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Add double underscore suffix to all links in the changelog.

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PiperOrigin-RevId: 571304907
Change-Id: Ie726f3d703421f9d13a5d16f2282123c71c2b530
This commit is contained in:
Yuval Tassa
2023-10-06 04:59:47 -07:00
committed by Copybara-Service
parent d61d0349b8
commit a9b761ee1b
1 changed files with 46 additions and 46 deletions
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doc/changelog.rst
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@@ -37,7 +37,7 @@ New features
4. Added capability to initialize :ref:`composite<body-composite>` particles with arbitrary positions. 4. Added capability to initialize :ref:`composite<body-composite>` particles with arbitrary positions.
5. Added `shell <https://github.com/deepmind/mujoco/blob/main/plugin/elasticity/shell.cc>`_ passive force plugin: 5. Added `shell <https://github.com/deepmind/mujoco/blob/main/plugin/elasticity/shell.cc>`__ passive force plugin:
- Collisions use spheres located at mesh vertices. - Collisions use spheres located at mesh vertices.
- Stretching as tendon constraints and bending using a constant precomputed Hessian (cotangent operator). - Stretching as tendon constraints and bending using a constant precomputed Hessian (cotangent operator).
@@ -229,9 +229,9 @@ Bug fixes
Plugins Plugins
^^^^^^^ ^^^^^^^
5. Added touch-grid sensor plugin. See `documentation <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`_ 5. Added touch-grid sensor plugin. See `documentation <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`__
for details, and associated `touch_grid.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/sensor/touch_grid.xml>`_ for details, and associated `touch_grid.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/sensor/touch_grid.xml>`__
example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_. example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`__.
Simulate Simulate
^^^^^^^^ ^^^^^^^^
@@ -354,8 +354,8 @@ Python bindings
#. Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions could previously #. Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions could previously
return before an internal call to ``mj_forward``. This allows user code to continue and potentially modify physics return before an internal call to ``mj_forward``. This allows user code to continue and potentially modify physics
state concurrently with the internal ``mj_forward``, resulting in e.g. state concurrently with the internal ``mj_forward``, resulting in e.g.
`MuJoCo stack overflow error <https://github.com/google-deepmind/mujoco/issues/783>`_ `MuJoCo stack overflow error <https://github.com/google-deepmind/mujoco/issues/783>`__
or `segmentation fault <https://github.com/google-deepmind/mujoco/issues/790>`_. or `segmentation fault <https://github.com/google-deepmind/mujoco/issues/790>`__.
#. The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The #. The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The
passive viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics passive viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics
state. This is to avoid race conditions that can result in visual artifacts. See state. This is to avoid race conditions that can result in visual artifacts. See
@@ -368,9 +368,9 @@ Bug fixes
12. Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator. 12. Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator.
#. Removed spurious whole-arena copying in `mj_copyData`, which can considerably #. Removed spurious whole-arena copying in `mj_copyData`, which can considerably
`slow down <https://github.com/google-deepmind/mujoco/issues/568>`_ the copying operation. `slow down <https://github.com/google-deepmind/mujoco/issues/568>`__ the copying operation.
#. Make :ref:`shellinertia<body-geom-shellinertia>` ignore :ref:`exactmeshinertia<compiler-exactmeshinertia>`, which is #. Make :ref:`shellinertia<body-geom-shellinertia>` ignore :ref:`exactmeshinertia<compiler-exactmeshinertia>`, which is
only used for legacy volume computations (`#759 <https://github.com/google-deepmind/mujoco/issues/759>`_). only used for legacy volume computations (`#759 <https://github.com/google-deepmind/mujoco/issues/759>`__).
Version 2.3.3 (March 20, 2023) Version 2.3.3 (March 20, 2023)
@@ -389,7 +389,7 @@ General
become the default integrator in a future version. become the default integrator in a future version.
The table below shows the compute cost of the 627-DoF `humanoid100 The table below shows the compute cost of the 627-DoF `humanoid100
<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model using different <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model using different
integrators. "implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned integrators. "implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned
above. Timings were measured on a single core of an AMD 3995WX CPU. above. Timings were measured on a single core of an AMD 3995WX CPU.
