Add double underscore suffix to all links in the changelog.
PiperOrigin-RevId: 571304907 Change-Id: Ie726f3d703421f9d13a5d16f2282123c71c2b530
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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commit
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+46
-46
@@ -37,7 +37,7 @@ New features
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4. Added capability to initialize :ref:`composite<body-composite>` particles with arbitrary positions.
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5. Added `shell <https://github.com/deepmind/mujoco/blob/main/plugin/elasticity/shell.cc>`_ passive force plugin:
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5. Added `shell <https://github.com/deepmind/mujoco/blob/main/plugin/elasticity/shell.cc>`__ passive force plugin:
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- Collisions use spheres located at mesh vertices.
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- Stretching as tendon constraints and bending using a constant precomputed Hessian (cotangent operator).
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@@ -229,9 +229,9 @@ Bug fixes
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Plugins
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^^^^^^^
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5. Added touch-grid sensor plugin. See `documentation <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
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for details, and associated `touch_grid.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/sensor/touch_grid.xml>`_
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example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
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5. Added touch-grid sensor plugin. See `documentation <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`__
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for details, and associated `touch_grid.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/sensor/touch_grid.xml>`__
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example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`__.
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Simulate
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^^^^^^^^
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@@ -354,8 +354,8 @@ Python bindings
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#. Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions could previously
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return before an internal call to ``mj_forward``. This allows user code to continue and potentially modify physics
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state concurrently with the internal ``mj_forward``, resulting in e.g.
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`MuJoCo stack overflow error <https://github.com/google-deepmind/mujoco/issues/783>`_
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or `segmentation fault <https://github.com/google-deepmind/mujoco/issues/790>`_.
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`MuJoCo stack overflow error <https://github.com/google-deepmind/mujoco/issues/783>`__
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or `segmentation fault <https://github.com/google-deepmind/mujoco/issues/790>`__.
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#. The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The
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passive viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics
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state. This is to avoid race conditions that can result in visual artifacts. See
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@@ -368,9 +368,9 @@ Bug fixes
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12. Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator.
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#. Removed spurious whole-arena copying in `mj_copyData`, which can considerably
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`slow down <https://github.com/google-deepmind/mujoco/issues/568>`_ the copying operation.
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`slow down <https://github.com/google-deepmind/mujoco/issues/568>`__ the copying operation.
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#. Make :ref:`shellinertia<body-geom-shellinertia>` ignore :ref:`exactmeshinertia<compiler-exactmeshinertia>`, which is
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only used for legacy volume computations (`#759 <https://github.com/google-deepmind/mujoco/issues/759>`_).
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only used for legacy volume computations (`#759 <https://github.com/google-deepmind/mujoco/issues/759>`__).
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Version 2.3.3 (March 20, 2023)
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@@ -389,7 +389,7 @@ General
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become the default integrator in a future version.
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The table below shows the compute cost of the 627-DoF `humanoid100
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<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model using different
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<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model using different
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integrators. "implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned
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above. Timings were measured on a single core of an AMD 3995WX CPU.
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@@ -407,14 +407,14 @@ General
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2. Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` for more details.
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This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on
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the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`_.
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the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`__.
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#. The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested.
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#. Corrected the spelling of the ``inteval`` attribute to ``interval`` in the :ref:`mjLROpt` struct.
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#. Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer
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duplicated in order to circumvent this limitation as they previously were.
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#. The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation.
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For instance, the constraint Jacobian matrix from the `humanoid100
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<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously
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<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model, which previously
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required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
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#. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
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functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
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@@ -441,7 +441,7 @@ Python bindings
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Simulate
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^^^^^^^^
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15. Implemented a workaround for `broken VSync <https://github.com/glfw/glfw/issues/2249>`_ on macOS so that the frame
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15. Implemented a workaround for `broken VSync <https://github.com/glfw/glfw/issues/2249>`__ on macOS so that the frame
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rate is correctly capped when the Vertical Sync toggle is enabled.
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.. image:: images/changelog/contactlabel.png
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@@ -462,7 +462,7 @@ General
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1. A more performant mju_transposeSparse has been implemented that doesn't require dense memory allocation.
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For a constraint Jacobian matrix from the
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`humanoid100.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model,
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`humanoid100.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model,
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this function is 35% faster.
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#. The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
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performance.
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@@ -512,18 +512,18 @@ Python bindings
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^^^^^^^^^^^^^^^
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1. The ``simulate`` GUI is now available through the ``mujoco`` Python package as ``mujoco.viewer``.
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See :ref:`documentation<PyViewer>` for details. (Contribution by `Levi Burner <https://github.com/aftersomemath>`_.)
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See :ref:`documentation<PyViewer>` for details. (Contribution by `Levi Burner <https://github.com/aftersomemath>`__.)
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#. The ``Renderer`` class from the MuJoCo tutorial Colab is now available directly in the native Python bindings.
