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Allow height-field elevation data to be specified in XML.

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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
This commit is contained in:
Yuval Tassa
2024-01-29 06:58:30 -08:00
committed by Copybara-Service
parent e6847f843d
commit e143b3dbc0
16 changed files with 258 additions and 35 deletions
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doc/changelog.rst
+12 -9
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@@ -19,19 +19,22 @@ General
- Added color of :ref:`bounding volumes<visual-rgba-bv>` and :ref:`active bounding volumes<visual-rgba-bvactive>`
to :ref:`visual/rgba<visual-rgba>`.
4. Height-field elevation data can now be specified directly in XML with the :ref:`elevation<asset-hfield-elevation>`
attribute (and not only with PNG files).
See `example model <https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/hfield_xml.xml>`__.
MJX
^^^
4. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
5. Added :at:`site` transmission.
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.
8. Added ``mjx.is_sparse`` which mirrors :ref:`mj_isSparse` and ``mjx.full_m`` which mirrors :ref:`mj_fullM`.
9. Added support for specifying sparse or dense mass matrices via :ref:`option-jacobian`.
5. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
6. Added :at:`site` transmission.
7. Updated MJX colab tutorial with more stable quadruped environment.
8. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
9. Added ``mjx.is_sparse`` which mirrors :ref:`mj_isSparse` and ``mjx.full_m`` which mirrors :ref:`mj_fullM`.
10. Added support for specifying sparse or dense mass matrices via :ref:`option-jacobian`.
Python bindings
^^^^^^^^^^^^^^^
10. Improved the implmentation of the :ref:`rollout<PySample>` module. Note the changes below are breaking, dependent
11. 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.
@@ -40,9 +43,9 @@ Python bindings
Bug fixes
^^^^^^^^^
11. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
12. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
:github:issue:`1270`.
12. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
13. 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`.