Change the default of <compiler autolimits> from "false" to "true".
PiperOrigin-RevId: 573184793 Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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389e13938e
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d88675a034
@@ -146,13 +146,12 @@ any effect. The settings here are global and apply to the entire model.
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.. _compiler-autolimits:
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:at:`autolimits`: :at-val:`[false, true], "false"`
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:at:`autolimits`: :at-val:`[false, true], "true"`
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This attribute affects the behavior of attributes such as "limited" (on <body-joint> or <tendon>), "forcelimited",
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"ctrllimited", and "actlimited" (on <actuator>). If "true", these attributes are unnecessary and their value
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will be inferred from the presence of their corresponding "range" attribute.
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If "false", no such inference will happen: For a joint to be limited, both limited="true" and range="min max" must
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be specified. In this mode, it is an error to specify a range without a limit.
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|br| The default for this option will be set to "true" in an upcoming release.
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.. _compiler-boundmass:
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+22
-18
@@ -101,25 +101,29 @@ General
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**Migration:** Replace uses of ``mjModel.eq_active`` with ``mjData.eq_active``.
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13. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
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13. Changed the default of :ref:`autolimits<compiler-autolimits>` from "false" to "true". This is a minor breaking
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change. The potential breakage applies to models which have elements with "range" defined and "limited" not set.
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Such models cannot be loaded since version 2.2.2 (July 2022).
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14. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
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the exact formula rather than with Euler integration.
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14. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
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15. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
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actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
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15. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
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16. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
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:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
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:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
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16. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
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17. Added the flag :ref:`eulerdamp<option-flag-eulerdamp>`, which disables implicit integration of joint damping in the
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Euler integrator. See the :ref:`Numerical Integration<geIntegration>` section for more details.
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17. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
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18. Added the flag :ref:`invdiscrete<option-flag-invdiscrete>`, which enables discrete-time inverse dynamics for all
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:ref:`integrators<option-integrator>` other than ``RK4``. See the flag documentation for more details.
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18. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
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19. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
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linesearch stopping criteria in CG and Newton solvers. These can be useful for performance tuning.
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19. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
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20. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store the normalizing transformation applied to
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mesh assets. Fixes `#409 <https://github.com/google-deepmind/mujoco/issues/409>`__ .
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20. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
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21. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
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sensor. If camera resolution is set to positive values, the camera projection sensor will report the location of a
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target site, projected onto the camera image, in pixel coordinates.
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21. Added :ref:`camera<body-camera>` calibration attributes:
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22. Added :ref:`camera<body-camera>` calibration attributes:
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- The new attributes are :ref:`resolution<body-camera-resolution>`, :ref:`focal<body-camera-focal>`,
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:ref:`focalpixel<body-camera-focalpixel>`, :ref:`principal<body-camera-principal>`,
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@@ -128,10 +132,10 @@ General
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attributes are specified. See the following
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`example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/vis_visualize/frustum.xml>`__.
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- Note that these attributes only take effect for offline rendering and do not affect interactive visualisation.
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22. Added multi-threaded constraint solving via :ref:`mj_island` and :ref:`mjThreadPool` to :ref:`testspeed<saTestspeed>`
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23. Added multi-threaded constraint solving via :ref:`mj_island` and :ref:`mjThreadPool` to :ref:`testspeed<saTestspeed>`
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exposed via npoolthread flag. The `22 humanoids <https://github.com/deepmind/mujoco/blob/main/model/humanoid/22_humanoids.xml>`__
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model shows a 3x speedup compared to the single threaded simulation.
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23. Implemented reversed Z rendering for better depth precision. An enum :ref:`mjtDepthMap` was added with values
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24. Implemented reversed Z rendering for better depth precision. An enum :ref:`mjtDepthMap` was added with values
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:ref:`mjDEPTH_ZERONEAR` and :ref:`mjDEPTH_ZEROFAR`, which can be used to set the new ``readDepthMap`` attribute in
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:ref:`mjrContext`` to control how the depth returned by :ref:`mjr_readPixels` is mapped from ``znear`` to ``zfar``.
