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CHANGELOG.md

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Unreleased

Added

  • Now it's possible to use MuJoCos intenal threadpool to speed up simulation. The number ob threads can be set with either mujoco_threads in the server launchfile or directly with num_mj_threads for the server node. If a number above 1 is used, multithreading is enabled. MuJoCo will then use the threadpool for parallel computations in the engine itself, but also plugins may use the threadpool to dispatch tasks (via (mjTask)[https://mujoco.readthedocs.io/en/3.2.0/APIreference/APItypes.html#mjtask] and (mju_threadPoolEnqueue)[https://mujoco.readthedocs.io/en/3.2.0/APIreference/APIfunctions.html#mju-threadpoolenqueue]). The default is min(#available_threads - 1, 4).
  • Added profiling of plugin load and callback execution times. For each callback an EMA with sensitivity of 1000 steps is computed. In case a plugin has lower frequency than simulation step size, the callback should set skip_ema_ = true when skipping computations. Loading and reset times are reported in the server debug log. All plugin stats can be retrieved by the get_plugin_stats service call.
  • Added ros laser plugin.

Fixed

  • Added missing call to render callbacks in viewer. While the callbacks were still being run for offscreen rendering, the viewer did not render additional geoms added by plugins.
  • mujoco_ros_control: fixed sometimes using wrong joint id in default hardware interface (would only be correct, if the joints appear first and in the same order in the compiled MuJoCo model).
  • mujoco_ros_sensors: now skipping user sensors, as they should be handled in separate, dedicated plugins.
  • When loading takes more than 0.25 seconds the simulation is no longer automatically paused.
  • Fixed fetching of body quaternion in get_body_state service.
  • tests: PendulumEnvFixture now makes sure mj_forward has been run at least once. This ensures the data object is populated with correct initial positions and velocities.
  • re-added services for getting and setting gravity, that somehow vanished.

Changed

  • Moved mujoco_ros::Viewer::Clock definition to mujoco_ros::Clock (into common_types.h).
  • Increased test coverage of mujoco_ros_sensors plugin.
  • Split monolithic ros interface tests into more individual tests.

Contributors: @DavidPL1

0.9.0 - 2024-07-31

Added

  • Mocap plugin to programmatically control mocap bodies.
  • Services to alter equality constraints. Note that by MuJoCo's design no new constraints can be added, though.
  • The Server node now gives a more verbose error message on failure due to mismatched header and library versions.
  • Service to get basic simulation state info (loaded model path, model valid, load counter, loading state, paused, pending manual steps, measured rt factor, and rt factor setting).
  • Service to set the real-time factor (applies the closest available factor found in the settings).

Fixed

  • Repaired SIGINT handler callback. C-c in the roslaunch terminal now shuts down the MuJoCo ROS node instead of escalating to SIGTERM.
  • Added actionlib to the list of mujoco_ros' dependencies.
  • Updated CI actions (#33).
  • Fixed linking order for mujoco_ros_mocap tests (#33).
  • Fixed glx BadAccess error on exit when running with GUI.
  • Fixed bug where stepping multiple times to get up to speed with the desired realtime factor would only happen if a viewer was attached.
  • Enabling and disabling model flags in the GUI's 'Physics' tab is now applied to the attached environment.

Changed

  • replaced boost::shared_ptr with std::shared_ptr or std::unique_ptr wherever possible (ROS 1 fast intra-process message-passing requires boost::shared_ptr).
  • replaced shared_ptr with unique_ptr wherever possible.
  • replaced smart pointer constructor initialization with make_shared or make_unique wherever possible.
  • Updated to MuJoCo library version 3.2.0.
    • VFS now only saves models provided as strings. Model loading and caching might change once the mjSpec API is more stable and better documented.
  • Updated to clang-tidy-14 (default on jammy).
  • Added catkin_lint to pre-commit (i.e. format workflow).
  • Introduced helper function to validate service call permissions in evaluation mode.

Contributors: @DavidPL1, @acodeodyssey

0.8.0 - 2023-10-23

Added

  • Manual steps now run as fast as possbile. I.e., if a viewer is connected, stepping is interrupted to render the UI at 30Hz. (This now also applies to running with unbound real-time, which previously was interrupted at 30Hz regardless if any viewer was connected).
  • Added GitHub Actions for building docker images, CI, and formatting based on MoveIt's configuration (#30).

