Update dependencies and the changelog ahead of the 3.3.0 release.
PiperOrigin-RevId: 731406295 Change-Id: I05027722a9681f71549b7e022dfe13fc381b8564
This commit is contained in:
Kevin Sayed
committed by
Copybara-Service
Copybara-Service
parent
9996500de9
commit
e1f18a747e
@@ -39,22 +39,22 @@ set(MUJOCO_DEP_VERSION_qhull
|
||||
CACHE STRING "Version of `qhull` to be fetched."
|
||||
)
|
||||
set(MUJOCO_DEP_VERSION_Eigen3
|
||||
7f2377859377da6f22152015c28b12c04752af77
|
||||
66f7f51b7e069d0a03a21157fa60b24aece69aeb
|
||||
CACHE STRING "Version of `Eigen3` to be fetched."
|
||||
)
|
||||
|
||||
set(MUJOCO_DEP_VERSION_abseil
|
||||
4447c7562e3bc702ade25105912dce503f0c4010 # LTS 20240722.0
|
||||
9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f # LTS 20250127.0
|
||||
CACHE STRING "Version of `abseil` to be fetched."
|
||||
)
|
||||
|
||||
set(MUJOCO_DEP_VERSION_gtest
|
||||
b514bdc898e2951020cbdca1304b75f5950d1f59 # v1.15.2
|
||||
6910c9d9165801d8827d628cb72eb7ea9dd538c5 # v1.16.0
|
||||
CACHE STRING "Version of `gtest` to be fetched."
|
||||
)
|
||||
|
||||
set(MUJOCO_DEP_VERSION_benchmark
|
||||
24e0bd827a8bec8121b128b0634cb34402fb3259 # Incorporate fix for #1859
|
||||
049f6e79cc3e8636cec21bbd94ed185b4a5f2653
|
||||
CACHE STRING "Version of `benchmark` to be fetched."
|
||||
)
|
||||
|
||||
|
||||
+47
-47
@@ -2,8 +2,8 @@
|
||||
Changelog
|
||||
=========
|
||||
|
||||
Upcoming version (not yet released)
|
||||
-----------------------------------
|
||||
Version 3.3.0 (Feb 26, 2025)
|
||||
----------------------------
|
||||
|
||||
|
||||
Feature promotion
|
||||
@@ -13,26 +13,26 @@ Feature promotion
|
||||
:align: right
|
||||
:width: 240px
|
||||
|
||||
- Introduced a new kind of **fast deformable body**, activated by setting :ref:`flexcomp/dof<body-flexcomp-dof>` to
|
||||
"trilinear". This type of :ref:`deformable<CDeformable>` flex object has the same collision geometry as a regular
|
||||
flex, but has far fewer degrees of freedom. Instead of 3 dofs per vertex, only the corners of the bounding box are
|
||||
free to move, with the positions of the interior vertices computed with trilinear interpolation of the 8 corners, for
|
||||
a total of 24 dofs for the entire flex object (or less, if some of the corners are pinned). This limits the types of
|
||||
deformation achievable by the flex, but allows for much faster simulation. For example, see the video on the right
|
||||
comparing `full <https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper.xml>`__ and `trilinear
|
||||
<https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper_trilinear.xml>`__ flexes for modeling
|
||||
deformable gripper pads.
|
||||
1. Introduced a new kind of **fast deformable body**, activated by setting :ref:`flexcomp/dof<body-flexcomp-dof>` to
|
||||
"trilinear". This type of :ref:`deformable<CDeformable>` flex object has the same collision geometry as a regular
|
||||
flex, but has far fewer degrees of freedom. Instead of 3 dofs per vertex, only the corners of the bounding box are
|
||||
free to move, with the positions of the interior vertices computed with trilinear interpolation of the 8 corners, for
|
||||
a total of 24 dofs for the entire flex object (or less, if some of the corners are pinned). This limits the types of
|
||||
deformation achievable by the flex, but allows for much faster simulation. For example, see the video on the right
|
||||
comparing `full <https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper.xml>`__ and `trilinear
|
||||
<https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper_trilinear.xml>`__ flexes for modeling
|
||||
deformable gripper pads.
