Bump version number to 2.2.2.
PiperOrigin-RevId: 472513958 Change-Id: I42f321c6681fdd42c5f80368f612534aa885af74
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Saran Tunyasuvunakool
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Changelog
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=========
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Upcoming version (not yet released)
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-----------------------------------
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Version 2.2.2 (September 7, 2022)
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---------------------------------
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General
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^^^^^^^
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.. youtube:: BcHZ5BFeTmU
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:align: right
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:height: 150px
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.. youtube:: BcHZ5BFeTmU
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:align: right
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:height: 150px
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- Added :ref:`adhesion actuators<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 :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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applied. See :ref:`weld <equality-weld>` for more details.
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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/tree/main/test/engine/testdata/weld.xml>`_ showing different
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uses of new weld attributes.
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1. Added :ref:`adhesion actuators<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 :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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applied. See :ref:`weld <equality-weld>` for more details.
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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/tree/main/test/engine/testdata/weld.xml>`_ showing different
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uses of new weld attributes.
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.. youtube:: s-0JHanqV1A
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.. youtube:: s-0JHanqV1A
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:align: right
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:height: 150px
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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<general>` documentation and
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`refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ example model.
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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<general>` documentation and
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`refsite.xml <https://github.com/deepmind/mujoco/tree/main/test/engine/testdata/refsite.xml>`_ 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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corresponding range *is defined* and ``false`` otherwise.
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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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corresponding range *is defined* and ``false`` otherwise.
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If ``autolimits="false"`` (the default) models where a :at:`range` attribute is specified without the :at:`limited`
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attribute will fail to compile. A future release will change the default of :at:`autolimits` to ``true``, and this
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compilation error allows users to catch this future change of behavior.
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If ``autolimits="false"`` (the default) models where a :at:`range` attribute is specified without the :at:`limited`
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attribute will fail to compile. A future release will change the default of :at:`autolimits` to ``true``, and this
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compilation error allows users to catch this future change of behavior.
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.. attention::
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This is a breaking change. In models where a range was defined but :at:`limited` was unspecified, explicitly set
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limited to ``false`` or remove the range to maintain the current behavior of your model.
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.. attention::
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This is a breaking change. In models where a range was defined but :at:`limited` was unspecified, explicitly set
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limited to ``false`` or remove the range to maintain the current behavior of your model.
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#. Added moment of inertia computation for all well-formed meshes. This option is activated by setting the compiler
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flag :at:`exactmeshinertia` to ``true`` (defaults to ``false``). This default may change in the future.
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#. Added parameter :at:`shellinertia` to :at:`geom`, for locating the inferred inertia on the boundary (shell).
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Currently only meshes are supported.
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#. For meshes from which volumetric inertia is inferred, raise error if the orientation of mesh faces is not consistent.
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If this occurs, fix the mesh in e.g., MeshLab or Blender.
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- Added moment of inertia computation for all well-formed meshes. This option is activated by setting the compiler
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flag :at:`exactmeshinertia` to ``true`` (defaults to ``false``). This default may change in the future.
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- Added parameter :at:`shellinertia` to :at:`geom`, for locating the inferred inertia on the boundary (shell).
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Currently only meshes are supported.
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- For meshes from which volumetric inertia is inferred, raise error if the orientation of mesh faces is not consistent.
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If this occurs, fix the mesh in e.g., MeshLab or Blender.
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.. youtube:: I2q7D0Vda-A
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.. youtube:: I2q7D0Vda-A
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:align: right
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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/tree/main/test/engine/testdata/catenary.xml>`_.
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- Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<global>`, defining the initial orientation of
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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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- ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
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- Improvements to time synchronisation in `simulate`, in particular report actual real-time factor if different from
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requested factor (if e.g., the timestep is so small that simulation cannot keep up with real-time).
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- Added a disable flag for sensors.
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- :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
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|br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
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- Added sensor matrices to ``mjd_transitionFD`` (note this is an API change).
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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/tree/main/test/engine/testdata/catenary.xml>`_.
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#. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<global>`, defining the initial orientation of
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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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#. ``simulate`` now supports taking a screenshot via a button in the File section or via ``Ctrl-P``.
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#. Improvements to time synchronisation in `simulate`, in particular report actual real-time factor if different from
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requested factor (if e.g., the timestep is so small that simulation cannot keep up with real-time).
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#. Added a disable flag for sensors.
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#. :ref:`mju_mulQuat` and :ref:`mju_mulQuatAxis` support in place computation. For example
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|br| ``mju_mulQuat(a, a, b);`` sets the quaternion ``a`` equal to the product of ``a`` and ``b``.
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#. Added sensor matrices to ``mjd_transitionFD`` (note this is an API change).
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Deleted/deprecated features
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^^^^^^^^^^^^^^^^^^^^^^^^^^^
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- Removed ``distance`` constraints.
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21. Removed ``distance`` constraints.
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Bug fixes
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^^^^^^^^^
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- Fixed rendering of some transparent geoms in reflection.
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- Fixed ``intvelocity`` defaults parsing.
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22. Fixed rendering of some transparent geoms in reflection.
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#. Fixed ``intvelocity`` defaults parsing.
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Version 2.2.1 (July 18, 2022)
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-----------------------------
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+2
-2
@@ -29,14 +29,14 @@ _____
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The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
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a trusted binary. Then, copy the dynamic library file from
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``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.2.1.dylib`` (it can be
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``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.2.2.dylib`` (it can be
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found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
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Linux
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_____
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Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
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``~/.mujoco/mujoco-2.2.1/lib/libmujoco.so.2.2.1`` and rename it as ``libmujoco.so``.
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``~/.mujoco/mujoco-2.2.2/lib/libmujoco.so.2.2.2`` and rename it as ``libmujoco.so``.
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Windows
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_______
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