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Add mjtSameFrame enum to specify frame alignment of bodies with their children.

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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
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Yuval Tassa
2024-08-22 05:16:02 -07:00
committed by Copybara-Service
parent a2649d6cec
commit 8b03daa09b
13 changed files with 173 additions and 109 deletions
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doc/changelog.rst
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@@ -12,31 +12,34 @@ General
early stages of testing.
2. Added :ref:`mjSpec` option for creating a texture from a buffer.
3. :ref:`shellinertia <body-geom-shellinertia>` is now supported by all geom types.
4. Added support for :ref:`attaching<meAttachment>` keyframes.
4. When :ref:`attaching<meAttachment>` sub-models, :ref:`keyframes<keyframe>` will now be correctly merged into the
parent model, but only on the first attachment.
5. Added the :ref:`mjtSameFrame` enum which contains the possible frame alignments of bodies and their children. These
alignments are used as shortcuts in :ref:`mj_kinematics`.
MJX
^^^
5. Added ``efc_pos`` to ``mjx.Data`` (:github:issue:`1388`).
6. Added position-dependent sensors: ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``,
6. Added ``efc_pos`` to ``mjx.Data`` (:github:issue:`1388`).
7. Added position-dependent sensors: ``MAGNETOMETER``, ``CAMPROJECTION``, ``RANGEFINDER``, ``JOINTPOS``,
``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``, ``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``FRAMEQUAT``,
``SUBTREECOM``, ``CLOCK``.
7. Added velocity-dependent sensors: ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``.
8. Added acceleration/force-dependent sensors: ``ACTUATORFRC``, ``JOINTACTFRC``.
9. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
10. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
11. Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
8. Added velocity-dependent sensors: ``JOINTVEL``, ``ACTUATORVEL``, ``BALLANGVEL``.
9. Added acceleration/force-dependent sensors: ``ACTUATORFRC``, ``JOINTACTFRC``.
10. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
11. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
12. Added support for :ref:`implicitfast integration<geIntegration>` for all cases except
:doc:`fluid drag <computation/fluid>`.
Bug fixes
^^^^^^^^^
12. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
13. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
contribution by :github:user:`michael-ahn`).
13. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
14. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
integrators, wrong derivatives would be computed.
Python bindings
^^^^^^^^^^^^^^^
14. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
15. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
Version 3.2.2 (Aug 8, 2024)