improve wording in changelog
PiperOrigin-RevId: 949807312 Change-Id: I9de37cfd61f6e0eb67b0b18101d69d7abd66b7ca
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
a04b0c5b97
commit
9bf03e6056
+97
-75
@@ -5,8 +5,9 @@ Changelog
|
||||
Upcoming version (not yet released)
|
||||
-----------------------------------
|
||||
|
||||
General
|
||||
^^^^^^^
|
||||
Engine
|
||||
^^^^^^
|
||||
|
||||
.. youtube:: PdSdrqhSiZA
|
||||
:align: right
|
||||
:width: 35%
|
||||
@@ -14,7 +15,7 @@ General
|
||||
- Added :ref:`geom/surfacevel<body-geom-surfacevel>`: the velocity of a geom's surface as seen by contacts, given as
|
||||
a velocity field with a constant component and a rotational component about the geom frame origin. This allows
|
||||
conveyor belts, treadmills and turntables to be modeled with static geoms and no degrees of freedom: friction
|
||||
drives touching bodies toward the motion of the surface, with the field projected onto each contact's tangent
|
||||
drives touching bodies along the motion of the surface, with the field projected onto each contact's tangent
|
||||
plane. Surface velocities compose correctly with each other and with body motion.
|
||||
Note that the contact rows of ``mjData.efc_vel``, and the constraint-state sensors that read them, report the
|
||||
velocity relative to the moving surface rather than to the geom, since that is the quantity the constraint acts
|
||||
@@ -28,6 +29,67 @@ General
|
||||
longer gain energy, but tumbling motion is now mildly damped; models requiring long-horizon energy conservation of
|
||||
tumbling bodies in vacuum should use ``RK4``. The :ref:`invdiscrete<option-flag-invdiscrete>` flag no longer has any
|
||||
effect on forward dynamics.
|
||||
- Added :ref:`body/simple<body-simple>` attribute ("false"/"auto") to disable the *simple body* mass matrix
|
||||
optimization. This is useful for domain randomization, where model parameters may change post-compilation.
|
||||
- :ref:`mj_setConst` now recomputes the ``mjModel.{body,geom,site}_sameframe`` flags, to account for changes in
|
||||
body/geom/site frames after compilation.
|
||||
- Added support for :ref:`multiccd <coMultiCCD>` with arbitrarily large meshes.
|
||||
- Added ``flg_gravcomp`` and ``flg_surfacevel`` boolean flags to ``mjModel``. These flags replace the fast-path checks
|
||||
as originally guarded by ``ngravcomp``. Since the engine uses these integers as flags (zero vs. non-zero), the new
|
||||
flags are honest boolean properties, writeable from the Python bindings at runtime. The field ``ngravcomp`` is
|
||||
deprecated and will be removed in a future release.
|
||||
|
||||
.. admonition:: Breaking API changes
|
||||
:class: attention
|
||||
|
||||
- Changed the default value of :ref:`sleep_tolerance<option-sleep_tolerance>` from 1e-4 to 1e-3 (1mm/sec in SI
|
||||
units).
|
||||
- Removed the legacy sparse ancestor-walk inertia matrix ``mjData.qM``. The joint-space inertia matrix is now stored
|
||||
exclusively in the compressed sparse row (CSR) format ``mjData.M``.
|
||||
- Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the legacy ``mjData.qM``
|
||||
for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from ``(nv x nM)`` to
|
||||
``(nv x nC)``.
|
||||
- :ref:`mju_round` now breaks ties away from zero rather than towards :math:`+\infty`. This only affects
|
||||
negative half-integers, e.g. ``mju_round(-2.5)`` now returns -3 rather than -2.
|
||||
- Removed unneeded `mjvScene` argument from :ref:`mjv_moveCamera`.
|
||||
|
||||
.. admonition:: Breaking ABI changes
|
||||
:class: caution
|
||||
|
||||
- Added ``texid``, ``texuniform`` and ``texrepeat`` fields to ``mjvGeom``.
|
||||
|
||||
.. admonition:: Bug fixes
|
||||
:class: admonition
|
||||
|
||||
- Fixed a bug where ``body_margin`` excluded ``gap``, causing the mid-phase collision filter to incorrectly prune
|
||||
in-gap contacts on multi-geom bodies.
