Yuval Tassa
5aba2c9fc6
PiperOrigin-RevId: 435124165 Change-Id: Ib460023fc8bd7b672bf2d0f786bbeb7c51b44590
259 lines
13 KiB
ReStructuredText
259 lines
13 KiB
ReStructuredText
=========
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Changelog
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=========
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Version 2.1.2 (Mar. 15, 2022)
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-----------------------------
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New modules
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^^^^^^^^^^^
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1. Added new :doc:`Python bindings<python>`, which can be installed via ``pip install mujoco``,
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and imported as ``import mujoco``.
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#. Added new :doc:`Unity plug-in<unity>`.
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#. Added a new ``introspect`` module, which provides reflection-like capability for MuJoCo's public API, currently
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describing functions and enums. While implemented in Python, this module is expected to be generally useful for
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automatic code generation targeting multiple languages. (This is not shipped as part of the ``mujoco`` Python
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bindings package.)
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API changes
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^^^^^^^^^^^
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4. Moved definition of ``mjtNum`` floating point type into a new header
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`mjtnum.h <https://github.com/deepmind/mujoco/blob/main/include/mjtnum.h>`_.
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#. Renamed header `mujoco_export.h` to :ref:`mjexport.h<inHeader>`.
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#. Added ``mj_printFormattedData``, which accepts a format string for floating point numbers, for example to increase
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precision.
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General
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^^^^^^^
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7. MuJoCo can load `OBJ <https://en.wikipedia.org/wiki/Wavefront_.obj_file>`_ mesh files.
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a. Meshes containing polygons with more than 4 vertices are not supported.
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#. In OBJ files containing multiple object groups, any groups after the first one will be ignored.
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#. Added (post-release, not included in the 2.1.2 archive) textured
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`mug <https://github.com/deepmind/mujoco/blob/main/model/mug/mug.xml>`_ example model:
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.. image:: images/changelog/mug.png
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:width: 300px
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#. Added optional frame-of-reference specification to :ref:`framepos<sensor-framepos>`,
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:ref:`framequat<sensor-framequat>`, :ref:`framexaxis<sensor-framexaxis>`, :ref:`frameyaxis<sensor-frameyaxis>`,
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:ref:`framezaxis<sensor-framezaxis>`, :ref:`framelinvel<sensor-framelinvel>`, and
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:ref:`frameangvel<sensor-frameangvel>` sensors. The frame-of-reference is specified by new :at:`reftype` and
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:at:`refname` attributes.
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#. Sizes of :ref:`user parameters <CUser>` are now automatically inferred.
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a. Declarations of user parameters in the top-level :ref:`size <size>` clause (e.g. :at:`nuser_body`,
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:at:`nuser_jnt`, etc.) now accept a value of -1, which is the default. This will automatically set the value to
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the length of the maximum associated :at:`user` attribute defined in the model.
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#. Setting a value smaller than -1 will lead to a compiler error (previously a segfault).
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#. Setting a value to a length smaller than some :at:`user` attribute defined in the model will lead to an error
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(previously additional values were ignored).
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#. Increased the maximum number of lights in an :ref:`mjvScene` from 8 to 100.
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#. Saved XML files only contain explicit :ref:`inertial <inertial>` elements if the original XML included them. Inertias
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that were automatically inferred by the compiler's :ref:`inertiafromgeom <compiler>` mechanism remain unspecified.
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#. User-selected geoms are always rendered as opaque. This is useful in interactive visualizers.
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#. Static geoms now respect their :ref:`geom group<geom>` for visualisation. Until this change rendering of static geoms
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could only be toggled using the :ref:`mjVIS_STATIC<mjtVisFlag>` visualisation flag . After this change, both the geom
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group and the visualisation flag need to be enabled for the geom to be rendered.
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#. Pointer parameters in function declarations in :ref:`mujoco.h<inHeader>` that are supposed to represent fixed-length
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arrays are now spelled as arrays with extents, e.g. ``mjtNum quat[4]`` rather than ``mjtNum* quat``. From the
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perspective of C and C++, this is a non-change since array types in function signatures decay to pointer types.
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However, it allows autogenerated code to be aware of expected input shapes.
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#. Experimental stateless fluid interaction model. As described :ref:`here <gePassive>`, fluid forces use sizes computed
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from body inertia. While sometimes convenient, this is very rarely a good approximation. In the new model forces act
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on geoms, rather than bodies, and have a several user-settable parameters. The model is activated by setting a new
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attribute: ``<geom fluidshape="ellipsoid"/>``. The parameters are described succinctly :ref:`here<geom>`, but we
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leave a full description or the model and its parameters to when this feature leaves experimental status.
