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Remove cloth and rope composites and deprecate loop.

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PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
This commit is contained in:
Alessio Quaglino
2023-09-25 03:37:42 -07:00
committed by Copybara-Service
parent cbb07a4c32
commit d3d46e16a4
14 changed files with 5709 additions and 448 deletions
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doc/changelog.rst
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@@ -84,35 +84,39 @@ General
:ref:`conaffinity<body-geom-conaffinity>` attributes in the model and then setting them globally to ``0`` using
|br| ``<default> <geom contype="0" conaffinity="0"/> </default>``.
11. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
11. Removed the :at:`rope` and :at:`cloth` composite objects.
**Migration:** Users should use the :at:`cable` and :at:`shell` elasticity plugins.
12. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
the exact formula rather than with Euler integration.
12. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
13. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
13. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
14. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
14. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
15. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
15. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
16. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
16. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
17. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
linesearch stopping criteria in CG and Newton solvers. These can be useful for performance tuning.
17. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
18. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
mesh assets. Fixes `#409 <https://github.com/google-deepmind/mujoco/issues/409>`__ .
18. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
19. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
sensor. If camera resolution is set to positive values, the camera projection sensor will report the location of a
target site, projected onto the camera image, in pixel coordinates.
Python bindings
^^^^^^^^^^^^^^^
19. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
20. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Bug fixes
^^^^^^^^^
20. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
21. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
midphase collision trees.