From b7bbb2b25c7bd6c87683e2f6340978ef9860b9d1 Mon Sep 17 00:00:00 2001 From: Google DeepMind Date: Mon, 4 Nov 2024 11:18:59 -0800 Subject: [PATCH] Update the MuJoCo changelog for the 3.2.5 release PiperOrigin-RevId: 693032354 Change-Id: I675424a3feeda8037a9559753dc93c05b812257c --- doc/changelog.rst | 58 +++++++++++++++++++++++------------------------ 1 file changed, 29 insertions(+), 29 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index bee62085e5..ccad2ea6ad 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,52 +2,52 @@ Changelog ========= -Upcoming version (not yet released) ------------------------------------ +Version 3.2.5 (Nov 4, 2024) +--------------------------- Feature promotion ^^^^^^^^^^^^^^^^^ -- The :doc:`Model Editing` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an - in-development feature, is now stable and recommended for general use. -- The native convex collision detection pipeline introduced in 3.2.3 and enabled by the - :ref:`nativeccd` flag, is not yet the default but is already recommended for general use. - Please try it when encountering collision-related problems and report any issues you encounter. +1. The :doc:`Model Editing` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an + in-development feature, is now stable and recommended for general use. +2. The native convex collision detection pipeline introduced in 3.2.3 and enabled by the + :ref:`nativeccd` flag, is not yet the default but is already recommended for general use. + Please try it when encountering collision-related problems and report any issues you encounter. General ^^^^^^^ -- The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific - :ref:`inertia` attribute. -- The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed. -- Removed the deprecated ``mju_rotVecMat``, ``mju_rotVecMatT`` and ``mjv_makeConnector`` functions. -- Sorting now uses a faster, native sort function (fixes :github:issue:`1638`). -- The PBR texture layers introduced in 3.2.1 were refactored from seperate sub-elements to a single - :ref:`layer` sub-element. -- The composite types box, cylinder, and sphere have been removed. Users should instead use the equivalent types - available in :ref:`flexcomp`. +3. The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific + :ref:`inertia` attribute. +4. The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed. +5. Removed the deprecated ``mju_rotVecMat``, ``mju_rotVecMatT`` and ``mjv_makeConnector`` functions. +6. Sorting now uses a faster, native sort function (fixes :github:issue:`1638`). +7. The PBR texture layers introduced in 3.2.1 were refactored from seperate sub-elements to a single + :ref:`layer` sub-element. +8. The composite types box, cylinder, and sphere have been removed. Users should instead use the equivalent types + available in :ref:`flexcomp`. MJX ^^^ -- Added ``apply_ft``, ``jac``, and ``xfrc_accumulate`` as public functions. -- Added ``TOUCH`` sensor. -- Added support for ``eq_active``. Fixes :github:issue:`2173`. -- Added ray intersection with ellipsoid. +9. Added ``apply_ft``, ``jac``, and ``xfrc_accumulate`` as public functions. +10. Added ``TOUCH`` sensor. +11. Added support for ``eq_active``. Fixes :github:issue:`2173`. +12. Added ray intersection with ellipsoid. Bug fixes ^^^^^^^^^ -- Fixed several bugs related to connect and weld constraints with site semantics (fixes :github:issue:`2179`, reported - by :github:user:`yinfanyi`). The introduction of site specification to connects and welds in 3.2.3 conditionally - changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`, but these changes were not properly propagated in - several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and - runtime enabling/disabling of such constraints. -- Fixed a bug in slider-crank :ref:`transmission`. The bug was introduced in 3.0.0. -- Fixed a bug in flex texture coordinates that prevented the correct allocation of textures in mjModel. +13. Fixed several bugs related to connect and weld constraints with site semantics (fixes :github:issue:`2179`, reported + by :github:user:`yinfanyi`). The introduction of site specification to connects and welds in 3.2.3 conditionally + changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`, but these changes were not properly propagated in + several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and + runtime enabling/disabling of such constraints. +14. Fixed a bug in slider-crank :ref:`transmission`. The bug was introduced in 3.0.0. +15. Fixed a bug in flex texture coordinates that prevented the correct allocation of textures in mjModel. Documentation ^^^^^^^^^^^^^ -- Function headers in the :doc:`API reference <../APIreference/APIfunctions>` now link to their source definitions - in GitHub. +16. Function headers in the :doc:`API reference <../APIreference/APIfunctions>` now link to their source definitions + in GitHub. Version 3.2.4 (Oct 15, 2024) ----------------------------