diff --git a/doc/changelog.rst b/doc/changelog.rst index 9a748139..0d8cfd82 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,50 +2,56 @@ Changelog ========= -Upcoming version (not yet released) ------------------------------------ +Version 2.3.4 (April 20, 2023) +------------------------------ General ^^^^^^^ -- Removed the "global" setting of the :ref:`compiler/coordinate` attribute. This rarely-used - setting complicates the compiler logic and is blocking future improvements. In order to convert older models which - used this option, load and save them in MuJoCo 2.3.3 or older. +1. Removed the "global" setting of the :ref:`compiler/coordinate` attribute. This rarely-used + setting complicates the compiler logic and is blocking future improvements. In order to convert older models which + used this option, load and save them in MuJoCo 2.3.3 or older. .. image:: images/changelog/ellipsoidinertia.gif :align: right :width: 240px -- Added :ref:`visual-global` flag :ref:`ellipsoidinertia` to visualize - equivalent body inertias with ellipsoids instead of the default boxes. -- Added documentation for :ref:`engine plugins`. -- Added struct information to the ``introspect`` module. -- Added a new extension mechanism called "resource provider" . This extensible mechanism allows MuJoCo - to read assets from data sources other than the local OS filesystem or - the :ref:`Virtual file system`. +2. Added :ref:`visual-global` flag :ref:`ellipsoidinertia` to visualize + equivalent body inertias with ellipsoids instead of the default boxes. +#. Added midphase and broadphase collision statistics to :ref:`mjData`. +#. Added documentation for :ref:`engine plugins`. +#. Added struct information to the ``introspect`` module. +#. Added a new extension mechanism called "resource provider" . This extensible mechanism allows MuJoCo + to read assets from data sources other than the local OS filesystem or + the :ref:`Virtual file system`. Python bindings ^^^^^^^^^^^^^^^ -- Offscreen rendering on macOS is no longer restricted to the main thread. This is achieved by using the low-level - Core OpenGL (CGL) API to create the OpenGL context, rather than going via GLFW which relies on Cocoa's NSOpenGL. - The resulting context is not tied to a Cocoa window, and is therefore not tied to the main thread. -- Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions could previously - return before an internal call to ``mj_forward``. This allows user code to continue and potentially modify physics - state concurrently with the internal ``mj_forward``, resulting in e.g. - `MuJoCo stack overflow error `_ - or `segmentation fault `_. -- The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The passive - viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics state. This - is to avoid race conditions that can result in visual artifacts. See :ref:`documentation` for details. -- The ``viewer.launch_repl`` function has been removed since its functionality is superceded by ``launch_passive``. -- Added a small number of missing struct fields discovered through the new ``introspect`` metadata. +7. Offscreen rendering on macOS is no longer restricted to the main thread. This is achieved by using the low-level + Core OpenGL (CGL) API to create the OpenGL context, rather than going via GLFW which relies on Cocoa's NSOpenGL. + The resulting context is not tied to a Cocoa window, and is therefore not tied to the main thread. +#. Fixed a race condition in ``viewer.launch_passive`` and ``viewer.launch_repl``. These functions could previously + return before an internal call to ``mj_forward``. This allows user code to continue and potentially modify physics + state concurrently with the internal ``mj_forward``, resulting in e.g. + `MuJoCo stack overflow error `_ + or `segmentation fault `_. +#. The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The + passive viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics + state. This is to avoid race conditions that can result in visual artifacts. See :ref:`documentation` for + details. +#. The ``viewer.launch_repl`` function has been removed since its functionality is superceded by ``launch_passive``. +#. Added a small number of missing struct fields discovered through the new ``introspect`` metadata. Bug fixes ^^^^^^^^^ -- Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator. If using the - (as-yet undocumented) ellipsoid-based fluid model, please use a different integrator until the next release. +12. Fixed bug in the handling of ellipsoid-based fluid model forces in the new implicitfast integrator. If using the + (as-yet undocumented) ellipsoid-based fluid model, please use a different integrator until the next release. +#. Removed spurious whole-arena copying in `mj_copyData`, which can considerably + `slow down `_ the copying operation. +#. Make ``shellinertia`` ignore ``exactmeshinertia``, which is only used for legacy volume computations + (`#759 `_). Version 2.3.3 (March 20, 2023)