Fixed

  • re-added setting realtime settings via ros param or in the mujoco model xml.
  • Add missing install of mujoco_ros's config and assets directories (#28).
  • Added missing example config for mujoco_ros_sensors.
  • Fixed catkin lint errors (#31).
  • Resolved clang-tidy warnings.

Changed

  • Reduced sensor noise std in tests to reduce wrongful fails due to too stochasticity.
  • Updated toplevel README to be more informative.
  • mujoco_ros_control & mujoco_ros_sensors have a Sanitize build type (#31).

Important

Breaking Changes

  • MujocoPlugin::node_ptr_ now is a NodeHandle instead of a NodeHandlePtr.
  • MujocoPlugin callbacks now use raw pointers to mjModel and mjData instead of shared pointers in their callbacks (mjModel is even const, thus calls to functions like mj_id2name that expect a non-const mjModel pointer need a const_cast<mjModel *> to not throw compile errors).

Contributors: @DavidPL1, @LeroyR, @rhaschke

0.7.0 - 2023-08-15

Added

  • Updated to MuJoCo library version 2.3.6.
  • Added a step(num_steps=1, blocking=true) public function.
  • Unit tests for plugin loading and resetting and running callbacks correctly.
  • Now automatically building with AVX instructions, if possible.
  • CMake tooling borrowed from deepminds MuJoCo repo and https://github.com/osjacky430/ros_pkg_template/.

Changed

  • Moved from static namespace to object oriented application model.
  • get_load_requeststate service topic changed to get_load_request_state.
  • Renamed namespaces:
    • mujoco_ros_sensors -> mujoco_ros::sensors.
    • mujoco_ros_control -> mujoco_ros::control.
    • MujocoSim -> mujoco_ros.
    • MujocoSim::detail -> moved mostly to private access members, namespace is not necessary anymore.
    • MujocoSim::jointName2id -> mujoco_ros::util::jointName2id.
  • Node launchfile arg changed from visualize to headless for consistency.
  • Moved most contents of MujocoSim::rendering::VisualStruct into mujoco_ros::MujocoEnv::offscreen.
  • Renamed MujocoSim::rendering::CameraStream -> mujoco_ros::rendering::OffscreenCamera.
  • env_id members were removed from messages, since env_ids are no longer used.
  • Added more compiler warnings (see CompilerWarnings.cmake).

Contributors: @DavidPL1

0.6.0 - 2023-06-30

Added

  • Signal handling to gracefully exit on SIGINT and SIGTERM.
  • docs: Contribution guideline along with commit template.
  • Service call to load initial joint states from parameter server.

Changed

  • Set GUI default to show info overlay and hide UI1.

Fixed

  • Fixed publish rate of camera images (#22).
  • Now publishing clock on reload.
  • Fixed memory leak caused by missing deallocation of opengl contexts on reload.
  • Cameras now publish their first image at timestep 0 instead of waiting for t = 1/pub_frequency.

Refactored

  • Deprecated getEnv, getEnvById, and unregisterEnv functions.

Contributors: @DavidPL1, @lbergmann

0.5.0 - 2023-03-24

Added

  • Reload service call to either reload current model or supply a new model to load.
  • Camera parameters are now available via camera info topics.
  • Camera frames are now available in the TF trees.

Changed

  • Updated UI functionalities to match simulate version 2.3.3.
  • Removed parallel env mode
  • Bump MuJoCo required version to 2.3.3

Fixed

  • Stepping action server is now sensitive to preemts caused by reload/reset/shutdown and will inform clients in time instead of just severing the connection.
  • Missing roll back of collision functions to default on reload caused calling unloaded code.
  • An invalid model will not result in trying to reload indefinitely anymore.

Contributors: @DavidPL1, @fpatzelt

0.4.0 - 2023-03-16

Added

  • NO_OPTIM and ENABLE_SANITIZER cmake options for valgrind/asan dev build optimization.
  • Central launchfile for the server to include from other packages.
  • no_x parameter to completely disable OpenGL.
  • Service calls to set and get gravity.
  • Service call to fetch loadrequest state over ROS.
  • Option to disable offscreen rendering.
  • Made camera stream resolutions configurable.
  • Callback to notify plugins of a geom change at runtime.

Changed

  • Use same package version for all packages in mujoco_ros_pkgs, following common versioning conventions.