@@ -407,14 +407,14 @@ General
2. Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` for more details. 2. Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` for more details.
This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on
the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`_. the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`__.
#. The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested. #. The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested.
#. Corrected the spelling of the ``inteval`` attribute to ``interval`` in the :ref:`mjLROpt` struct. #. Corrected the spelling of the ``inteval`` attribute to ``interval`` in the :ref:`mjLROpt` struct.
#. Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer #. Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer
duplicated in order to circumvent this limitation as they previously were. duplicated in order to circumvent this limitation as they previously were.
#. The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation. #. The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation.
For instance, the constraint Jacobian matrix from the `humanoid100 For instance, the constraint Jacobian matrix from the `humanoid100
<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model, which previously
required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver. required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
#. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The #. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated. functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
@@ -441,7 +441,7 @@ Python bindings
Simulate Simulate
^^^^^^^^ ^^^^^^^^
15. Implemented a workaround for `broken VSync <https://github.com/glfw/glfw/issues/2249>`_ on macOS so that the frame 15. Implemented a workaround for `broken VSync <https://github.com/glfw/glfw/issues/2249>`__ on macOS so that the frame
rate is correctly capped when the Vertical Sync toggle is enabled. rate is correctly capped when the Vertical Sync toggle is enabled.
.. image:: images/changelog/contactlabel.png .. image:: images/changelog/contactlabel.png
@@ -462,7 +462,7 @@ General
1. A more performant mju_transposeSparse has been implemented that doesn't require dense memory allocation. 1. A more performant mju_transposeSparse has been implemented that doesn't require dense memory allocation.
For a constraint Jacobian matrix from the For a constraint Jacobian matrix from the
`humanoid100.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, `humanoid100.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model,
this function is 35% faster. this function is 35% faster.
#. The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better #. The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
performance. performance.
@@ -512,18 +512,18 @@ Python bindings
^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^
1. The ``simulate`` GUI is now available through the ``mujoco`` Python package as ``mujoco.viewer``. 1. The ``simulate`` GUI is now available through the ``mujoco`` Python package as ``mujoco.viewer``.
See :ref:`documentation<PyViewer>` for details. (Contribution by `Levi Burner <https://github.com/aftersomemath>`_.) See :ref:`documentation<PyViewer>` for details. (Contribution by `Levi Burner <https://github.com/aftersomemath>`__.)
#. The ``Renderer`` class from the MuJoCo tutorial Colab is now available directly in the native Python bindings. #. The ``Renderer`` class from the MuJoCo tutorial Colab is now available directly in the native Python bindings.
General General
^^^^^^^ ^^^^^^^
3. The tendon :at:`springlength` attribute can now take two values. Given two non-decreasing values, `springlength` 3. The tendon :at:`springlength` attribute can now take two values. Given two non-decreasing values, `springlength`
specifies a `deadband <https://en.wikipedia.org/wiki/Deadband>`_ range for spring stiffness. If the tendon length is specifies a `deadband <https://en.wikipedia.org/wiki/Deadband>`__ range for spring stiffness. If the tendon length is
between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with
the spring resting length corresponding to the nearest :at:`springlength` value. This can be used to create tendons the spring resting length corresponding to the nearest :at:`springlength` value. This can be used to create tendons
whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See
`tendon_springlength.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/tendon_springlength.xml>`_ `tendon_springlength.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/tendon_springlength.xml>`__
example model. example model.
.. attention:: .. attention::
@@ -537,22 +537,22 @@ General
#. Removed the requirement that stateless actuators come before stateful actuators. #. Removed the requirement that stateless actuators come before stateful actuators.
#. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions. #. Added :ref:`mju_fill`, :ref:`mju_symmetrize` and :ref:`mju_eye` utility functions.
#. Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and buoyancy. #. Added :at:`gravcomp` attribute to :ref:`body<body>`, implementing gravity compensation and buoyancy.
See `balloons.xml <https://github.com/google-deepmind/mujoco/blob/main/model/balloons/balloons.xml>`_ example model. See `balloons.xml <https://github.com/google-deepmind/mujoco/blob/main/model/balloons/balloons.xml>`__ example model.
#. Renamed the ``cable`` plugin library to ``elasticity``. #. Renamed the ``cable`` plugin library to ``elasticity``.
#. Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed #. Added :at:`actdim` attribute to :ref:`general actuators<actuator-general>`. Values greater than 1 are only allowed
for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order for dyntype :at-val:`user`, as native activation dynamics are all scalar. Added example test implementing 2nd-order
activation dynamics to activation dynamics to
`engine_forward_test.cc <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`_. `engine_forward_test.cc <https://github.com/google-deepmind/mujoco/blob/main/test/engine/engine_forward_test.cc>`__.
#. Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple #. Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
joints. See the two new examples: joints. See the two new examples:
`particle_free.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free.xml>`_ and `particle_free.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free.xml>`__ and
`particle_free2d.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free2d.xml>`_. `particle_free2d.xml <https://github.com/google-deepmind/mujoco/blob/main/model/composite/particle_free2d.xml>`__.
#. Performance improvements for non-AVX configurations: #. Performance improvements for non-AVX configurations:
- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test - 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`__. See `engine_core_smooth_benchmark_test
<https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_. <https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`__.
- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test - 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
<https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_. <https://github.com/google-deepmind/mujoco/blob/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`__.
#. Added new :at:`solid` passive force plugin: #. Added new :at:`solid` passive force plugin:
.. youtube:: AGcTGHbbze4 .. youtube:: AGcTGHbbze4
@@ -576,9 +576,9 @@ General
unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now unspecified, the objtype is now :ref:`mjOBJ_UNKNOWN<mjtObj>`. ``user`` sensors :at:`datatype` default is now
:at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`. :at-val:`"real"`, :at:`needstage` default is now :at-val:`"acc"`.
#. Added support for capsules in URDF import. #. Added support for capsules in URDF import.
#. On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`_ #. On macOS, issue an informative error message when run under `Rosetta 2 <https://support.apple.com/en-gb/HT211861>`__
translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of
`AVX <https://en.wikipedia.org/wiki/Advanced_Vector_Extensions>`_ instructions on x86-64 machines, which is not `AVX <https://en.wikipedia.org/wiki/Advanced_Vector_Extensions>`__ instructions on x86-64 machines, which is not
supported by Rosetta 2. (Before this version, users only get a cryptic "Illegal instruction" message.) supported by Rosetta 2. (Before this version, users only get a cryptic "Illegal instruction" message.)
Bug fixes Bug fixes
@@ -631,7 +631,7 @@ General
x^* = \text{argmin} \; \tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u x^* = \text{argmin} \; \tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u
The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`_, The algorithm, introduced in `Tassa et al. 2014 <https://doi.org/10.1109/ICRA.2014.6907001>`__,
converges after 2-5 Cholesky factorisations, independent of problem size. converges after 2-5 Cholesky factorisations, independent of problem size.
#. Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both #. Added :ref:`mju_mulVecMatVec` to multiply a square matrix :math:`M` with vectors :math:`x` and :math:`y` on both
@@ -661,11 +661,11 @@ General
- Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`. - Twist and bending stiffness can be set separately with the parameters :at:`twist` and :at:`bend`.
- The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`. - The stress-free configuration can be set to be the initial one or flat with the flag :at:`flat`.
- New `cable.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/cable.xml>`_ example - New `cable.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/cable.xml>`__ example
showing the formation of plectoneme. showing the formation of plectoneme.
- New `coil.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/coil.xml>`_ example - New `coil.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/coil.xml>`__ example
showing a curved equilibrium configuration. showing a curved equilibrium configuration.
- New `belt.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/belt.xml>`_ example - New `belt.xml <https://github.com/google-deepmind/mujoco/blob/main/model/plugin/elasticity/belt.xml>`__ example
showing interaction between twist and anisotropy. showing interaction between twist and anisotropy.
- Added test using cantilever exact solution. - Added test using cantilever exact solution.
@@ -678,14 +678,14 @@ General
Python bindings Python bindings
^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^
11. Added ``id`` and ``name`` properties to 11. Added ``id`` and ``name`` properties to
`named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`_ objects. `named accessor <https://mujoco.readthedocs.io/en/latest/python.html#named-access>`__ objects.
These provide more Pythonic API access to ``mj_name2id`` and ``mj_id2name`` respectively. These provide more Pythonic API access to ``mj_name2id`` and ``mj_id2name`` respectively.
