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Update version number in third_party/mujoco/doc/changelog.rst for v3.1.0

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Google DeepMind
2023-12-12 10:41:28 -08:00
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Changelog Changelog
========= =========
Upcoming version (not yet released) Version 3.1.0 (December 12, 2023)
----------------------------------- -----------------------------------
General General
^^^^^^^ ^^^^^^^
- Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function 1. Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
robust for very small or large geom sizes. robust for very small or large geom sizes.
- Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation 2. Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
on its direct children, without requiring a :ref:`body<body>`. on its direct children, without requiring a :ref:`body<body>`.
- Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>` 3. Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
actuators, for specifying actuator-applied damping. This can be used to implement a PD controller with 0 reference actuators, for specifying actuator-applied damping. This can be used to implement a PD controller with 0 reference
velocity. When using this attribute, it is recommended to use the implicitfast or implicit velocity. When using this attribute, it is recommended to use the implicitfast or implicit
:ref:`integrators<geIntegration>`. :ref:`integrators<geIntegration>`.
Plugins Plugins
^^^^^^^ ^^^^^^^
- Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than 4. Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than
``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation ``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics. variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
- Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a 5. Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a
configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators. configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.
MJX MJX
^^^ ^^^
- Added ``site_xpos`` and ``site_xmat`` to MJX. 6. Added ``site_xpos`` and ``site_xmat`` to MJX.
- Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``, which will be 7. Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``, which will be
deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as
``efc_J``. ``efc_J``.
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
- Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped. 8. Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped.
Before this fix such actuators could lead to non-conservation of momentum. Before this fix such actuators could lead to non-conservation of momentum.
- Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`. 9. Fix bug that prevented using flex with the :ref:`passive viewer<PyViewerPassive>`.
- Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices. 10. Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
- Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum 11. Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum
supported version is still 11.0, but we release these wheels to fix compatibility for those users. See supported version is still 11.0, but we release these wheels to fix compatibility for those users. See
:github:issue:`1213`. :github:issue:`1213`.
Version 3.0.1 (November 15, 2023) Version 3.0.1 (November 15, 2023)
--------------------------------- ---------------------------------