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General
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^^^^^^^
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3. The tendon :at:`springlength` attribute can now take two values. Given two non-decreasing values, `springlength`
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specifies a `deadband <https://en.wikipedia.org/wiki/Deadband>`_ range for spring stiffness. If the tendon length is
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specifies a `deadband <https://en.wikipedia.org/wiki/Deadband>`__ range for spring stiffness. If the tendon length is
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between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with
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the spring resting length corresponding to the nearest :at:`springlength` value. This can be used to create tendons
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whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See
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`tendon_springlength.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/tendon_springlength.xml>`_
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`tendon_springlength.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/tendon_springlength.xml>`__
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example model.
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.. attention::
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@@ -537,22 +537,22 @@ General
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#. Removed the requirement that stateless actuators come before stateful actuators.
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#. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
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#. Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and buoyancy.
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See `balloons.xml <https://github.com/google-deepmind/mujoco/blob/main/model/balloons/balloons.xml>`_ example model.
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See `balloons.xml <https://github.com/google-deepmind/mujoco/blob/main/model/balloons/balloons.xml>`__ example model.
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#. Renamed the ``cable`` plugin library to ``elasticity``.
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#. Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
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for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
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activation dynamics to
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`engine_forward_test.cc <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_.
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`engine_forward_test.cc <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`__.
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#. Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
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joints. See the two new examples:
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`particle_free.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free.xml>`_ and
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`particle_free2d.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free2d.xml>`_.
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`particle_free.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free.xml>`__ and
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`particle_free2d.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free2d.xml>`__.
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#. Performance improvements for non-AVX configurations:
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- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test
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<https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
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- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`__. See `engine_core_smooth_benchmark_test
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<https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`__.
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- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
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<https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
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<https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`__.
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#. Added new :at:`solid` passive force plugin:
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.. youtube:: AGcTGHbbze4
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@@ -576,9 +576,9 @@ General
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unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now
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:at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`.
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#. Added support for capsules in URDF import.
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#. On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`_
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#. On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`__
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translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of
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`AVX <https://en.wikipedia.org/wiki/Advanced_Vector_Extensions>`_ instructions on x86-64 machines, which is not
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`AVX <https://en.wikipedia.org/wiki/Advanced_Vector_Extensions>`__ instructions on x86-64 machines, which is not
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supported by Rosetta 2. (Before this version, users only get a cryptic "Illegal instruction" message.)
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Bug fixes
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@@ -631,7 +631,7 @@ General
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x^* = \text{argmin} \; \tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u
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The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_,
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The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`__,
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converges after 2-5 Cholesky factorisations, independent of problem size.
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#. Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both
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@@ -661,11 +661,11 @@ General
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- Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
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- The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
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- New `cable.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/cable.xml>`_ example
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- New `cable.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/cable.xml>`__ example
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showing the formation of plectoneme.
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- New `coil.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/coil.xml>`_ example
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- New `coil.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/coil.xml>`__ example
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showing a curved equilibrium configuration.
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- New `belt.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/belt.xml>`_ example
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- New `belt.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/belt.xml>`__ example
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showing interaction between twist and anisotropy.
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- Added test using cantilever exact solution.
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@@ -678,14 +678,14 @@ General
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Python bindings
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^^^^^^^^^^^^^^^
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11. Added ``id`` and ``name`` properties to
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`named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`_ objects.
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`named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`__ objects.
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These provide more Pythonic API access to ``mj_name2id`` and ``mj_id2name`` respectively.
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#. The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be straightforwardly used as
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an iterator without needing to check ``ncon``.
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#. Fix a memory leak when a Python callable is installed as callback
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(`#527 <https://github.com/google-deepmind/mujoco/issues/527>`_).
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(`#527 <https://github.com/google-deepmind/mujoco/issues/527>`__).
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Version 2.2.2 (September 7, 2022)
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@@ -699,7 +699,7 @@ General
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:height: 150px
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1. Added :ref:`adhesion actuators<actuator-adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages.
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#. Added related `example model <https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`_ and video:
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#. Added related `example model <https://github.com/google-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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@@ -707,7 +707,7 @@ General
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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/google-deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`_ showing
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#. Added `weld.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`__ showing
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different uses of new weld attributes.
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.. youtube:: s-0JHanqV1A
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@@ -716,7 +716,7 @@ General
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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<actuator-general>` documentation
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and `refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`_
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and `refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`__
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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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@@ -743,7 +743,7 @@ General
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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/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`_.
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`here <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`__.
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#. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining the initial
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orientation of 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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@@ -791,7 +791,7 @@ General
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and `Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__. This allows ASAN to
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detect reads and writes to regions in ``mjModel.buffer`` and ``mjData.buffer`` that do not lie within an array, and
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for MSAN to detect reads from uninitialised fields in ``mjData`` following ``mj_resetData``.
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#. Added a `slider-crank example model <https://github.com/google-deepmind/mujoco/tree/main/model/slider_crank>`_.
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#. Added a `slider-crank example model <https://github.com/google-deepmind/mujoco/tree/main/model/slider_crank>`__.
