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Remove mjOption.collision and associated option/collision attribute.

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PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
This commit is contained in:
Yuval Tassa
2023-09-18 15:14:33 -07:00
committed by Copybara-Service
parent 9902b73502
commit 9cf1f6eba4
18 changed files with 108 additions and 208 deletions
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doc/changelog.rst
+22 -11
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@@ -62,35 +62,46 @@ General
- Renamed ``mjData.solver_iter`` to ``solver_niter``. Both this member and ``mjData.solver_nnz`` are now integer
vectors of length ``mjNISLAND``.
8. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
8. Removed ``mjOption.collision`` and the associated ``option/collision`` attribute.
**Migration:**
- For models which have ``<option collision="all"/>``, delete the attribute.
- For models which have ``<option collision="dynamic"/>``, delete all :ref:`pair<contact-pair>` elements.
- For models which have ``<option collision="pair"/>``, disable all dynamic collisions (determined
via contype/conaffinity) by first deleting all :ref:`contype<body-geom-contype>` and
:ref:`conaffinity<body-geom-conaffinity>` attributes in the model and then setting them globally to ``0`` using
|br| ``<default> <geom contype="0" conaffinity="0"/> </default>``.
9. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
the exact formula rather than with Euler integration.
9. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
10. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
10. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
11. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
11. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
12. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
12. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
13. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
13. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
14. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
linesearch stopping criteria in CG and Newton solvers. These can be useful for performance tuning.
14. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
15. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
mesh assets. Fixes `#409 <https://github.com/google-deepmind/mujoco/issues/409>`__ .
15. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
16. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
sensor. If camera resolution is set to positive values, the camera projection sensor will report the location of a
target site, projected onto the camera image, in pixel coordinates.
Python bindings
^^^^^^^^^^^^^^^
16. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
17. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Bug fixes
^^^^^^^^^
17. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
18. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
midphase collision trees.