Update changelog for 3.0.1 release.
PiperOrigin-RevId: 582705280 Change-Id: I6d2a8df7bccfa2ecb76b7ef3ef8d5a7377927589
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Yuval Tassa
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Copybara-Service
Copybara-Service
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Changelog
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Changelog
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=========
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=========
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Upcoming version (not yet released)
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Version 3.0.1 (November 15, 2023)
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-----------------------------------
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---------------------------------
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General
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General
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^^^^^^^
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^^^^^^^
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- Added sub-terms of total passive forces in ``mjData.qfrc_passive`` to :ref:`mjData`:
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1. Added sub-terms of total passive forces in ``mjData.qfrc_passive`` to :ref:`mjData`:
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``qfrc_{spring, damper, gravcomp, fluid}``. The sum of these vectors equals ``qfrc_passive``.
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``qfrc_{spring, damper, gravcomp, fluid}``. The sum of these vectors equals ``qfrc_passive``.
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.. youtube:: H9qG9Zf2W44
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.. youtube:: H9qG9Zf2W44
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:align: right
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:align: right
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:width: 240px
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:width: 240px
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- Added :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` attribute and associated
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2. Added :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` attribute and associated
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:ref:`mjOption.disableactuator<mjOption>` integer bitfield, which can be used to disable sets of actuators at runtime
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:ref:`mjOption.disableactuator<mjOption>` integer bitfield, which can be used to disable sets of actuators at runtime
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according to their :ref:`group<actuator-general-group>`. Fixes :github:issue:`1092`. See :ref:`CActDisable`.
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according to their :ref:`group<actuator-general-group>`. Fixes :github:issue:`1092`. See :ref:`CActDisable`.
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- The first 6 actuator groups are toggleable in the :ref:`simulate<saSimulate>` viewer. See `example model
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- The first 6 actuator groups are toggleable in the :ref:`simulate<saSimulate>` viewer. See `example model
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<https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/actuator_group_disable.xml>`__
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<https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/actuator_group_disable.xml>`__
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and associated screen-capture on the right.
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and associated screen-capture on the right.
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3. Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 200.
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- Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 200.
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MJX
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MJX
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^^^
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^^^
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- Added support for Newton solver (``mjSOL_NEWTON`` in :ref:`mjtSolver`). The Newton solver significantly speeds up
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4. Added support for Newton solver (``mjSOL_NEWTON`` in :ref:`mjtSolver`). The Newton solver significantly speeds up
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simulation on GPU:
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simulation on GPU:
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.. list-table:: Steps-per-second, Conjugate Gradient vs. Newton on A100
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.. list-table:: Steps-per-second, Conjugate Gradient vs. Newton on A100
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:header-rows: 1
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:header-rows: 1
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:align: left
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:align: left
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* - Model
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* - Model
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- CG
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- CG
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- Newton
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- Newton
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- Speedup
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- Speedup
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* - `Humanoid <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/humanoid>`__
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* - `Humanoid <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/humanoid>`__
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- 640,000
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- 640,000
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- 1,020,000
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- 1,020,000
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- **1.6 x**
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- **1.6 x**
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* - `Barkour v0 <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/barkour_v0>`__
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* - `Barkour v0 <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/barkour_v0>`__
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- 1,290,000
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- 1,290,000
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- 1,750,000
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- 1,750,000
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- **1.35 x**
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- **1.35 x**
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* - `Shadow Hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
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* - `Shadow Hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
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- 215,000
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- 215,000
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- 270,000
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- 270,000
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- **1.25 x**
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- **1.25 x**
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Humanoid is the standard MuJoCo humanoid,
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Humanoid is the standard MuJoCo humanoid,
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`Google Barkour <https://blog.research.google/2023/05/barkour-benchmarking-animal-level.html>`__ and the Shadow Hand
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`Google Barkour <https://blog.research.google/2023/05/barkour-benchmarking-animal-level.html>`__ and the Shadow Hand
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are both available in the :ref:`MuJoCo Menagerie<Menagerie>`.
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are both available in the :ref:`MuJoCo Menagerie<Menagerie>`.
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- Added support for joint equality constraints (``mjEQ_JOINT`` in :ref:`mjtEq`).
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5. Added support for joint equality constraints (``mjEQ_JOINT`` in :ref:`mjtEq`).
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- Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
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6. Fixed bug where mixed ``jnt_limited`` joints were not being constrained correctly.
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- Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
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7. Made ``device_put`` type validation more verbose (fixes :github:issue:`1113`).
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- Removed empty EFC rows from ``MJX``, for joints with no limits (fixes :github:issue:`1117`).
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8. Removed empty EFC rows from ``MJX``, for joints with no limits (fixes :github:issue:`1117`).
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- Fixed bug in ``scan.body_tree`` that led to incorrect smooth dynamics for some kinematic tree layouts.
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9. Fixed bug in ``scan.body_tree`` that led to incorrect smooth dynamics for some kinematic tree layouts.
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Python bindings
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Python bindings
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^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^
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- Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line Tools.
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10. Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line Tools.
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- Fixed a crash when copying instances of ``mujoco.MjData`` for models that use plugins. Introduced a ``model``
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11. Fixed a crash when copying instances of ``mujoco.MjData`` for models that use plugins. Introduced a ``model``
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attribute to ``MjData`` which is reference to the model that was used to create that ``MjData`` instance.
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attribute to ``MjData`` which is reference to the model that was used to create that ``MjData`` instance.
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Simulate
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Simulate
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^^^^^^^^
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^^^^^^^^
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- :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
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12. :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
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Documentation
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Documentation
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^^^^^^^^^^^^^
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^^^^^^^^^^^^^
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@@ -79,15 +77,15 @@ Documentation
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:align: right
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:align: right
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:width: 240px
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:width: 240px
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- Added cell to the `tutorial colab <https://github.com/google-deepmind/mujoco#getting-started>`__ providing an example
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13. Added cell to the `tutorial colab <https://github.com/google-deepmind/mujoco#getting-started>`__ providing an
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of procedural camera control:
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example of procedural camera control:
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- Added documentation for the :ref:`UI` framework.
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14. Added documentation for the :ref:`UI` framework.
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- Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
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15. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
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Bug fixes
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Bug fixes
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^^^^^^^^^
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^^^^^^^^^
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- Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
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16. Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
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Version 3.0.0 (October 18, 2023)
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Version 3.0.0 (October 18, 2023)
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--------------------------------
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--------------------------------
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