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`Contribution <https://github.com/google-deepmind/mujoco/pull/978>`__ by `Levi Burner <https://github.com/aftersomemath>`__.
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@@ -139,11 +143,11 @@ General
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Python bindings
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^^^^^^^^^^^^^^^
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24. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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25. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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camera name used the default camera.
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25. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
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26. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
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visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
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26. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
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27. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
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and ``viewer.launch_passive``, which allow users to launch a viewer with UI panels hidden.
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Simulate
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@@ -153,21 +157,21 @@ Simulate
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:align: right
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:width: 240px
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27. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
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28. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
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:ref:`Python viewer<PyViewerManaged>`. State history can be viewed by scrubbing the History slider and (more
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precisely) with the left and right arrow keys. See screen capture:
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28. The ``LOADING...`` label is now shown correctly.
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29. The ``LOADING...`` label is now shown correctly.
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`Contribution <https://github.com/google-deepmind/mujoco/pull/1070>`__ by
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`Levi Burner <https://github.com/aftersomemath>`__.
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Bug fixes
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^^^^^^^^^
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29. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
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30. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
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midphase collision trees.
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30. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
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31. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
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Version 2.3.7 (July 20, 2023)
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@@ -82,8 +82,7 @@ mjCModel::mjCModel() {
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modelfiledir.clear();
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//------------------------ compiler settings
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// TODO(b/245077553): Toggle to true by default.
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autolimits = false;
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autolimits = true;
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boundmass = 0;
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boundinertia = 0;
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settotalmass = -1;
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@@ -861,9 +861,9 @@ void mjXWriter::Compiler(XMLElement* root) {
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if (model->boundinertia) {
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WriteAttr(section, "boundinertia", 1, &model->boundinertia);
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}
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// always enable autolimits. limited attributes will be written appropriately
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// TODO(b/245077553): Remove this when the default is true.
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WriteAttrTxt(section, "autolimits", "true");
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if (!model->autolimits) {
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WriteAttrTxt(section, "autolimits", "false");
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}
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}
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@@ -255,6 +255,19 @@ TEST_F(XMLWriterTest, DropsInertialIfFromGeom) {
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, KeepsAutoLimitsFalse) {
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static constexpr char xml[] = R"(
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<mujoco>
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<compiler autolimits="false"/>
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</mujoco>
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)";
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"false\""));
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mj_deleteModel(model);
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}
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TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
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static constexpr char xml[] = R"(
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<mujoco>
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@@ -272,6 +285,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredJointLimited) {
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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mj_deleteModel(model);
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}
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@@ -290,7 +304,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitJointLimitedIfAutoLimits) {
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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@@ -338,7 +352,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredTendonLimited) {
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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@@ -367,7 +381,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitTendonLimitedIfAutoLimits) {
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("range=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("limited=\"true\"")));
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mj_deleteModel(model);
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@@ -418,7 +432,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredActlimited) {
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
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mj_deleteModel(model);
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@@ -442,7 +456,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitActlimitedIfAutoLimits) {
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("actrange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("actlimited=\"true\"")));
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mj_deleteModel(model);
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@@ -555,7 +569,7 @@ TEST_F(XMLWriterTest, DoesNotKeepInferredForcelimited) {
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
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mj_deleteModel(model);
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@@ -578,7 +592,7 @@ TEST_F(XMLWriterTest, DoesNotKeepExplicitForcelimited) {
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mjModel* model = LoadModelFromString(xml);
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ASSERT_THAT(model, NotNull());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, HasSubstr("autolimits=\"true\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("autolimits=\"true\"")));
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EXPECT_THAT(saved_xml, HasSubstr("forcerange=\"-1 1\""));
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EXPECT_THAT(saved_xml, Not(HasSubstr("forcelimited=\"true\"")));
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mj_deleteModel(model);
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