Delete testxml code sample.
PiperOrigin-RevId: 573202693 Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
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Yuval Tassa
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@@ -139,15 +139,17 @@ General
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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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25. Deleted the code sample ``testxml``. The functionality provided by this utility is implemented in the
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`WriteReadCompare <https://github.com/google-deepmind/mujoco/blob/main/test/xml/xml_native_writer_test.cc>__ test.
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Python bindings
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^^^^^^^^^^^^^^^
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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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26. 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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26. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
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27. 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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27. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
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28. 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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@@ -157,21 +159,21 @@ Simulate
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:align: right
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:width: 240px
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28. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
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29. 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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29. The ``LOADING...`` label is now shown correctly.
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30. 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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30. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
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31. 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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31. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
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32. 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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@@ -165,7 +165,7 @@ links below, to make this documentation self-contained.
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`mjxmacro.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjxmacro.h>`__
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This file is optional and is not included by mujoco.h. It defines :ref:`X Macros <tyXMacro>` that can
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automate the mapping of mjModel and mjData into scripting languages, as well as other operations that require
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accessing all fields of mjModel and mjData. See code sample :ref:`testxml.cc <saTestXML>`.
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accessing all fields of mjModel and mjData.
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`mjexport.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjexport.h>`__
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Macros used for exporting public symbols from the MuJoCo library. This header should not be used directly by client
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code.
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@@ -26,28 +26,6 @@ profiling. The results are then printed in the console. To simulate controlled d
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one can either install the control callback :ref:`mjcb_control`, or set control signals
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explicitly as explained in the :ref:`simulation loop <siSimulation>` section below.
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.. _saTestXML:
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`testxml <https://github.com/google-deepmind/mujoco/blob/main/sample/testxml.cc>`_
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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This code sample tests the parser, compiler and XML writer. The testing code does the following:
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- Parse and compile a specified XML model in MJCF or URDF. This yields an mjModel structure ready for simulation;
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- Save the model as a temporary MJCF file, using a "canonical" subset of MJCF where a number of conversions have
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already been performed by the compiler;
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- Parse and compile the temporary MJCF file. This yields a second mjModel structure ready for simulation;
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- Compare the two mjModel structures field by field, and print the field with the largest numerical difference. Since
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MJCF is a text format, the real-valued numbers saved in it have lower precision than the double precision used
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internally, thus we cannot expect the two models to be identical on the bit level. But we can expect the largest
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difference to be on the order of 1e-6. A substantially larger difference indicates a bug in the parser, compiler or
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XML writer - and should be reported.
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The code uses the :ref:`X Macros <tyXMacro>` described in the Reference chapter. This is a convenient way
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to apply the same operation to all fields in mjModel, without explicitly typing their names. The code sample
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:ref:`simulate.cc <saSimulate>` also uses X Macros to implement a watch, where the user can type the name of any mjData
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field which is resolved at runtime.
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.. _saCompile:
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`compile <https://github.com/google-deepmind/mujoco/blob/main/sample/compile.cc>`_
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@@ -676,10 +676,7 @@ correct way to do it is the hard way:
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mju_copy(myqposqvel, d->qpos, m->nq + m->nv);
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The :ref:`X Macros <tyXMacro>` defined in the optional header file ``mjxmacro.h`` can be used to automate allocation of
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data structure that match mjModel and mjData, for example when writing a MuJoCo wrapper for a scripting language. In
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the code sample :ref:`testxml.cc <saTestXML>` we use these unusual macros to compare all data arrays from two instances
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of mjModel and find the one with the largest difference. Apparently X Macros were invented in the 1960's for assembly
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language, and remain a great idea.
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data structure that match mjModel and mjData, for example when writing a MuJoCo wrapper for a scripting language.
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.. _siStack:
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@@ -841,13 +838,6 @@ forces are disabled) the underlying physical system is energy-conserving. In tha
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the total energy indicate inaccuracies in numerical integration. For such systems the Runge-Kutta integrator has much
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better performance than the default semi-implicit Euler integrator.
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Finally, the user can implement additional diagnostics as needed. Two examples were provided in the code samples
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``testxml.cc`` and ``derivative.cc``, where we computed model mismatches after save and load, and assessed the accuracy
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of the numerical derivatives respectively. Key to such diagnostics is to implement two different algorithms or
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simulation paths that compute the same quantity, and compare the results numerically. This type of sanity check is
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essential when dealing with complex dynamical systems where we do not really know what the numerical output should be;
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if we knew that, we would not be using a simulator in the first place.
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.. _siJacobian:
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Jacobians
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