Yuval Tassa
1ef7ec6dde
- Fix typos and broken links. - Add documentation for functions introduced in 2.1.1. - Add copyright header to `FLV.m` and remove `hello.c`. - Update documentation for `mj_ray` and `mj_contactForce`. - Delete out-of-date comments in `XMLreference.rst`. - Add geom:size table to `XMLreference.rst`. PiperOrigin-RevId: 425318966
170 lines
7.8 KiB
ReStructuredText
170 lines
7.8 KiB
ReStructuredText
=========
|
|
Changelog
|
|
=========
|
|
|
|
Version 2.1.1 (Dec. 16, 2021)
|
|
-----------------------------
|
|
|
|
API changes
|
|
^^^^^^^^^^^
|
|
|
|
1. Added ``mj_printFormattedModel``, which accepts a format string for floating point numbers, for example to increase
|
|
precision.
|
|
#. Added ``mj_versionString``, which returns human-readable string that represents the version of the MuJoCo binary.
|
|
#. Converted leading underscores to trailing underscores in private instances of API struct definitions, to conform to
|
|
reserved identifier directive, see
|
|
`C standard: Section 7.1.3 <http://www.open-std.org/jtc1/sc22/wg14/www/docs/n1570.pdf>`__.
|
|
|
|
.. attention::
|
|
This is a minor breaking change. Code which references private instances will break. To fix, replace leading
|
|
underscores with trailing underscores, e.g. ``_mjModel`` |rarr| ``mjModel_``.
|
|
|
|
General
|
|
^^^^^^^
|
|
|
|
4. Safer string handling: replaced ``strcat``, ``strcpy``, and ``sprintf`` with ``strncat``, ``strncpy``, and
|
|
``snprintf`` respectively.
|
|
#. Changed indentation from 4 spaces to 2 spaces, K&R bracing style, added braces to one-line conditionals.
|
|
|
|
Bug Fixes
|
|
^^^^^^^^^
|
|
|
|
6. Fixed reading from uninitialized memory in PGS solver.
|
|
#. Computed capsule inertias are now exact. Until this change, capsule masses and inertias computed by the
|
|
:ref:`compiler <compiler>`'s :at:`inertiafromgeom` mechanism were approximated by a cylinder, formed by the
|
|
capsule's cylindrical middle section, extended on both ends by half the capsule radius. Capsule inertias are now
|
|
computed with the `Parallel Axis theorem <https://en.wikipedia.org/wiki/Parallel_axis_theorem>`_, applied to the two
|
|
hemispherical end-caps.
|
|
|
|
.. attention::
|
|
This is a minor breaking change. Simulation of a model with automatically-computed capsule inertias will be
|
|
numerically different, leading to, for example, breakage of golden-value tests.
|
|
#. Fixed bug related to :ref:`force <sensor-force>` and :ref:`torque <sensor-torque>` sensors. Until this change, forces
|
|
and torques reported by F/T sensors ignored out-of-tree constraint wrenches except those produced by contacts. Force
|
|
and torque sensors now correctly take into account the effects of :ref:`connect <equality-connect>` and
|
|
:ref:`weld <equality-weld>` constraints.
|
|
|
|
.. note::
|
|
Forces generated by :ref:`spatial tendons <spatial>` which are outside the kinematic tree (i.e. between bodies
|
|
which have no ancestral relationship) are still not taken into account by force and torque sensors. This remains a
|
|
future work item.
|
|
|
|
Code samples
|
|
^^^^^^^^^^^^
|
|
|
|
9. ``testspeed``: Added injection of pseudo-random control noise, turned on by default. This is to avoid settling into
|
|
some fixed contact configuration and providing an unrealistic timing measure.
|
|
#. ``simulate``:
|
|
|
|
a. Added slower-than-real-time functionality, which is controlled via the '+' and '-' keys.
|
|
#. Added sliders for injecting Brownian noise into the controls.
|
|
#. Added "Print Camera" button to print an MJCF clause with the pose of the current camera.
|
|
#. The camera pose is not reset when reloading the same model file.
|
|
|
|
Updated dependencies
|
|
^^^^^^^^^^^^^^^^^^^^
|
|
|
|
11. ``TinyXML`` was replaced with ``TinyXML2`` 6.2.0.
|
|
#. ``qhull`` was upgraded to version 8.0.2.
|
|
#. ``libCCD`` was upgraded to version 1.4.
|
|
#. On Linux, ``libstdc++`` was replaced with ``libc++``.
|
|
|
|
Binary build
|
|
^^^^^^^^^^^^
|
|
|
|
15. MacOS packaging. We now ship Universal binaries that natively support both Apple Silicon and Intel CPUs.
|
|
|
|
a. MuJoCo library is now packaged as a
|
|
`Framework Bundle <https://developer.apple.com/library/archive/documentation/MacOSX/Conceptual/BPFrameworks/Concepts/FrameworkAnatomy.html>`_,
|
|
allowing it to be incorporated more easily into Xcode projects (including Swift projects). Developers are
|
|
encouraged to compile and link against MuJoCo using the ``-framework mujoco`` flag, however all header files and
|
|
the ``libmujoco.2.1.1.dylib`` library can still be directly accessed inside the framework.
