com/deepmind/mujoco/issues/958>`_,
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`#965 <https://github.com/deepmind/mujoco/issues/965>`_)
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(`#812 <https://github.com/google-deepmind/mujoco/issues/812>`_,
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`#958 <https://github.com/google-deepmind/mujoco/issues/958>`_,
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`#965 <https://github.com/google-deepmind/mujoco/issues/965>`_)
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#. Allow a custom keyboard event callback to be specified in the :ref:`passive viewer<PyViewerPassive>`.
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(`#766 <https://github.com/deepmind/mujoco/issues/766>`_)
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(`#766 <https://github.com/google-deepmind/mujoco/issues/766>`_)
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#. Fix GLFW crash when Python exits while the passive viewer is running.
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(`#790 <https://github.com/deepmind/mujoco/issues/790>`_)
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(`#790 <https://github.com/google-deepmind/mujoco/issues/790>`_)
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Models
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^^^^^^
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10. Added simple `car <https://github.com/deepmind/mujoco/blob/main/model/car/car.xml>`__ example model.
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10. Added simple `car <https://github.com/google-deepmind/mujoco/blob/main/model/car/car.xml>`__ example model.
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Version 2.3.6 (June 20, 2023)
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@@ -129,8 +130,8 @@ Version 2.3.6 (June 20, 2023)
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Models
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^^^^^^
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1. Added `3x3x3 cube <https://github.com/deepmind/mujoco/blob/main/model/cube/cube_3x3x3.xml>`__ example model. See
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`README <https://github.com/deepmind/mujoco/blob/main/model/cube/README.md>`__ for details.
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1. Added `3x3x3 cube <https://github.com/google-deepmind/mujoco/blob/main/model/cube/cube_3x3x3.xml>`__ example model.
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See `README <https://github.com/google-deepmind/mujoco/blob/main/model/cube/README.md>`__ for details.
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Bug fixes
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^^^^^^^^^
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@@ -138,8 +139,8 @@ Bug fixes
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2. Fixed a bug that was causing an incorrect computation of the mesh bounding box and coordinate frame if the volume was
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invalid. In such case, now MuJoCo only accepts a non-watertight geometry if
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:ref:`shellinertia<body-geom-shellinertia>` is equal to ``true``.
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#. Fixed the sparse Jacobian multiplication logic that is used to compute derivatives for tendon damping and fluid force,
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which affects the behaviour of the :ref:`implicit and implicitfast integrators<geIntegration>`.
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#. Fixed the sparse Jacobian multiplication logic that is used to compute derivatives for tendon damping and fluid
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force, which affects the behaviour of the :ref:`implicit and implicitfast integrators<geIntegration>`.
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#. Fixes to :ref:`mj_ray`, in line with geom visualisation conventions:
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- Planes and height-fields respect the ``geom_group`` and ``flg_static`` arguments. Before this change, rays would
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@@ -153,8 +154,8 @@ Bug fixes
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Plugins
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^^^^^^^
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5. Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
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for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/sensor/touch_grid.xml>`_
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5. Added touch-grid sensor plugin. See `documentation <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
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for details, and associated `touch_grid.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/sensor/touch_grid.xml>`_
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example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
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Simulate
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@@ -185,8 +186,8 @@ General
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#. Added :ref:`mjContact.solreffriction<mjContact>`, allowing different :ref:`solref<CSolver>` parameters for the normal
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and frictional axes of contacts when using :ref:`elliptic friction cones<option-cone>`. This attribute is required
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for elastic frictional collisions, see associated
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`example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/spin_recoil.xml>`__ mimicking the
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spin-bounce recoil behaviour of `elastic rubber balls <https://www.youtube.com/watch?v=uFLJcRegIVQ&t=3s>`__.
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`example model <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/spin_recoil.xml>`__
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mimicking the spin-bounce recoil behaviour of `elastic rubber balls <https://www.youtube.com/watch?v=uFLJcRegIVQ&t=3s>`__.
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This is an advanced option currently only supported by explicit :ref:`contact pairs<contact-pair>`, using the
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:ref:`solreffriction<contact-pair-solreffriction>` attribute.
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#. Added :ref:`mjd_inverseFD` for finite-differenced inverse-dynamics derivatives.
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@@ -215,7 +216,7 @@ General
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model, within a range of width tausmooth. See :ref:`Muscle actuators<CMuscle>` for more details.
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Relatedly, :ref:`mju_muscleDynamics` now takes 3 parameters instead of 2, adding the new smoothing-width parameter.
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#. Moved public C macro definitions out of mujoco.h into a new public header file called
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`mjmacro.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__. The new file
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`mjmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__. The new file
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is included by mujoco.h so this change does not break existing user code.
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#. Added instrumentation for the `Address Sanitizer (ASAN) <https://clang.llvm.org/docs/AddressSanitizer.html>`__ and
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`Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__ to detect memory bugs when allocating
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@@ -278,8 +279,8 @@ Python bindings
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#. Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions could previously
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return before an internal call to ``mj_forward``. This allows user code to continue and potentially modify physics
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state concurrently with the internal ``mj_forward``, resulting in e.g.