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Bug Fixes
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^^^^^^^^^
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16. ``mj_loadXML`` and ``mj_saveLastXML`` are now locale-independent. The Unity plugin should now work correctly for
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users whose system locales use commas as decimal separators.
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#. XML assets in VFS no longer need to end in a null character. Instead, the file size is determined by the size
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parameter of the corresponding VFS entry.
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#. Fix a vertex buffer object memory leak in ``mjrContext`` when skins are used.
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#. Camera quaternions are now normalized during XML compilation.
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Binary build
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^^^^^^^^^^^^
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20. Windows binaries are now built with Clang.
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Version 2.1.1 (Dec. 16, 2021)
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-----------------------------
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API changes
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^^^^^^^^^^^
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1. Added ``mj_printFormattedModel``, which accepts a format string for floating point numbers, for example to increase
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precision.
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#. Added ``mj_versionString``, which returns human-readable string that represents the version of the MuJoCo binary.
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#. Converted leading underscores to trailing underscores in private instances of API struct definitions, to conform to
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reserved identifier directive, see
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`C standard: Section 7.1.3 <http://www.open-std.org/jtc1/sc22/wg14/www/docs/n1570.pdf>`__.
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.. attention::
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This is a minor breaking change. Code which references private instances will break. To fix, replace leading
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underscores with trailing underscores, e.g. ``_mjModel`` |rarr| ``mjModel_``.
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General
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^^^^^^^
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4. Safer string handling: replaced ``strcat``, ``strcpy``, and ``sprintf`` with ``strncat``, ``strncpy``, and
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``snprintf`` respectively.
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#. Changed indentation from 4 spaces to 2 spaces, K&R bracing style, added braces to one-line conditionals.
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Bug Fixes
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^^^^^^^^^
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6. Fixed reading from uninitialized memory in PGS solver.
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#. Computed capsule inertias are now exact. Until this change, capsule masses and inertias computed by the
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:ref:`compiler <compiler>`'s :at:`inertiafromgeom` mechanism were approximated by a cylinder, formed by the
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capsule's cylindrical middle section, extended on both ends by half the capsule radius. Capsule inertias are now
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computed with the `Parallel Axis theorem <https://en.wikipedia.org/wiki/Parallel_axis_theorem>`_, applied to the two
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hemispherical end-caps.
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.. attention::
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This is a minor breaking change. Simulation of a model with automatically-computed capsule inertias will be
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numerically different, leading to, for example, breakage of golden-value tests.
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#. Fixed bug related to :ref:`force <sensor-force>` and :ref:`torque <sensor-torque>` sensors. Until this change, forces
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and torques reported by F/T sensors ignored out-of-tree constraint wrenches except those produced by contacts. Force
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and torque sensors now correctly take into account the effects of :ref:`connect <equality-connect>` and
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:ref:`weld <equality-weld>` constraints.
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.. note::
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Forces generated by :ref:`spatial tendons <spatial>` which are outside the kinematic tree (i.e., between bodies
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which have no ancestral relationship) are still not taken into account by force and torque sensors. This remains a
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future work item.
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Code samples
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^^^^^^^^^^^^
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9. ``testspeed``: Added injection of pseudo-random control noise, turned on by default. This is to avoid settling into
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some fixed contact configuration and providing an unrealistic timing measure.
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#. ``simulate``:
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a. Added slower-than-real-time functionality, which is controlled via the '+' and '-' keys.
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#. Added sliders for injecting Brownian noise into the controls.
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#. Added "Print Camera" button to print an MJCF clause with the pose of the current camera.
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#. The camera pose is not reset when reloading the same model file.
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Updated dependencies
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^^^^^^^^^^^^^^^^^^^^
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11. ``TinyXML`` was replaced with ``TinyXML2`` 6.2.0.
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#. ``qhull`` was upgraded to version 8.0.2.
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#. ``libCCD`` was upgraded to version 1.4.
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#. On Linux, ``libstdc++`` was replaced with ``libc++``.
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Binary build
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^^^^^^^^^^^^
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15. MacOS packaging. We now ship Universal binaries that natively support both Apple Silicon and Intel CPUs.
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a. MuJoCo library is now packaged as a
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`Framework Bundle <https://developer.apple.com/library/archive/documentation/MacOSX/Conceptual/BPFrameworks/Concepts/FrameworkAnatomy.html>`_,
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allowing it to be incorporated more easily into Xcode projects (including Swift projects). Developers are
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encouraged to compile and link against MuJoCo using the ``-framework mujoco`` flag, however all header files and
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the ``libmujoco.2.1.1.dylib`` library can still be directly accessed inside the framework.
