From 8d5966eec9c8ee17cee6bb5638577c1f6a47968c Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Wed, 15 Nov 2023 09:28:11 -0800 Subject: [PATCH] Update changelog for 3.0.1 release. PiperOrigin-RevId: 582705280 Change-Id: I6d2a8df7bccfa2ecb76b7ef3ef8d5a7377927589 --- doc/changelog.rst | 100 +++++++++++++++++++++++----------------------- 1 file changed, 49 insertions(+), 51 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index 7dddf213..25d866a4 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,75 +2,73 @@ Changelog ========= -Upcoming version (not yet released) ------------------------------------ +Version 3.0.1 (November 15, 2023) +--------------------------------- General ^^^^^^^ -- Added sub-terms of total passive forces in ``mjData.qfrc_passive`` to :ref:`mjData`: - ``qfrc_{spring, damper, gravcomp, fluid}``. The sum of these vectors equals ``qfrc_passive``. +1. Added sub-terms of total passive forces in ``mjData.qfrc_passive`` to :ref:`mjData`: + ``qfrc_{spring, damper, gravcomp, fluid}``. The sum of these vectors equals ``qfrc_passive``. .. youtube:: H9qG9Zf2W44 :align: right :width: 240px -- Added :ref:`actuatorgroupdisable` attribute and associated - :ref:`mjOption.disableactuator` integer bitfield, which can be used to disable sets of actuators at runtime - according to their :ref:`group`. Fixes :github:issue:`1092`. See :ref:`CActDisable`. +2. Added :ref:`actuatorgroupdisable` attribute and associated + :ref:`mjOption.disableactuator` integer bitfield, which can be used to disable sets of actuators at runtime + according to their :ref:`group`. Fixes :github:issue:`1092`. See :ref:`CActDisable`. - - The first 6 actuator groups are toggleable in the :ref:`simulate` viewer. See `example model - `__ - and associated screen-capture on the right. + - The first 6 actuator groups are toggleable in the :ref:`simulate` viewer. See `example model + `__ + and associated screen-capture on the right. - - -- Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 200. +3. Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 200. MJX ^^^ -- Added support for Newton solver (``mjSOL_NEWTON`` in :ref:`mjtSolver`). The Newton solver significantly speeds up - simulation on GPU: +4. Added support for Newton solver (``mjSOL_NEWTON`` in :ref:`mjtSolver`). The Newton solver significantly speeds up + simulation on GPU: - .. list-table:: Steps-per-second, Conjugate Gradient vs. Newton on A100 - :header-rows: 1 - :align: left + .. list-table:: Steps-per-second, Conjugate Gradient vs. Newton on A100 + :header-rows: 1 + :align: left - * - Model - - CG - - Newton - - Speedup - * - `Humanoid `__ - - 640,000 - - 1,020,000 - - **1.6 x** - * - `Barkour v0 `__ - - 1,290,000 - - 1,750,000 - - **1.35 x** - * - `Shadow Hand `__ - - 215,000 - - 270,000 - - **1.25 x** + * - Model + - CG + - Newton + - Speedup + * - `Humanoid `__ + - 640,000 + - 1,020,000 + - **1.6 x** + * - `Barkour v0 `__ + - 1,290,000 + - 1,750,000 + - **1.35 x** + * - `Shadow Hand `__ + - 215,000 + - 270,000 + - **1.25 x** - Humanoid is the standard MuJoCo humanoid, - `Google Barkour `__ and the Shadow Hand - are both available in the :ref:`MuJoCo Menagerie`. -- Added support for joint equality constraints (``mjEQ_JOINT`` in :ref:`mjtEq`). -- Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly. -- Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`). -- Removed empty EFC rows from ``MJX``, for joints with no limits (fixes :github:issue:`1117`). -- Fixed bug in ``scan.body_tree`` that led to incorrect smooth dynamics for some kinematic tree layouts. + Humanoid is the standard MuJoCo humanoid, + `Google Barkour `__ and the Shadow Hand + are both available in the :ref:`MuJoCo Menagerie`. +5. Added support for joint equality constraints (``mjEQ_JOINT`` in :ref:`mjtEq`). +6. Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly. +7. Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`). +8. Removed empty EFC rows from ``MJX``, for joints with no limits (fixes :github:issue:`1117`). +9. Fixed bug in ``scan.body_tree`` that led to incorrect smooth dynamics for some kinematic tree layouts. Python bindings ^^^^^^^^^^^^^^^ -- Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line Tools. -- Fixed a crash when copying instances of ``mujoco.MjData`` for models that use plugins. Introduced a ``model`` - attribute to ``MjData`` which is reference to the model that was used to create that ``MjData`` instance. +10. Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line Tools. +11. Fixed a crash when copying instances of ``mujoco.MjData`` for models that use plugins. Introduced a ``model`` + attribute to ``MjData`` which is reference to the model that was used to create that ``MjData`` instance. Simulate ^^^^^^^^ -- :ref:`simulate`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons. +12. :ref:`simulate`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons. Documentation ^^^^^^^^^^^^^ @@ -79,15 +77,15 @@ Documentation :align: right :width: 240px -- Added cell to the `tutorial colab `__ providing an example - of procedural camera control: -- Added documentation for the :ref:`UI` framework. -- Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`). +13. Added cell to the `tutorial colab `__ providing an + example of procedural camera control: +14. Added documentation for the :ref:`UI` framework. +15. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`). Bug fixes ^^^^^^^^^ -- Fixed bug relating to welds modified with :ref:`torquescale`. +16. Fixed bug relating to welds modified with :ref:`torquescale`. Version 3.0.0 (October 18, 2023) --------------------------------