Changelog

Versioning

This project uses semantic versioning. This means that any incompatible changes increase the major version (Y.x.x). This also includes breaking changes that MuJoCo itself introduced, thus even an update of MuJoCo alone can increase the major version.

1.5.0 (MuJoCo 3.3.5)

• MjvScene:

  • Added the pop_geom method for popping a single geom from the end of the scene.

• Model editing:

  • Added iterators to MjSpec and MjsBody.

1.4.2 (MuJoCo 3.3.5)

Bug fixes:

• Fixed segmentation fault when the model specification is invalid. (#65).

1.4.1 (MuJoCo 3.3.5)

Bug fixes:

• Added missing named accessors to MjSpec:

  • geom,

  • site,

  • camera,

  • light.

1.4.0 (MuJoCo 3.3.5)

• MjModel:

  • Added more views: key (keyframe), tuple, texture, site, pair, numeric, material, light, hfield, equality.

• Added extra renames of enum types from the C API.

• Model editing support, which can be used to procedurally generate MjModel. It can be used for terrain generation, parameter randomization, etc.

  • Added module mujoco_rs::wrappers::mj_editing.

  • Added two examples. One on basic model editing and one on terrain generation.

• MjRenderer:

  • Added additional getters and setters.

  • Added MjRendererBuilder for purposes of better configuration.

• MjViewer:

  • Added events for keys:

    • Backspace: resets the simulation,

    • F5: toggles full screen mode,

    • [ and ]: cycles cameras,

    • Visualization toggles:

      • C: camera,

      • U: actuator,

      • J: joint,

      • M: center of mass,

      • H: convex hull,

      • Z: light,

      • T: transparent,

      • I: inertia.

    • Increased the headroom for visual-only geoms, which aren’t drawn by the user, from 100 to 2000.

• MjvCamera:

  • Added methods:

    • fix: changes the camera struct parameters to display a fixed camera.

1.3.0 (MuJoCo 3.3.5)

• Added a module for offscreen scene rendering: mujoco_rs::renderer:

  • Added MjRenderer for actual offscreen rendering of the simulation state.

• Deprecated MjvCamera::new and replaced it with:

  • MjvCamera::new_free,

  • MjvCamera::new_fixed,

  • MjvCamera::new_tracking and

  • MjvCamera::new_user.

• Deprecated MjViewer::user_scn and MjViewer::user_scn_mut. They are replaced with MjViewer::user_scene and MjViewer::user_scene_mut.

• Added new methods for obtaining public attributes:

  • MjData:

    • maxuse_stack,

    • maxuse_threadstack,

    • warning_stats,

    • timer_stats,

    • time,

    • energy.

  • MjModel:

    • signature,

    • opt,

    • opt_mut,

    • vis,

    • vis_mut,

    • stat,

    • stat_mut.

• Added extra attributes to the MjData’s joint view:

  • MjJointDataView::qfrc_spring;

  • MjJointDataView::qfrc_damper;

  • MjJointDataView::qfrc_gravcomp;

  • MjJointDataView::qfrc_fluid;

1.2.0 (MuJoCo 3.3.5)

• Added function wrappers around some utility functions and both the derivative functions (available under mujoco_rs::wrappers::fun).

• Completed the virtual file system wrapper.

  • Added methods MjVfs::add_from_file and MjVfs::delete_file.

  • Added method MjModel::from_xml_vfs.

  • Added a long list of additional methods to MjData and MjModel, which wrap corresponding MuJoCo functions. See the Git diff on GitHub for more information.

1.1.0 (MuJoCo 3.3.5)

Potentially breaking changes:

• Fixed bug #18 where data races could occur under incorrect usage. The major version of MuJoCo-rs is not increased as this safety bugs should not be something to rely on.

Other bug fixes:

• Fixed bug #17 where the MjGeomView and MjGeomViewMut pointed to the wrong address, which belonged to the body and not the geom.

• Fixed bug #19 where a warning about the scene buffer would be printed when loading some of MuJoCo’s example scenes.

Other changes:

• Added new module: mujoco_rs::wrappers::mj_primitive.

• Added more attributes to the view to MjJointView and MjJointViewMut.

• Added more views. All the views available now:

  • MjData: actuator, body, camera, geom, joint, light, sensor, site, tendon.

  • MjModel: actuator, body, camera, geom, joint, sensor, tendon.

1.0.1 (MuJoCo 3.3.5)

Bug fixes:

• Smaller changes inside Drop implementations to make sure there is no undefined behaviors.

1.0.0 (MuJoCo 3.3.5)

Breaking changes:

• Made all ffi_mut() methods require unsafe blocks.

Viewer:

• Help overlay (F1)

• User scene via MjViewer::user_scn and MjViewer::user_scn_mut for drawing custom visual-only geoms.

• Mouse perturbation of objects:

  • Rotate via Control

  • Translate via Control + Alt

0.4.3 (MuJoCo 3.3.5)

Build system:

• Removed unnecessary header files, reducing crate’s file size.

0.4.2 (MuJoCo 3.3.5)

Build system:

• Improved clarity of environmental variables:

  • MUJOCO_DYNAMIC_LINK_LIB -> MUJOCO_DYNAMIC_LINK_DIR

  • MUJOCO_STATIC_LINK_LIB -> MUJOCO_STATIC_LINK_DIR

• Added some internal cargo features .

0.4.1 (MuJoCo 3.3.5)

• Fix event handling.

0.4.0 (MuJoCo 3.3.5)

• Change the package name to mujoco-rs.

0.3.0 (MuJoCo 3.3.5)

• Initial public release (previously private under a different project).