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#. Sample applications are now packaged into an Application Bundle called ``MuJoCo.app``. When launched via GUI,
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the bundle launches the ``simulate`` executable. Other precompiled sample programs are shipped inside that bundle
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(in ``MuJoCo.app/Contents/MacOS``) and can be launched via command line.
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#. Binaries are now signed and the disk image is notarized.
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#. Windows binaries and libraries are now signed.
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#. Link-time optimization is enabled on Linux and macOS, leading to an average of \~20% speedup when benchmarked on
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three test models (``cloth.xml``, ``humanoid.xml``, and ``humanoid100.xml``).
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#. Linux binaries are now built with LLVM/Clang instead of GCC.
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#. An AArch64 (aka ARM64) Linux build is also provided.
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#. Private symbols are no longer stripped from shared libraries on Linux and MacOS.
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Sample models
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^^^^^^^^^^^^^
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21. Clean-up of the ``model/`` directory.
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a. Rearranged into subdirectories which include all dependencies.
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#. Added descriptions in XML comments, cleaned up XMLs.
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#. Deleted some composite models: ``grid1``, ``grid1pin``, ``grid2``, ``softcylinder``, ``softellipsoid``.
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#. Added descriptive animations in ``docs/images/models/`` :
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|humanoid| |particle|
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Version 2.1.0 (Oct. 18, 2021)
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-----------------------------
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New features
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^^^^^^^^^^^^
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1. Keyframes now have ``mocap_pos`` and ``mocap_quat`` fields (mpos and quat attributes in the XML) allowing mocap
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poses to be stored in keyframes.
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2. New utility functions: ``mju_insertionSortInt`` (integer insertion sort) and ``mju_sigmoid`` (constructing a
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sigmoid from two half-quadratics).
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General
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^^^^^^^
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3. The preallocated sizes in the virtual file system (VFS) increased to 2000 and 1000, to allow for larger projects.
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#. The C structs in the ``mjuiItem`` union are now named, for compatibility.
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#. Fixed: ``mjcb_contactfilter`` type is ``mjfConFilt`` (was ``mjfGeneric``).
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#. Fixed: The array of sensors in ``mjCModel`` was not cleared.
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#. Cleaned up cross-platform code (internal changes, not visible via the API).
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#. Fixed a bug in parsing of XML ``texcoord`` data (related to number of vertices).
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#. Fixed a bug in `simulate.cc <https://github.com/deepmind/mujoco/blob/main/sample/simulate.cc>`_ related to ``nkey``
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(the number of keyframes).
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#. Accelerated collision detection in the presence of large numbers of non-colliding geoms (with ``contype==0 and
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conaffinity==0``).
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UI
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^^
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11. Figure selection type changed from ``int`` to ``float``.
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#. Figures now show data coordinates, when selection and highlight are enabled.
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#. Changed ``mjMAXUIMULTI`` to 35, ``mjMAXUITEXT`` to 300, ``mjMAXUIRECT`` to 25.
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#. Added collapsable sub-sections, implemented as separators with state: ``mjSEPCLOSED`` collapsed, ``mjSEPCLOSED+1``
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expanded.
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#. Added ``mjITEM_RADIOLINE`` item type.
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#. Added function ``mjui_addToSection`` to simplify UI section construction.
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#. Added subplot titles to ``mjvFigure``.
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Rendering
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^^^^^^^^^
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18. ``render_gl2`` guards against non-finite floating point data in the axis range computation.
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#. ``render_gl2`` draws lines from back to front for better visibility.
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#. Added function ``mjr_label`` (for text labels).
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#. ``mjr_render`` exits immediately if ``ngeom==0``, to avoid errors from uninitialized scenes (e.g. ``frustrum==0``).
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#. Added scissor box in ``mjr_render``, so we don't clear the entire window at every frame.
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License manager
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^^^^^^^^^^^^^^^
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23. Removed the entire license manager. The functions ``mj_activate`` and ``mj_deactivate`` are still there for
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backward compabitibily, but now they do nothing and it is no longer necessary to call them.
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#. Removed the remote license certificate functions ``mj_certXXX``.
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Earlier Versions
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----------------
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For changelogs of earlier versions please see `roboti.us <https://www.roboti.us/download.html>`_.
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.. |humanoid| image:: images/models/humanoid.gif
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:width: 270px
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.. |particle| image:: images/models/particle.gif
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:width: 270px
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