#. The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be straightforwardly used as #. The length of ``MjData.contact`` is now ``ncon`` rather than ``nconmax``, allowing it to be straightforwardly used as
an iterator without needing to check ``ncon``. an iterator without needing to check ``ncon``.
#. Fix a memory leak when a Python callable is installed as callback #. Fix a memory leak when a Python callable is installed as callback
(`#527 <https://github.com/google-deepmind/mujoco/issues/527>`_). (`#527 <https://github.com/google-deepmind/mujoco/issues/527>`__).
Version 2.2.2 (September 7, 2022) Version 2.2.2 (September 7, 2022)
@@ -699,7 +699,7 @@ General
:height: 150px :height: 150px
1. Added :ref:`adhesion actuators<actuator-adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages. 1. Added :ref:`adhesion actuators<actuator-adhesion>` mimicking vacuum grippers and adhesive biomechanical appendages.
#. Added related `example model <https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`_ and video: #. Added related `example model <https://github.com/google-deepmind/mujoco/tree/main/model/adhesion>`__ and video:
#. Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree. #. Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
#. Added :at:`torquescale` and :at:`anchor` attributes to :el:`weld` constraints. :at:`torquescale` sets the #. Added :at:`torquescale` and :at:`anchor` attributes to :el:`weld` constraints. :at:`torquescale` sets the
torque-to-force ratio exerted by the constraint, :at:`anchor` sets the point at which the weld wrench is torque-to-force ratio exerted by the constraint, :at:`anchor` sets the point at which the weld wrench is
@@ -707,7 +707,7 @@ General
#. Increased ``mjNEQDATA``, the row length of equality constraint parameters in ``mjModel.eq_data``, from 7 to 11. #. Increased ``mjNEQDATA``, the row length of equality constraint parameters in ``mjModel.eq_data``, from 7 to 11.
#. Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated by the 'N' key in #. Added visualisation of anchor points for both :el:`connect` and :el:`weld` constraints (activated by the 'N' key in
``simulate``). ``simulate``).
#. Added `weld.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`_ showing #. Added `weld.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/weld.xml>`__ showing
different uses of new weld attributes. different uses of new weld attributes.
.. youtube:: s-0JHanqV1A .. youtube:: s-0JHanqV1A
@@ -716,7 +716,7 @@ General
#. Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site` #. Cartesian 6D end-effector control is now possible by adding a reference site to actuators with :at:`site`
transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<actuator-general>` documentation transmission. See description of new :at:`refsite` attribute in the :ref:`actuator<actuator-general>` documentation
and `refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`_ and `refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`__
example model. example model.
#. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator #. Added :at:`autolimits` compiler option. If ``true``, joint and tendon :at:`limited` attributes and actuator
@@ -743,7 +743,7 @@ General
:height: 150px :height: 150px
#. Added catenary visualisation for hanging tendons. The model seen in the video can be found #. Added catenary visualisation for hanging tendons. The model seen in the video can be found
`here <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`_. `here <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml>`__.
#. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining the initial #. Added ``azimuth`` and ``elevation`` attributes to :ref:`visual/global<visual-global>`, defining the initial
orientation of the free camera at model load time. orientation of the free camera at model load time.
#. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes. #. Added ``mjv_defaultFreeCamera`` which sets the default free camera, respecting the above attributes.
@@ -791,7 +791,7 @@ General
and `Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__. This allows ASAN to and `Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__. This allows ASAN to
detect reads and writes to regions in ``mjModel.buffer`` and ``mjData.buffer`` that do not lie within an array, and detect reads and writes to regions in ``mjModel.buffer`` and ``mjData.buffer`` that do not lie within an array, and
for MSAN to detect reads from uninitialised fields in ``mjData`` following ``mj_resetData``. for MSAN to detect reads from uninitialised fields in ``mjData`` following ``mj_resetData``.
#. Added a `slider-crank example model <https://github.com/google-deepmind/mujoco/tree/main/model/slider_crank>`_. #. Added a `slider-crank example model <https://github.com/google-deepmind/mujoco/tree/main/model/slider_crank>`__.