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`MuJoCo stack overflow error <https://github.com/deepmind/mujoco/issues/783>`_
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or `segmentation fault <https://github.com/deepmind/mujoco/issues/790>`_.
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`MuJoCo stack overflow error <https://github.com/google-deepmind/mujoco/issues/783>`_
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or `segmentation fault <https://github.com/google-deepmind/mujoco/issues/790>`_.
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#. The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The
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passive viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics
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state. This is to avoid race conditions that can result in visual artifacts. See
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@@ -292,9 +293,9 @@ Bug fixes
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12. Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator.
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#. Removed spurious whole-arena copying in `mj_copyData`, which can considerably
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`slow down <https://github.com/deepmind/mujoco/issues/568>`_ the copying operation.
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`slow down <https://github.com/google-deepmind/mujoco/issues/568>`_ the copying operation.
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#. Make :ref:`shellinertia<body-geom-shellinertia>` ignore :ref:`exactmeshinertia<compiler-exactmeshinertia>`, which is
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only used for legacy volume computations (`#759 <https://github.com/deepmind/mujoco/issues/759>`_).
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only used for legacy volume computations (`#759 <https://github.com/google-deepmind/mujoco/issues/759>`_).
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Version 2.3.3 (March 20, 2023)
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@@ -313,9 +314,9 @@ General
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become the default integrator in a future version.
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The table below shows the compute cost of the 627-DoF `humanoid100
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<https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model using different integrators.
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"implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned above.
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Timings were measured on a single core of an AMD 3995WX CPU.
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<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model using different
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integrators. "implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned
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above. Timings were measured on a single core of an AMD 3995WX CPU.
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.. csv-table::
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:header: "timing", "Euler", "implicitfast", "implicit (new)", "implicit (old)"
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@@ -338,8 +339,8 @@ General
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duplicated in order to circumvent this limitation as they previously were.
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#. The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation.
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For instance, the constraint Jacobian matrix from the `humanoid100
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<https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously required
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~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
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<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously
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required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
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#. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
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functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
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#. Implemented a performant ``mju_sqrMatTDSparse`` function that doesn't require dense memory allocation.
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@@ -386,7 +387,7 @@ General
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1. A more performant mju_transposeSparse has been implemented that doesn't require dense memory allocation.
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For a constraint Jacobian matrix from the
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`humanoid100.xml <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model,
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`humanoid100.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model,
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this function is 35% faster.
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#. The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
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performance.
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@@ -416,7 +417,7 @@ Simulate
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^^^^^^^^
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12. Increased precision of simulate sensor plot y-axis by 1 digit
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(`#719 <https://github.com/deepmind/mujoco/issues/719>`_).
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(`#719 <https://github.com/google-deepmind/mujoco/issues/719>`_).
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#. Body labels are now drawn at the body frame rather than inertial frame, unless inertia is being visualised.
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Plugins
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@@ -447,7 +448,7 @@ General
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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/blob/main/test/engine/testdata/tendon_springlength.xml>`_
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`tendon_springlength.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/tendon_springlength.xml>`_
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example model.
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.. attention::
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@@ -461,22 +462,22 @@ General
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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 buoyancy.
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See `balloons.xml <https://github.com/deepmind/mujoco/blob/main/model/balloons/balloons.xml>`_ example model.
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See `balloons.xml <https://github.com/google-deepmind/mujoco/blob/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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`engine_forward_test.cc <https://github.com/google-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/blob/main/model/composite/particle_free.xml>`_ and
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`particle_free2d.xml <https://github.com/deepmind/mujoco/blob/main/model/composite/particle_free2d.xml>`_.
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`particle_free.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free.xml>`_ and
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`particle_free2d.xml <https://github.com/google-deepmind/mujoco/blob/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/blob/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
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<https://github.com/google-deepmind/mujoco/blob/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/blob/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
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<https://github.com/google-deepmind/mujoco/blob/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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@@ -585,12 +586,12 @@ General
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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/blob/main/model/plugin/elasticity/cable.xml>`_ example showing
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the formation of plectoneme.
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- New `coil.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/elasticity/coil.xml>`_ example showing a
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curved equilibrium configuration.
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- New `belt.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/elasticity/belt.xml>`_ example showing
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interaction between twist and anisotropy.
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- New `cable.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/cable.xml>`_ example
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showing the formation of plectoneme.
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- New `coil.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/coil.xml>`_ example
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showing a curved equilibrium configuration.
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- New `belt.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/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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+--------------------------+--------------------------+--------------------------+
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@@ -609,7 +610,7 @@ Python bindings
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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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(`#527 <https://github.com/google-deepmind/mujoco/issues/527>`_).
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Version 2.2.2 (September 7, 2022)
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@@ -623,7 +624,7 @@ General
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:height: 150px
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1. Added :ref:`adhesion actuators<actuator-adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages.
