Version 2.1.2 (Mar. 15, 2022)
Added new Python bindings, which can be installed via
pip install mujoco, and imported as
Added new Unity plug-in.
Added a new
introspect module, which provides reflection-like capability for MuJoCo’s public API, currently describing functions and enums. While implemented in Python, this module is expected to be generally useful for automatic code generation targeting multiple languages. (This is not shipped as part of the
mujoco Python bindings package.)
Moved definition of
mjtNum floating point type into a new header mjtnum.h.
Renamed header mujoco_export.h to mjexport.h.
mj_printFormattedData, which accepts a format string for floating point numbers, for example to increase precision.
MuJoCo can load OBJ mesh files.
- Meshes containing polygons with more than 4 vertices are not supported.
- In OBJ files containing multiple object groups, any groups after the first one will be ignored.
Added optional frame-of-reference specification to framepos, framequat, framexaxis, frameyaxis, framezaxis, framelinvel, and frameangvel sensors. The frame-of-reference is specified by new reftype and refname attributes.
Sizes of user parameters are now automatically inferred.
Declarations of user parameters in the top-level size clause (e.g. nuser_body, nuser_jnt, etc.) now accept a value of -1, which is the default. This will automatically set the value to the length of the maximum associated user attribute defined in the model.
Setting a value smaller than -1 will lead to a compiler error (previously a segfault).
Setting a value to a length smaller than some user attribute defined in the model will lead to an error (previously additional values were ignored).
Increased the maximum number of lights in an mjvScene from 8 to 100.
Saved XML files only contain explicit inertial elements if the original XML included them. Inertias that were automatically inferred by the compiler’s inertiafromgeom mechanism remain unspecified.
User-selected geoms are always rendered as opaque. This is useful in interactive visualizers.
Static geoms now respect their geom group for visualisation. Until this change rendering of static geoms could only be toggled using the mjVIS_STATIC visualisation flag . After this change, both the geom group and the visualisation flag need to be enabled for the geom to be rendered.
Pointer parameters in function declarations in mujoco.h that are supposed to represent fixed-length arrays are now spelled as arrays with extents, e.g.
mjtNum quat rather than
mjtNum* quat. From the perspective of C and C++, this is a non-change since array types in function signatures decay to pointer types. However, it allows autogenerated code to be aware of expected input shapes.
Experimental stateless fluid interaction model. As described here, fluid forces use sizes computed from body inertia. While sometimes convenient, this is very rarely a good approximation. In the new model forces act on geoms, rather than bodies, and have a several user-settable parameters. The model is activated by setting a new attribute:
<geom fluidshape="ellipsoid"/>. The parameters are described succinctly here, but we leave a full description or the model and its parameters to when this feature leaves experimental status.
mj_saveLastXML are now locale-independent. The Unity plugin should now work correctly for users whose system locales use commas as decimal separators.
XML assets in VFS no longer need to end in a null character. Instead, the file size is determined by the size parameter of the corresponding VFS entry.
Fix a vertex buffer object memory leak in
mjrContext when skins are used.
Camera quaternions are now normalized during XML compilation.
- Windows binaries are now built with Clang.
Version 2.1.1 (Dec. 16, 2021)
mj_printFormattedModel, which accepts a format string for floating point numbers, for example to increase precision.
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.
This is a minor breaking change. Code which references private instances will break. To fix, replace leading underscores with trailing underscores, e.g.
Safer string handling: replaced
Changed indentation from 4 spaces to 2 spaces, K&R bracing style, added braces to one-line conditionals.
Fixed reading from uninitialized memory in PGS solver.
Computed capsule inertias are now exact. Until this change, capsule masses and inertias computed by the compiler’s 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, applied to the two hemispherical end-caps.
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 force and 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 connect and weld constraints.
Forces generated by spatial tendons 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.
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.
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.
TinyXML was replaced with
qhull was upgraded to version 8.0.2.
libCCD was upgraded to version 1.4.
libstdc++ was replaced with
MacOS packaging. We now ship Universal binaries that natively support both Apple Silicon and Intel CPUs.
- MuJoCo library is now packaged as a Framework Bundle, 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 (
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.
Clean-up of the
- Rearranged into subdirectories which include all dependencies.
- Added descriptions in XML comments, cleaned up XMLs.
- Deleted some composite models:
Added descriptive animations in
Version 2.1.0 (Oct. 18, 2021)
Keyframes now have
mocap_quat fields (mpos and quat attributes in the XML) allowing mocap poses to be stored in keyframes.
New utility functions:
mju_insertionSortInt (integer insertion sort) and
mju_sigmoid (constructing a sigmoid from two half-quadratics).
The preallocated 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.
mjcb_contactfilter type is
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 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).
Figure selection type changed from
Figures now show data coordinates, when selection and highlight are enabled.
mjMAXUIMULTI to 35,
mjMAXUITEXT to 300,
mjMAXUIRECT to 25.
Added collapsable sub-sections, implemented as separators with state:
mjITEM_RADIOLINE item type.
mjui_addToSection to simplify UI section construction.
Added subplot titles to
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.
mjr_label (for text labels).
mjr_render exits immediately if
ngeom==0, to avoid errors from uninitialized scenes (e.g.
Added scissor box in
mjr_render, so we don’t clear the entire window at every frame.
Removed the entire license manager. The functions
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
For changelogs of earlier versions please see roboti.us.