|
||||
|
||||
Actuation
|
||||
^^^^^^^^^
|
||||
- Refactored actuator infrastructure in preparation for MIMO (multi-input multi-output) actuator support. Each actuator
|
||||
now has ``ctrlnum`` (number of controls) and ``outnum`` (number of force outputs). The total counts
|
||||
``nu = sum(ctrlnum)`` and ``nout = sum(outnum)`` dimension ``mjData.ctrl`` and ``mjData.actuator_force``,
|
||||
respectively, ``nactuator`` is the number of actuators. For existing actuators ``ctrnum = outnum = 1``, so
|
||||
``nactuator == nu == nout`` and existing code is unaffected.
|
||||
- Setpoints of :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>` servos acting on 3D
|
||||
rotational transmissions (ball joints, or site transmissions with a :ref:`refsite<actuator-general-refsite>` and
|
||||
purely rotational gear) are now interpreted on the circle: the force uses the setpoint representative nearest the
|
||||
current angle, so targets winding beyond half a turn are tracked continuously instead of slipping by full turns.
|
||||
Behavior is identical whenever the error does not exceed π. Relatedly, ``intvelocity`` actuators now expose
|
||||
:ref:`actlimited<actuator-intvelocity-actlimited>`, which was previously hardcoded to "true": as for
|
||||
:ref:`general<actuator-general>` actuators it defaults to "auto", so activation clamping is enabled by specifying
|
||||
``actrange``. Unclamped integrated setpoints are well-behaved on rotational transmissions, where they wrap.
|
||||
|
||||
|
||||
Solvers
|
||||
^^^^^^^
|
||||
- Flex elasticity (stretch, bending, interpolation stiffness) is now integrated implicitly inside the CG constraint
|
||||
solver via an *effective metric*: the mass matrix is augmented with the stiffness Hessian,
|
||||
so contact and elastic forces are solved against one consistent metric. This replaces the previous post-hoc CG
|
||||
correction, which modified ``qacc`` after the constraint solve. The gate is ``solver="CG"`` with an implicit
|
||||
integrator and flex stiffness present; Newton and PGS are unaffected. Bending-only models pay zero per-step
|
||||
factorization cost (the factor is precomputed in :ref:`mj_setConst<mj_setConst>`). Inverse dynamics
|
||||
(:ref:`mj_inverse<mj_inverse>`) is now discrete-consistent with forward dynamics for gated models.
|
||||
- Added Nesterov momentum extrapolation with adaptive gradient restart (O'Donoghue-Candès) to the PGS solver,
|
||||
significantly improving convergence. Overall PGS now requires ~2x fewer iterations.
|
||||
- Added the Newton decrement -- the quadratic model's predicted cost improvement of the next iteration -- as a third
|
||||
@@ -39,71 +101,32 @@ General
|
||||
factorization, so quiescent scenes skip Hessian construction, factorization and the line search entirely. Newton
|
||||
zero-iteration exits additionally require the gradient criterion, preserving Newton's characteristic force-level
|
||||
accuracy. See :ref:`Warmstart<soAlgorithms>` in the Computation chapter for details.
|
||||
|
||||
|
||||
Compiler
|
||||
^^^^^^^^
|
||||
- :ref:`mj_encode` now supports encoding of MJB and TXT files.
|
||||
- :ref:`mj_setConst` now recomputes the ``mjModel.{body,geom,site}_sameframe`` flags, to account for changes in
|
||||
body/geom/site frames after compilation.
|
||||
- Added :ref:`body/simple<body-simple>` attribute ("false"/"auto") to disable the *simple body* mass matrix
|
||||
optimization. This is useful for domain randomization, where model parameters may change post-compilation.
|
||||
- The :el:`attach` element now supports self-attachment (attaching elements of the current model to itself) by omitting
|
||||
the :at:`model` attribute. It also supports attaching a frame via the new :at:`frame` attribute, which is mutually
|
||||
exclusive with :at:`body`.
|
||||
- The :ref:`attach<body-attach>` element now supports self-attachment (attaching elements of the current model to
|
||||
itself) by omitting the :ref:`model<body-attach-model>` attribute. It also supports attaching a frame via the new
|
||||
:ref:`frame<body-attach-frame>` attribute, which is mutually exclusive with :ref:`body<body-attach-body>`.
|
||||
- Fixed loading of ``.mjz`` archives in :ref:`simulate<saSimulate>`: the archive was unmounted before model compilation,
|
||||
so assets contained in it failed to load. Failures in the ``mjz`` decoder now emit a warning with the underlying
|
||||
error instead of the generic "could not decode content" message.
|
||||
- Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in :ref:`mjpResourceProvider`.