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#. Added related `example model <https://github.com/deepmind/mujoco/tree/main/model/adhesion>`_ and video:
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#. Added related `example model <https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`_ and video:
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#. Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
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#. Added :at:`torquescale` and :at:`anchor` attributes to :el:`weld` constraints. :at:`torquescale` sets the
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torque-to-force ratio exerted by the constraint, :at:`anchor` sets the point at which the weld wrench is
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@@ -631,8 +632,8 @@ General
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#. Increased ``mjNEQDATA``, the row length of equality constraint parameters in ``mjModel.eq_data``, from 7 to 11.
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#. Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated by the 'N' key in
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``simulate``).
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#. Added `weld.xml <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`_ showing different
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uses of new weld attributes.
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#. Added `weld.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`_ showing
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different uses of new weld attributes.
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.. youtube:: s-0JHanqV1A
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:align: right
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@@ -640,8 +641,8 @@ General
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#. Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site`
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transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<actuator-general>` documentation
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and `refsite.xml <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`_ example
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model.
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and `refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`_
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example model.
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#. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator
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:at:`ctrllimited`, :at:`forcelimited` and :at:`actlimited` attributes will automatically be set to ``true`` if the
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@@ -667,7 +668,7 @@ General
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:height: 150px
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#. Added catenary visualisation for hanging tendons. The model seen in the video can be found
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`here <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`_.
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`here <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`_.
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#. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining the initial
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orientation of the free camera at model load time.
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#. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
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@@ -715,7 +716,7 @@ General
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and `Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__. This allows ASAN to
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detect reads and writes to regions in ``mjModel.buffer`` and ``mjData.buffer`` that do not lie within an array, and
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for MSAN to detect reads from uninitialised fields in ``mjData`` following ``mj_resetData``.
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#. Added a `slider-crank example model <https://github.com/deepmind/mujoco/tree/main/model/slider_crank>`_.
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#. Added a `slider-crank example model <https://github.com/google-deepmind/mujoco/tree/main/model/slider_crank>`_.
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Bug fixes
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^^^^^^^^^
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@@ -761,8 +762,8 @@ Open Sourcing
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c. ``dist/``: Files related to packaging and binary distribution.
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#. Added `contributor's guide <https://github.com/deepmind/mujoco/blob/main/CONTRIBUTING.md>`_ and
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`style guide <https://github.com/deepmind/mujoco/blob/main/STYLEGUIDE.md>`_.
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#. Added `contributor's guide <https://github.com/google-deepmind/mujoco/blob/main/CONTRIBUTING.md>`_ and
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`style guide <https://github.com/google-deepmind/mujoco/blob/main/STYLEGUIDE.md>`_.
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||||
General
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||||
^^^^^^^
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@@ -893,7 +894,7 @@ Bug fixes
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^^^^^^^^^
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5. Fixed rendering bug for planes, introduced in 2.1.2. This broke maze environments in
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`dm_control <https://github.com/deepmind/dm_control>`_.
|
||||
`dm_control <https://github.com/google-deepmind/dm_control>`_.
|
||||
|
||||
|
||||
Version 2.1.2 (Mar. 15, 2022)
|
||||
@@ -914,7 +915,7 @@ API changes
|
||||
^^^^^^^^^^^
|
||||
|
||||
4. Moved definition of ``mjtNum`` floating point type into a new header
|
||||
`mjtnum.h <https://github.com/deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`_.
|
||||
`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`_.
|
||||
#. Renamed header `mujoco_export.h` to :ref:`mjexport.h<inHeader>`.
|
||||
#. Added ``mj_printFormattedData``, which accepts a format string for floating point numbers, for example to increase
|
||||
precision.
|
||||
@@ -927,7 +928,7 @@ General
|
||||
a. Meshes containing polygons with more than 4 vertices are not supported.
|
||||
#. In OBJ files containing multiple object groups, any groups after the first one will be ignored.
|
||||
#. Added (post-release, not included in the 2.1.2 archive) textured
|
||||
`mug <https://github.com/deepmind/mujoco/blob/main/model/mug/mug.xml>`_ example model:
|
||||
`mug <https://github.com/google-deepmind/mujoco/blob/main/model/mug/mug.xml>`_ example model:
|
||||
|
||||
.. image:: images/changelog/mug.png
|
||||
:width: 300px
|
||||
@@ -1108,8 +1109,8 @@ General
|
||||
#. Fixed: The array of sensors in ``mjCModel`` was not cleared.
|
||||
#. Cleaned up cross-platform code (internal changes, not visible via the API).
|
||||
#. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices).
|
||||
#. Fixed a bug in `simulate.cc <https://github.com/deepmind/mujoco/blob/main/simulate/simulate.cc>`_ related to ``nkey``
|
||||
(the number of keyframes).
|
||||
#. Fixed a bug in `simulate.cc <https://github.com/google-deepmind/mujoco/blob/main/simulate/simulate.cc>`_ related to
|
||||
``nkey`` (the number of keyframes).
|
||||
#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
|
||||
conaffinity==0``).
|
||||
|
||||
|
||||
Reference in New Issue
Block a user