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Bug fixes
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^^^^^^^^^
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@@ -837,8 +837,8 @@ Open Sourcing
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c. ``dist/``: Files related to packaging and binary distribution.
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#. Added `contributor's guide <https://github.com/google-deepmind/mujoco/blob/main/CONTRIBUTING.md>`_ and
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`style guide <https://github.com/google-deepmind/mujoco/blob/main/STYLEGUIDE.md>`_.
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#. Added `contributor's guide <https://github.com/google-deepmind/mujoco/blob/main/CONTRIBUTING.md>`__ and
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`style guide <https://github.com/google-deepmind/mujoco/blob/main/STYLEGUIDE.md>`__.
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General
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^^^^^^^
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@@ -969,7 +969,7 @@ Bug fixes
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^^^^^^^^^
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5. Fixed rendering bug for planes, introduced in 2.1.2. This broke maze environments in
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`dm_control <https://github.com/google-deepmind/dm_control>`_.
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`dm_control <https://github.com/google-deepmind/dm_control>`__.
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Version 2.1.2 (Mar. 15, 2022)
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@@ -990,7 +990,7 @@ API changes
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^^^^^^^^^^^
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4. Moved definition of ``mjtNum`` floating point type into a new header
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`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`_.
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`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`__.
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#. Renamed header `mujoco_export.h` to :ref:`mjexport.h<inHeader>`.
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#. Added ``mj_printFormattedData``, which accepts a format string for floating point numbers, for example to increase
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precision.
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@@ -998,12 +998,12 @@ API changes
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General
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^^^^^^^
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7. MuJoCo can load `OBJ <https://en.wikipedia.org/wiki/Wavefront_.obj_file>`_ mesh files.
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7. MuJoCo can load `OBJ <https://en.wikipedia.org/wiki/Wavefront_.obj_file>`__ mesh files.
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a. Meshes containing polygons with more than 4 vertices are not supported.
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#. In OBJ files containing multiple object groups, any groups after the first one will be ignored.
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#. Added (post-release, not included in the 2.1.2 archive) textured
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`mug <https://github.com/google-deepmind/mujoco/blob/main/model/mug/mug.xml>`_ example model:
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`mug <https://github.com/google-deepmind/mujoco/blob/main/model/mug/mug.xml>`__ example model:
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.. image:: images/changelog/mug.png
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:width: 300px
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@@ -1093,7 +1093,7 @@ Bug Fixes
|
||||
#. Computed capsule inertias are now exact. Until this change, capsule masses and inertias computed by the
|
||||
:ref:`compiler <compiler>`'s :at:`inertiafromgeom` mechanism were approximated by a cylinder, formed by the
|
||||
capsule's cylindrical middle section, extended on both ends by half the capsule radius. Capsule inertias are now
|
||||
computed with the `Parallel Axis theorem <https://en.wikipedia.org/wiki/Parallel_axis_theorem>`_, applied to the two
|
||||
computed with the `Parallel Axis theorem <https://en.wikipedia.org/wiki/Parallel_axis_theorem>`__, applied to the two
|
||||
hemispherical end-caps.
|
||||
|
||||
.. attention::
|
||||
@@ -1136,7 +1136,7 @@ Binary build
|
||||
|
||||
a. MuJoCo library is now packaged as a `Framework Bundle
|
||||
<https://developer.apple.com/library/archive/documentation/MacOSX/Conceptual/BPFrameworks/Concepts/FrameworkAnato
|
||||
my.html>`_, allowing it to be incorporated more easily into Xcode projects (including Swift projects). Developers
|
||||
my.html>`__, allowing it to be incorporated more easily into Xcode projects (including Swift projects). Developers
|
||||
are encouraged to compile and link against MuJoCo using the ``-framework mujoco`` flag, however all header files
|
||||
and the ``libmujoco.2.1.1.dylib`` library can still be directly accessed inside the framework.
|
||||
#. Sample applications are now packaged into an Application Bundle called ``MuJoCo.app``. When launched via GUI,
|
||||
@@ -1184,7 +1184,7 @@ General
|
||||
#. Fixed: The array of sensors in ``mjCModel`` was not cleared.
|
||||
#. Cleaned up cross-platform code (internal changes, not visible via the API).
|
||||
#. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices).
|
||||
#. Fixed a bug in `simulate.cc <https://github.com/google-deepmind/mujoco/blob/main/simulate/simulate.cc>`_ related to
|
||||
#. Fixed a bug in `simulate.cc <https://github.com/google-deepmind/mujoco/blob/main/simulate/simulate.cc>`__ related to
|
||||
``nkey`` (the number of keyframes).
|
||||
#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
|
||||
conaffinity==0``).
|
||||
@@ -1221,7 +1221,7 @@ License manager
|
||||
Earlier versions
|
||||
----------------
|
||||
|
||||
For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.
|
||||
For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`__.
|
||||
|
||||
.. |humanoid| image:: images/models/humanoid.gif
|
||||
:width: 270px
|
||||
|
||||
Reference in New Issue
Block a user