|
||||
- Added support for :ref:`multiccd <coMultiCCD>` with arbitrarily large meshes.
|
||||
- Setpoints of :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>` servos acting on 3D
|
||||
rotational transmissions (ball joints, or site transmissions with a :ref:`refsite<actuator-general-refsite>` and
|
||||
purely rotational gear) are now interpreted on the circle: the force uses the setpoint representative nearest the
|
||||
current angle, so targets winding beyond half a turn are tracked continuously instead of slipping by full turns.
|
||||
Behavior is identical whenever the error does not exceed π. Relatedly, ``intvelocity`` actuators now expose
|
||||
:ref:`actlimited<actuator-intvelocity-actlimited>`, which was previously hardcoded to "true": as for
|
||||
:ref:`general<actuator-general>` actuators it defaults to "auto", so activation clamping is enabled by specifying
|
||||
``actrange``. Unclamped integrated setpoints are well-behaved on rotational transmissions, where they wrap.
|
||||
- Refactored actuator infrastructure in preparation for MIMO (multi-input multi-output) actuator support. Each actuator
|
||||
now has ``ctrlnum`` (number of controls) and ``outnum`` (number of force outputs). The total counts
|
||||
``nu = sum(ctrlnum)`` and ``nout = sum(outnum)`` dimension ``mjData.ctrl`` and ``mjData.actuator_force``,
|
||||
respectively, ``nactuator`` is the number of actuators. For existing actuators ``ctrnum = outnum = 1``, so
|
||||
``nactuator == nu == nout`` and existing code is unaffected.
|
||||
- Flex elasticity (stretch, bending, interpolation stiffness) is now integrated implicitly inside the CG constraint
|
||||
solver via an *effective metric*: the mass matrix is augmented with the stiffness Hessian,
|
||||
so contact and elastic forces are solved against one consistent metric. This replaces the previous post-hoc CG
|
||||
correction, which modified ``qacc`` after the constraint solve. The gate is ``solver="CG"`` with an implicit
|
||||
integrator and flex stiffness present; Newton and PGS are unaffected. Bending-only models pay zero per-step
|
||||
factorization cost (the factor is precomputed in :ref:`mj_setConst<mj_setConst>`). Inverse dynamics
|
||||
(:ref:`mj_inverse<mj_inverse>`) is now discrete-consistent with forward dynamics for gated models.
|
||||
so assets failed to load. Failures in the ``mjz`` decoder now emit a warning with the underlying error instead of the
|
||||
generic "could not decode content" message.
|
||||
- The ``mjz`` decoder now searches for ``model.xml`` at the root of the archive as a fallback if the archive-named XML
|
||||
is not found.
|
||||
- Added ``flg_gravcomp`` and ``flg_surfacevel`` boolean flags to ``mjModel``. These flags replace the fast-path checks
|
||||
as originally guarded by ``ngravcomp``. Since the engine uses these integers as flags (zero vs. non-zero), the new
|
||||
flags are honest boolean properties, writeable from the Python bindings at runtime. The field ``ngravcomp`` is
|
||||
deprecated and will be removed in a future release.
|
||||
- Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in
|
||||
:ref:`mjpResourceProvider`.
|
||||
|
||||
.. admonition:: Breaking API changes
|
||||
:class: attention
|
||||
|
||||
- Return type of :ref:`mj_encode` and the :ref:`mjfEncode` callback changed from ``int`` to ``mjtSize`` (64-bit).
|
||||
- Switched :ref:`mjd_inverseFD` to use the CSR-format ``mjData.M`` representation instead of the legacy ``mjData.qM``
|
||||
for the mass matrix derivative. This changes the shape of the ``DmDq`` parameter from ``(nv x nM)`` to
|
||||
``(nv x nC)``.
|
||||
- Removed the legacy sparse ancestor-walk inertia matrix ``mjData.qM``. The joint-space inertia matrix is now stored
|
||||
exclusively in the compressed sparse row (CSR) format ``mjData.M``.
|
||||
- :ref:`mju_round` now breaks ties away from zero rather than towards :math:`+\infty`. This only affects
|
||||
negative half-integers, e.g. ``mju_round(-2.5)`` now returns -3 rather than -2.
|
||||
- Changed the default value of :ref:`sleep_tolerance<option-sleep_tolerance>` from 1e-4 to 1e-3 (1mm/sec in SI
|
||||
units).