Fixed

  • Time reset issue caused by delayed ros clock message processing.
  • Out of bounds quaternion array access in debug print.
  • Make sure env name is not an empty string.
  • Memory leaks caused by wrong mjModelPtr and mjDataPtr deallocation.
  • Sensor tests.
  • Disable x usage in tests.
  • Now reusing offscreen buffer glfw window on reset.
  • Freeing textures from GPU manually causing an error.
  • Stopping simulation on model compilation warning if in headless mode.
  • Not setting ctrl signal when loading a keyframe.
  • Render callbacks using the wrong scene (#17).

Refactored

  • Updated and improved tests.
  • More thorough memory deallocation.

Contributors: @DavidPL1, @fpatzelt

0.3.1 - 2023-01-17

Added

  • Service call for reset.
  • Unit tests for single environment library functions.
  • Added support for multi-DoF for initial positions and velocities (#3).
  • Added support for supplying a model as rosparam (generated e.g. by urdf2mjcf).
  • Ensures compatibility with MuJoCo 2.2.2.
  • Adds interprocedural optimization compile policy.
  • Service call to get/set bodys with freejoints.
  • Service call to set geom properties (mass, friction, size, geom_type).
  • Allows using wall time instead of ROS time (set /use_sim_time to false).
  • Adds additional "unbound" speed mode to run as fast as possbile.
  • Adds offscreen rendering RGB, depth, and/or segmentation mask images.
  • Added eval/train mode settings.
  • Added admin_hash for permission checks in eval mode.

Changed

  • SINGLE and PARALLEL mode are distinguished by a mode variable in shared code instead of requiring separate lib function calls.
  • Step service call changed to be an action call.
  • cmake: Renamed mujoco_INCLUDE_DIR -> mujoco_INCLUDE_DIRS.
  • Time is set to 0 on reset.
  • Adds more general debug info.

Fixed

  • Not counting multiple steps in CPU sync.
  • Step counting depending on num_sim_steps enabled or disabled.
  • Wrong declaration of publishSimTime.
  • Pose quaternion is now normalized before application to prevent setting invalid quaternions in SetModelState.
  • catkin_lint / cmake issues.
  • Missing package.xml dependencies.
  • Set clock publisher queue to 1 (#7).
  • Internal ROS time updates (#8).
  • Transitive dependency propagation with catkin.
  • Avoid publishing /clock twice per cycle.
  • Makes sure destructors of plugins and envs are called on shutdown (#12).
  • Instantly replacing a rosparam loaded xml.
  • get_geom_properties service not being advertised (#16).
  • Cross-thread ints and bools are now atomic.
  • slow_down not being applied.
  • Missing test world.

Performance Improvements

  • Improved multi-threading concept for PARALLEL mode.

Refactored

  • Init function improvement and cleanup.
  • Improved Get/SetModelState service:
    • Flags are now used to specify which parts of the state message are used to update the state.
  • Mutex usage.
  • Rendering functionallity making it much more runtime efficient.

Contributors: @DavidPL1, @rhaschke, @fpatzelt, @lbergmann

0.3.0 - 2022-06-10

Added

  • Added configurable initial joint velocities.
  • MujocoEnv uses namespacing coherent with ROS namespaces.
  • Added lastStageCallback to define behavior for plugins at the very end of a simulation step.

Fixed

  • Moved mjENABLED_ros/mjDISABLED_ros definitions to non-static context (#2).
  • Removed collision_function typedef (duplicate of mjfCollision).

Removed

  • Removed runContactFilterCbs since setting a contact filter callback fully overrides default behavior.

Contributors: @DavidPL1, @balandbal

0.2.0 - 2022-05-30

Added

  • Plugin loading.
  • Service call to shutdown.
  • Service call to pause/unpause.
  • Headless mode and number of steps to run before termination as optional argument.
  • Safety wrappers for plugin loading and execution.
  • Exporting mujoco_ros as library for external usage.
  • Introduced parallel environments.

Changed

  • Now using boost::shared_ptr for mjModel and mjData instances.
  • Added licensing information.
  • Added build instructions.
  • How plugins are retrieved from the parameter server.

Fixed

  • Several bugs related to ROS time publishing.
  • Disabled backward stepping (impractical with ROS time).
  • Setting initial joint positions.

Contributors: @DavidPL1