Improvements to mujoco.rollout:
- `mjSTATE_FULLPHYSICS` as state spec, enabling divergence detection by inspecting time. - User-defined control spec. - Stop squeezing: outputs always have dim=3. PiperOrigin-RevId: 600445256 Change-Id: I4466e88929cb7081e1c94968a5cfe10485bb7475
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Yuval Tassa
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Copybara-Service
Copybara-Service
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+18
-11
@@ -27,12 +27,21 @@ MJX
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6. Updated MJX colab tutorial with more stable quadruped environment.
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7. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
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Python bindings
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^^^^^^^^^^^^^^^
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8. Improved the implmentation of the :ref:`rollout<PySample>` module. Note the changes below are breaking, dependent
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code will require modification.
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- Uses :ref:`mjSTATE_FULLPHYSICS<geFullPhysics>` as state spec, enabling divergence detection by inspecting time.
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- Allows user-defined control spec for any combination of :ref:`user input<geInput>` fields as controls.
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- Outputs are no longer squeezed and always have dim=3.
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Bug fixes
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^^^^^^^^^
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8. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
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9. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
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:github:issue:`1270`.
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9. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
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bound of the length range. Fixes :github:issue:`1342`.
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10. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
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bound of the length range. Fixes :github:issue:`1342`.
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Version 3.1.1 (December 18, 2023)
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@@ -40,7 +49,8 @@ Version 3.1.1 (December 18, 2023)
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Bug fixes
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^^^^^^^^^
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1. Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts if one box was deeply embedded in the other.
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1. Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts if one box was deeply embedded in the
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other.
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2. Fixed a bug in :ref:`simulate<saSimulate>` where the "LOADING..." message was not showing correctly.
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3. Fixed a crash in the Python :ref:`passive viewer<PyViewerPassive>`, when used with models containing Flex objects.
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4. Fixed a bug in MJX where ``site_xmat`` was ignored in ``get_data`` and ``put_data``
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@@ -53,8 +63,8 @@ Version 3.1.0 (December 12, 2023)
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General
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^^^^^^^
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1. Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
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for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
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robust for very small or large geom sizes.
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for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is
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more robust for very small or large geom sizes.
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2. Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
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on its direct children, without requiring a :ref:`body<body>`.
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3. Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
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@@ -64,17 +74,14 @@ General
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Plugins
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^^^^^^^
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4. Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than
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``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
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variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
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5. Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a
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configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.
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MJX
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^^^
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6. Added ``site_xpos`` and ``site_xmat`` to MJX.
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7. Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``, which will be
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deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as
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@@ -86,8 +93,8 @@ Bug fixes
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Before this fix such actuators could lead to non-conservation of momentum.
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9. Fix bug that prevented using flex with :ref:`simulate<saSimulate>`.
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10. Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
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11. Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum
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supported version is still 11.0, but we release these wheels to fix compatibility for those users. See
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11. Release Python wheels targeting macOS 10.16 to support x86_64 systems where ``SYSTEM_VERSION_COMPAT`` is set.
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The minimum supported version is still 11.0, but we release these wheels to fix compatibility for those users. See
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:github:issue:`1213`.
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Version 3.0.1 (November 15, 2023)
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+17
-13
@@ -465,28 +465,32 @@ Open-loop rollouts
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==================
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We include a code sample showing how to add additional C/C++ functionality, exposed as a Python module via pybind11. The
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sample, implemented in ``rollout.cc`` and wrapped in ``rollout.py``, implements a common use case where tight loops
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implemented outside of Python are beneficial: rolling out a trajectory (i.e., calling ``mj_step()`` in a loop), given an
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intial state and sequence of controls, and returning subsequent states and sensor values. The canonical usage form is
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sample, implemented in `rollout.cc <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/rollout.cc>`__
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and wrapped in `rollout.py <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/rollout.py>`__,
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implements a common use case where tight loops implemented outside of Python are beneficial: rolling out a trajectory
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(i.e., calling ``mj_step()`` in a loop), given an intial state and sequence of controls, and returning subsequent states
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and sensor values. The basic usage form is
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.. code-block:: python
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state, sensordata = rollout.rollout(model, data, initial_state, ctrl)
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state, sensordata = rollout.rollout(model, data, initial_state, control)
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``initial_state`` is a ``nstate x nqva`` array, with ``nstate`` initial states of length ``nqva``, where ``nqva =
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model.nq + model.nv + model.na`` is the size of the full MuJoCo mechanical state: positions (``data.qpos``), velocities
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(``data.qvel``) and actuator activations (``data.act``). ``ctrl`` is a ``nstate x nstep x nu`` array of control
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sequences.
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``initial_state`` is a ``nroll x nstate`` array, with ``nroll`` initial states of size ``nstate``, where
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``nstate = mj_stateSize(model, mjtState.mjSTATE_FULLPHYSICS)`` is the size of the
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:ref:`full physics state<geFullPhysics>`. ``control`` is a ``nroll x nstep x ncontrol`` array of controls. Controls are
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by default the ``mjModel.nu`` standard actuators, but any combination of :ref:`user input<geInput>` arrays can be
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specified by passing an optional ``control_spec`` bitflag.
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If a rollout diverges, the current state and sensor values are used to fill the remainder of the trajectory.
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Therefore, non-increasing time values can be used to detect diverged rollouts.
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The ``rollout`` function is designed to be completely stateless, so all inputs of the stepping pipeline are set and any
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values already present in the given ``MjData`` instance will have no effect on the output. In order to facilitate this,
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all inputs including ``time`` and ``qacc_warmstart`` are set to default values, as are auxillary controls
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(``qfrc_applied``, ``xfrc_applied`` and ``mocap_{pos,quat}``). These can also be optionally set by the user.
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values already present in the given ``MjData`` instance will have no effect on the output.
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Since the Global Interpreter Lock can be released, this function can be efficiently threaded using Python threads. See
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the ``test_threading`` function in
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`rollout_test.py <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/rollout_test.py>`_ for an example of
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threaded operation.
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`rollout_test.py <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/rollout_test.py>`__ for an example
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of threaded operation (and more generally for usage examples).
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.. _PyMjpy_migration:
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