|
||||
- Removed unneeded `mjvScene` argument from :ref:`mjv_moveCamera`.
|
||||
- The return type of :ref:`mj_encode` and the :ref:`mjfEncode` callback changed from ``int`` to ``mjtSize``
|
||||
(64-bit).
|
||||
|
||||
Bug fixes
|
||||
^^^^^^^^^
|
||||
- Fixed a bug where ``body_margin`` excluded ``gap``, causing the mid-phase collision filter to incorrectly prune
|
||||
in-gap contacts on multi-geom bodies.
|
||||
- Fixed a bug in the mesh compiler where normals were scaled as vectors rather than covectors.
|
||||
.. admonition:: Bug fixes
|
||||
:class: admonition
|
||||
|
||||
.. admonition:: Breaking ABI changes
|
||||
:class: attention
|
||||
|
||||
- Added ``texid``, ``texuniform`` and ``texrepeat`` fields to ``mjvGeom``.
|
||||
- Fixed a bug in the mesh compiler where normals were scaled as vectors rather than covectors.
|
||||
|
||||
Version 3.10.0 (June 22, 2026)
|
||||
------------------------------
|
||||
@@ -149,25 +172,24 @@ General
|
||||
:ref:`maxhullvert<asset-mesh-maxhullvert>` attribute by invoking Qhull's
|
||||
`Q9 <http://www.qhull.org/html/qh-optq.htm#Q9>`__ option.
|
||||
|
||||
.. admonition:: Breaking API changes
|
||||
:class: attention
|
||||
.. admonition:: Breaking API changes
|
||||
:class: attention
|
||||
|
||||
10. :commit:`b935d415` The header file ``mjthread.h`` was removed along with the old engine threading API.
|
||||
|br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
|
||||
11. :commit:`96bf8aea` Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into
|
||||
:ref:`mj_fwdConstraint` (multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from
|
||||
the arena and are now allocated on the stack.
|
||||
12. :commit:`4548e81e` Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the
|
||||
``mjData`` field ``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or
|
||||
approximate diagonal of the :math:`A` ("Delassus") matrix.
|
||||
13. :commit:`062b0f1e` The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
|
||||
10. :commit:`b935d415` The header file ``mjthread.h`` was removed along with the old engine threading API.
|
||||
|br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
|
||||
11. :commit:`96bf8aea` Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into
|
||||
:ref:`mj_fwdConstraint` (multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from
|
||||
the arena and are now allocated on the stack.
|
||||
12. :commit:`4548e81e` Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the
|
||||
``mjData`` field ``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or
|
||||
approximate diagonal of the :math:`A` ("Delassus") matrix.
|
||||
13. :commit:`062b0f1e` The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
|
||||
14. :commit:`7b9b8806` Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to
|
||||
``mj_fullM(m, d, dst)`` as part of the planned deprecation of ``mjData.qM`` in favor of the CSR-format
|
||||
``mjData.M``.
|
||||
|
||||
14. :commit:`7b9b8806` Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to
|
||||
``mj_fullM(m, d, dst)`` as part of the planned deprecation of ``mjData.qM`` in favor of the CSR-format
|
||||
``mjData.M``.
|
||||
|
||||
**Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)``
|
||||
or ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
|
||||
**Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)``
|
||||
or ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
|
||||
|
||||
Bug fixes
|
||||
^^^^^^^^^
|
||||
|
||||
@@ -380,8 +380,29 @@ dt .at {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.admonition p:not(.admonition-title) {
|
||||
margin-left: 0.5em;
|
||||
/* Better Furo Admonition Alignment */
|
||||
.admonition {
|
||||
padding: 0.5rem 1rem !important; /* Standardize body padding */
|
||||
}
|
||||
|
||||
/* Align the title text perfectly with the body text */
|
||||
.admonition .admonition-title {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
margin-left: -0.25rem; /* Pulls the title slightly left to balance the icon */
|
||||
padding-bottom: 0.25rem;
|
||||
}
|
||||
|
||||
/* Align admonition bullets with section-level bullets */
|
||||
.admonition ul {
|
||||
padding-left: 0.1em;
|
||||
margin-top: 0;
|
||||
margin-bottom: 0;
|
||||
}
|
||||
|
||||
/* (Optional) Drop the background color for a cleaner look */
|
||||
body {
|
||||
--color-admonition-background: transparent;
|
||||
}
|
||||
|
||||
/* Reduce top and bottom margins around displayed KaTeX equations */
|
||||
|
||||
Reference in New Issue
Block a user