|
||||
|
||||
|
||||
- .. image:: images/computation/ccd_light.gif
|
||||
:width: 20%
|
||||
:align: right
|
||||
:class: only-light
|
||||
2. .. image:: images/computation/ccd_light.gif
|
||||
:width: 20%
|
||||
:align: right
|
||||
:class: only-light
|
||||
|
||||
.. image:: images/computation/ccd_dark.gif
|
||||
:width: 20%
|
||||
:align: right
|
||||
:class: only-dark
|
||||
.. image:: images/computation/ccd_dark.gif
|
||||
:width: 20%
|
||||
:align: right
|
||||
:class: only-dark
|
||||
|
||||
The native convex collision detection pipeline introduced in 3.2.3 and enabled by the
|
||||
:ref:`nativeccd<option-flag-nativeccd>` flag, is now the default. See the section on
|
||||
@@ -42,47 +42,47 @@ Feature promotion
|
||||
|
||||
General
|
||||
^^^^^^^
|
||||
- Add support for custom plots in the MuJoCo viewer by exposing a ``viewport`` property, a ``set_figures`` method,
|
||||
and a ``clear_figures`` method.
|
||||
- Separate collision and deformation meshes for :ref:`flex<deformable-flex>`. This enables a fixed cost for the soft
|
||||
body computations, while preserving the fidelity of high-resolution collisions.
|
||||
- Added :ref:`potential<sensor-e_potential>` and :ref:`kinetic<sensor-e_kinetic>` energy sensors.
|
||||
- Improved shadow rendering in the native renderer.
|
||||
- Moved ``introspect`` to ``python/introspect``.
|
||||
3. Add support for custom plots in the MuJoCo viewer by exposing a ``viewport`` property, a ``set_figures`` method,
|
||||
and a ``clear_figures`` method.
|
||||
4. Separate collision and deformation meshes for :ref:`flex<deformable-flex>`. This enables a fixed cost for the soft
|
||||
body computations, while preserving the fidelity of high-resolution collisions.
|
||||
5. Added :ref:`potential<sensor-e_potential>` and :ref:`kinetic<sensor-e_kinetic>` energy sensors.
|
||||
6. Improved shadow rendering in the native renderer.
|
||||
7. Moved ``introspect`` to ``python/introspect``.
|
||||
|
||||
.. admonition:: Breaking API changes
|
||||
:class: attention
|
||||
|
||||
- As mentioned above, the native convex collision detection pipeline is now the default, which may break some
|
||||
workflows. In this case, set :ref:`nativeccd<option-flag-nativeccd>` to "disable" to restore the old behavior.
|
||||
- Added :ref:`mjs_setDeepCopy` API function. When the deep copy flag is 0, attaching a model will not copy it to the
|
||||
parent, so the original references to the child can be used to modify the parent after attachment. The default
|
||||
behavior is to perform such a shallow copy. The old behavior of creating a deep copy of the child model while
|
||||
attaching can be restored by setting the deep copy flag to 1.
|
||||
- Changes to inertia inference from meshes:
|
||||
8. As mentioned above, the native convex collision detection pipeline is now the default, which may break some
|
||||
workflows. In this case, set :ref:`nativeccd<option-flag-nativeccd>` to "disable" to restore the old behavior.
|
||||
9. Added :ref:`mjs_setDeepCopy` API function. When the deep copy flag is 0, attaching a model will not copy it to the
|
||||
parent, so the original references to the child can be used to modify the parent after attachment. The default
|
||||
behavior is to perform such a shallow copy. The old behavior of creating a deep copy of the child model while
|
||||
attaching can be restored by setting the deep copy flag to 1.
