0.10.0

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/3.3.5/APIreference/APItypes.html#mjtask] and (mju_threadPoolEnqueue)[https://mujoco.readthedocs.io/en/3.3.5/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.
• Added dynamic reconfigure for all MuJoCo settings for fast model testing.

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.
• Fixed flaky tests that did not consider control callbacks being called in paused mode, too (#40).
• Fixed bug that would not allow breaking out of as fast as possible stepping in headless mode without shutting down the simulation.
• Fixed occasional segfault when offscreen context was freed on shutdown.
• Fixed segmented image never being rendered/published.
• Fixed thread synchronization between MujocoEnv and Viewer.

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.
• Added sleeping at least until the next lowerbound GUI refresh when paused to reduce cpu load.
• Removed no_x launchparameter in favor of using no_render, as offscreen rendering now is also available without X.
• Optimized camera render configurations where RGB, Segmented and Depth streams are active, but only Segmented and Depth are subscribed. Previously, this would result in two separate low-level render calls, now it's done in one.
• Upgraded MuJoCo library version to 3.3.5
• • SceneState was removed in 3.3.3 in favor of using mjv_copyModel and mjv_copyData which only copy arrays that are needed for visualization. The offscreen rendering pipeline was changed accordingly.

Full Changelog: 0.9.0...0.10.0

0.9.0

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.
• • Added jointactuatorfrc support in mujoco_ros_sensors.
• 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

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

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_loading_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

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

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.

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Contributors: @DavidPL1, @fpatzelt

Full Changelog: 0.4.0...0.5.0

0.4.0

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 semver 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.

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Contributors: @DavidPL1, @fpatzelt

Full Changelog: 0.3.1...0.4.0