|
|
#. Sample applications are now packaged into an Application Bundle called ``MuJoCo.app``. When launched via GUI,
|
|
the bundle launches the ``simulate`` executable. Other precompiled sample programs are shipped inside that bundle
|
|
(in ``MuJoCo.app/Contents/MacOS``) and can be launched via command line.
|
|
#. Binaries are now signed and the disk image is notarized.
|
|
|
|
#. Windows binaries and libraries are now signed.
|
|
#. Link-time optimization is enabled on Linux and macOS, leading to an average of \~20% speedup when benchmarked on
|
|
three test models (``cloth.xml``, ``humanoid.xml``, and ``humanoid100.xml``).
|
|
#. Linux binaries are now built with LLVM/Clang instead of GCC.
|
|
#. An AArch64 (aka ARM64) Linux build is also provided.
|
|
#. Private symbols are no longer stripped from shared libraries on Linux and MacOS.
|
|
|
|
Sample models
|
|
^^^^^^^^^^^^^
|
|
21. Clean-up of the ``model/`` directory.
|
|
|
|
a. Rearranged into subdirectories which include all dependencies.
|
|
#. Added descriptions in XML comments, cleaned up XMLs.
|
|
#. Deleted some composite models: ``grid1``, ``grid1pin``, ``grid2``, ``softcylinder``, ``softellipsoid``.
|
|
|
|
#. Added descriptive animations in ``docs/images/models/`` :
|
|
|
|
|humanoid| |particle|
|
|
|
|
|
|
Version 2.1.0 (Oct. 18, 2021)
|
|
-----------------------------
|
|
|
|
New features
|
|
^^^^^^^^^^^^
|
|
|
|
1. Keyframes now have ``mocap_pos`` and ``mocap_quat`` fields (mpos and quat attributes in the XML) allowing mocap
|
|
poses to be stored in keyframes.
|
|
2. New utility functions: ``mju_insertionSortInt`` (integer insertion sort) and ``mju_sigmoid`` (constructing a
|
|
sigmoid from two half-quadratics).
|
|
|
|
General
|
|
^^^^^^^
|
|
|
|
3. The pre-allocated sizes in the virtual file system (VFS) increased to 2000 and 1000, to allow for larger projects.
|
|
#. The C structs in the ``mjuiItem`` union are now named, for compatibility.
|
|
#. Fixed: ``mjcb_contactfilter`` type is ``mjfConFilt`` (was ``mjfGeneric``).
|
|
#. Fixed: The array of sensors in ``mjCModel`` was not cleared.
|
|
#. Cleaned up cross-platform code (internal changes, not visible via the API).
|
|
#. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices).
|
|
#. Fixed a bug in `simulate.cc <https://github.com/deepmind/mujoco/blob/main/sample/simulate.cc>`_ related to ``nkey``
|
|
(the number of keyframes).
|
|
#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
|
|
conaffinity==0``).
|
|
|
|
UI
|
|
^^
|
|
|
|
11. Figure selection type changed from ``int`` to ``float``.
|
|
#. Figures now show data coordinates, when selection and highlight are enabled.
|
|
#. Changed ``mjMAXUIMULTI`` to 35, ``mjMAXUITEXT`` to 300, ``mjMAXUIRECT`` to 25.
|
|
#. Added collapsable sub-sections, implemented as separators with state: ``mjSEPCLOSED`` collapsed, ``mjSEPCLOSED+1``
|
|
expanded.
|
|
#. Added ``mjITEM_RADIOLINE`` item type.
|
|
#. Added function ``mjui_addToSection`` to simplify UI section construction.
|
|
#. Added subplot titles to ``mjvFigure``.
|
|
|
|
Rendering
|
|
^^^^^^^^^
|
|
|
|
18. ``render_gl2`` guards against non-finite floating point data in the axis range computation.
|
|
#. ``render_gl2`` draws lines from back to front for better visibility.
|
|
#. Added function ``mjr_label`` (for text labels).
|
|
#. ``mjr_render`` exits immediately if ``ngeom==0``, to avoid errors from uninitialized scenes (e.g. ``frustrum==0``).
|
|
#. Added scissor box in ``mjr_render``, so we don't clear the entire window at every frame.
|
|
|
|
|
|
License manager
|
|
^^^^^^^^^^^^^^^
|
|
|
|
23. Removed the entire license manager. The functions ``mj_activate`` and ``mj_deactivate`` are still there for
|
|
backward compabitibily, but now they do nothing and it is no longer necessary to call them.
|
|
#. Removed the remote license certificate functions ``mj_certXXX``.
|
|
|
|
Earlier Versions
|
|
----------------
|
|
|
|
For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.
|
|
|
|
.. |humanoid| image:: images/models/humanoid.gif
|
|
:width: 270px
|
|
.. |particle| image:: images/models/particle.gif
|
|
:width: 270px
|