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Improvements to mujoco.rollout:

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- `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
This commit is contained in:
Yuval Tassa
2024-01-22 07:01:01 -08:00
committed by Copybara-Service
parent 5cbaa23388
commit aceb52bd09
5 changed files with 564 additions and 427 deletions
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doc/changelog.rst
+18 -11
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@@ -27,12 +27,21 @@ MJX
6. Updated MJX colab tutorial with more stable quadruped environment.
7. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
Python bindings
^^^^^^^^^^^^^^^
8. Improved the implmentation of the :ref:`rollout<PySample>` module. Note the changes below are breaking, dependent
code will require modification.
- Uses :ref:`mjSTATE_FULLPHYSICS<geFullPhysics>` as state spec, enabling divergence detection by inspecting time.
- Allows user-defined control spec for any combination of :ref:`user input<geInput>` fields as controls.
- Outputs are no longer squeezed and always have dim=3.
Bug fixes
^^^^^^^^^
8. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
9. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
:github:issue:`1270`.
9. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
bound of the length range. Fixes :github:issue:`1342`.
10. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
bound of the length range. Fixes :github:issue:`1342`.
Version 3.1.1 (December 18, 2023)
@@ -40,7 +49,8 @@ Version 3.1.1 (December 18, 2023)
Bug fixes
^^^^^^^^^
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.
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.
2. Fixed a bug in :ref:`simulate<saSimulate>` where the "LOADING..." message was not showing correctly.
3. Fixed a crash in the Python :ref:`passive viewer<PyViewerPassive>`, when used with models containing Flex objects.
4. Fixed a bug in MJX where ``site_xmat`` was ignored in ``get_data`` and ``put_data``
@@ -53,8 +63,8 @@ Version 3.1.0 (December 12, 2023)
General
^^^^^^^
1. Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function
for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more
robust for very small or large geom sizes.
for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is
more robust for very small or large geom sizes.
2. Added :ref:`frame<frame>` to MJCF, a :ref:`meta-element<meta-element>` which defines a pure coordinate transformation
on its direct children, without requiring a :ref:`body<body>`.
3. Added the :at:`kv` attribute to the :ref:`position<actuator-position>` and :ref:`intvelocity<actuator-intvelocity>`
@@ -64,17 +74,14 @@ General
Plugins
^^^^^^^
4. Allow actuator plugins to use activation variables in ``mjData.act`` as their internal state, rather than
``mjData.plugin_state``. Actuator plugins can now specify :ref:`callbacks<mjpPlugin>` that compute activation
variables, and they can be used with built-in :ref:`dyntype<actuator-plugin-dyntype>` actuator dynamics.
5. Added the `pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ actuator plugin, a
configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.
MJX
^^^
6. Added ``site_xpos`` and ``site_xmat`` to MJX.
7. Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``, which will be
deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as
@@ -86,8 +93,8 @@ Bug fixes
Before this fix such actuators could lead to non-conservation of momentum.
9. Fix bug that prevented using flex with :ref:`simulate<saSimulate>`.
10. Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices.
11. Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum
supported version is still 11.0, but we release these wheels to fix compatibility for those users. See
11. Release Python wheels targeting macOS 10.16 to support x86_64 systems where ``SYSTEM_VERSION_COMPAT`` is set.
The minimum supported version is still 11.0, but we release these wheels to fix compatibility for those users. See
:github:issue:`1213`.
Version 3.0.1 (November 15, 2023)