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- Add floating changes to changelog.

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- Add sections about the state and derivatives to the Computation chapter.

PiperOrigin-RevId: 459032736
Change-Id: I0b69401688f24c84d5747f1b49980e38e19a54a3
This commit is contained in:
Yuval Tassa
2022-07-05 02:17:32 -07:00
committed by Copybara-Service
parent 6d01627c0b
commit d3a86bb748
7 changed files with 240 additions and 56 deletions
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Changelog
=========
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
- Added ``mjd_transitionFD`` to compute efficient finite difference approximations of the state-transition and
control-transition matrices, :ref:`see here<derivatives>` for more details.
- Added ``ctrl`` attribute to :ref:`keyframes<keyframe>`.
- Added visualisation groups to skins.
- Added actuator visualisation for ``free`` and ``ball`` joints and for actuators with ``site`` transmission.
- Added visualisation for actuator activations.
- Added ``<intvelocity>`` actuator shortcut for "integrated velocity" actuators, documented :ref:`here <intvelocity>`.
- Added ``<damper>`` actuator shortcut for active-damping actuators, documented :ref:`here <damper>`.
- ``mju_rotVecMat`` and ``mju_rotVecMatT`` now support in-place multiplication.
- ``mjData.ctrl`` values are no longer clamped in-place, remain untouched by the engine.
- Arrays in mjData's buffer now align to 64-byte boundaries rather than 8-byte.
- Add memory poisoning when building with Address Sanitizer (ASAN) and Memory Sanitizer (MSAN). This allows ASAN to
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``.
Bug fixes
^^^^^^^^^
- :ref:`Activation clamping <CActRange>` was not being applied in the :ref:`implicit integrator<geIntegration>`.
- Stricter parsing of orientation specifiers. Before this change, a specification that included both ``quat`` and an
:ref:`alternative specifier<COrientation>` e.g., ``<geom ... quat=".1 .2 .3 .4" euler="10 20 30">``, would lead to the
``quat`` being ignored and only ``euler`` being used. After this change a parse error will be thrown.
- Stricter parsing of XML attributes. Before this change an erroneous XML snippet like ``<geom size="1/2 3 4">`` would
have been parsed as ``size="1 0 0"`` and no error would have been thrown. Now throws an error.
- Trying to load a ``NaN`` via XML like ``<geom size="1 NaN 4">``, while allowed for debugging purposes, will now print
a warning.
- Fixed null pointer dereference in ``mj_loadModel``.
- Fixed memory leaks when loading an invalid model from MJB.
- Integer overflows are now avoided when computing ``mjModel`` buffer sizes.
- Added missing warning string for ``mjWARN_BADCTRL``.
Packaging
^^^^^^^^^
- Changed MacOS packaging so that the copy of ``mujoco.framework`` embedded in ``MuJoCo.app`` can be used to build
applications externally.
Version 2.2.0 (May 23, 2022)
-----------------------------
----------------------------
Open Sourcing
^^^^^^^^^^^^^