Bug fixes Bug fixes
^^^^^^^^^ ^^^^^^^^^
@@ -837,8 +837,8 @@ Open Sourcing
c. ``dist/``: Files related to packaging and binary distribution. c. ``dist/``: Files related to packaging and binary distribution.
#. Added `contributor's guide <https://github.com/google-deepmind/mujoco/blob/main/CONTRIBUTING.md>`_ and #. Added `contributor's guide <https://github.com/google-deepmind/mujoco/blob/main/CONTRIBUTING.md>`__ and
`style guide <https://github.com/google-deepmind/mujoco/blob/main/STYLEGUIDE.md>`_. `style guide <https://github.com/google-deepmind/mujoco/blob/main/STYLEGUIDE.md>`__.
General General
^^^^^^^ ^^^^^^^
@@ -969,7 +969,7 @@ Bug fixes
^^^^^^^^^ ^^^^^^^^^
5. Fixed rendering bug for planes, introduced in 2.1.2. This broke maze environments in 5. Fixed rendering bug for planes, introduced in 2.1.2. This broke maze environments in
`dm_control <https://github.com/google-deepmind/dm_control>`_. `dm_control <https://github.com/google-deepmind/dm_control>`__.
Version 2.1.2 (Mar. 15, 2022) Version 2.1.2 (Mar. 15, 2022)
@@ -990,7 +990,7 @@ API changes
^^^^^^^^^^^ ^^^^^^^^^^^
4. Moved definition of ``mjtNum`` floating point type into a new header 4. Moved definition of ``mjtNum`` floating point type into a new header
`mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`_. `mjtnum.h <https://github.com/google-deepmind/mujoco/blob/3577e2cf8bf841475b489aefff52276a39f24d51/include/mjtnum.h>`__.
#. Renamed header `mujoco_export.h` to :ref:`mjexport.h<inHeader>`. #. Renamed header `mujoco_export.h` to :ref:`mjexport.h<inHeader>`.
#. Added ``mj_printFormattedData``, which accepts a format string for floating point numbers, for example to increase #. Added ``mj_printFormattedData``, which accepts a format string for floating point numbers, for example to increase
precision. precision.
@@ -998,12 +998,12 @@ API changes
General General
^^^^^^^ ^^^^^^^
7. MuJoCo can load `OBJ <https://en.wikipedia.org/wiki/Wavefront_.obj_file>`_ mesh files. 7. MuJoCo can load `OBJ <https://en.wikipedia.org/wiki/Wavefront_.obj_file>`__ mesh files.
a. Meshes containing polygons with more than 4 vertices are not supported. a. Meshes containing polygons with more than 4 vertices are not supported.
#. In OBJ files containing multiple object groups, any groups after the first one will be ignored. #. In OBJ files containing multiple object groups, any groups after the first one will be ignored.
#. Added (post-release, not included in the 2.1.2 archive) textured #. Added (post-release, not included in the 2.1.2 archive) textured
`mug <https://github.com/google-deepmind/mujoco/blob/main/model/mug/mug.xml>`_ example model: `mug <https://github.com/google-deepmind/mujoco/blob/main/model/mug/mug.xml>`__ example model:
.. image:: images/changelog/mug.png .. image:: images/changelog/mug.png
:width: 300px :width: 300px
@@ -1093,7 +1093,7 @@ Bug Fixes
#. Computed capsule inertias are now exact. Until this change, capsule masses and inertias computed by the #. 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 :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 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. hemispherical end-caps.
.. attention:: .. attention::
@@ -1136,7 +1136,7 @@ Binary build
a. MuJoCo library is now packaged as a `Framework Bundle a. MuJoCo library is now packaged as a `Framework Bundle
<https://developer.apple.com/library/archive/documentation/MacOSX/Conceptual/BPFrameworks/Concepts/FrameworkAnato <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 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. 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, #. 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. #. Fixed: The array of sensors in ``mjCModel`` was not cleared.
#. Cleaned up cross-platform code (internal changes, not visible via the API). #. 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 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). ``nkey`` (the number of keyframes).
#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and #. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
conaffinity==0``). conaffinity==0``).
@@ -1221,7 +1221,7 @@ License manager
Earlier versions 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 .. |humanoid| image:: images/models/humanoid.gif
:width: 270px :width: 270px