|
||||
10. Changes to inertia inference from meshes:
|
||||
|
||||
Previously, in order to specify that the mass lies on the surface, :ref:`geom/shellinertia<body-geom-shellinertia>`
|
||||
could be used for any geom type. Now this attribute is ignored if the geom is a mesh; instead, inertia inference
|
||||
for meshes is specified in the asset, using the :ref:`asset/mesh/inertia<asset-mesh-inertia>` attribute.
|
||||
Previously, in order to specify that the mass lies on the surface, :ref:`geom/shellinertia<body-geom-shellinertia>`
|
||||
could be used for any geom type. Now this attribute is ignored if the geom is a mesh; instead, inertia inference
|
||||
for meshes is specified in the asset, using the :ref:`asset/mesh/inertia<asset-mesh-inertia>` attribute.
|
||||
|
||||
Previously, if the volumetric inertia computation failed (for example due to a very flat mesh), the compiler
|
||||
would silently fall back to surface inertia computation. Now, the compiler will throw an informative error.
|
||||
- Removed the composite type ``grid``. Users should instead use :ref:`flexcomp<body-flexcomp>`.
|
||||
- Removed the ``particle`` composite type. It is recommended to use the more generic :ref:`replicate<replicate>`
|
||||
instead, see for example `this model
|
||||
<https://github.com/google-deepmind/mujoco/blob/main/model/replicate/particle.xml>`__.
|
||||
Previously, if the volumetric inertia computation failed (for example due to a very flat mesh), the compiler
|
||||
would silently fall back to surface inertia computation. Now, the compiler will throw an informative error.
|
||||
11. Removed the composite type ``grid``. Users should instead use :ref:`flexcomp<body-flexcomp>`.
|
||||
12. Removed the ``particle`` composite type. It is recommended to use the more generic :ref:`replicate<replicate>`
|
||||
instead, see for example `this model
|
||||
<https://github.com/google-deepmind/mujoco/blob/main/model/replicate/particle.xml>`__.
|
||||
|
||||
MJX
|
||||
^^^
|
||||
- Added support for spatial tendons with internal sphere and cylinder wrapping.
|
||||
- Fix a bug with box-box collisions :github:issue:`2356`.
|
||||
13. Added support for spatial tendons with internal sphere and cylinder wrapping.
|
||||
14. Fix a bug with box-box collisions :github:issue:`2356`.
|
||||
|
||||
Python bindings
|
||||
^^^^^^^^^^^^^^^
|
||||
|
||||
- Added a pedagogical colab notebook for ``mujoco.rollout``, a Python module for multithreaded simulation rollouts.
|
||||
It is available here |rollout_colab|.
|
||||
|br| Contribution by :github:user:`aftersomemath`.
|
||||
15. Added a pedagogical colab notebook for ``mujoco.rollout``, a Python module for multithreaded simulation rollouts.
|
||||
It is available here |rollout_colab|.
|
||||
|br| Contribution by :github:user:`aftersomemath`.
|
||||
|
||||
.. |rollout_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
|
||||
:target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/rollout.ipynb
|
||||
|
||||
@@ -140,7 +140,7 @@ findorfetch(
|
||||
GIT_REPO
|
||||
https://github.com/abseil/abseil-cpp
|
||||
GIT_TAG
|
||||
4447c7562e3bc702ade25105912dce503f0c4010 # LTS 20240722.0
|
||||
9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f # LTS 20250127.0
|
||||
TARGETS
|
||||
${MUJOCO_PYTHON_ABSL_TARGETS}
|
||||
EXCLUDE_FROM_ALL
|
||||
@@ -173,7 +173,7 @@ findorfetch(
|
||||
GIT_REPO
|
||||
https://gitlab.com/libeigen/eigen
|
||||
GIT_TAG
|
||||
7f2377859377da6f22152015c28b12c04752af77
|
||||
66f7f51b7e069d0a03a21157fa60b24aece69aeb
|
||||
TARGETS
|
||||
Eigen3::Eigen
|
||||
EXCLUDE_FROM_ALL
|
||||
|
||||
Reference in New Issue
Block a user