From 10c5d6a1e584702cff30766e574fea52b69d6c7e Mon Sep 17 00:00:00 2001 From: Saran Tunyasuvunakool Date: Mon, 6 Feb 2023 10:43:08 -0800 Subject: [PATCH] Add missing entries to 2.3.2 changelog. PiperOrigin-RevId: 507522863 Change-Id: Id6c094a8054440de4aa918575f6e45d49519861c --- doc/changelog.rst | 32 +++++++++++++++++++++++++++----- 1 file changed, 27 insertions(+), 5 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index cb156d76..34b08759 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -14,12 +14,8 @@ General this function is 35% faster. - The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better performance. - -.. image:: images/changelog/meshfit.png - :align: right - :width: 300px - - Geom names are now parsed from URDF. Any duplicate names are ignored. +- ``mj_printData`` output now contains contacting geom names. Bug fixes ^^^^^^^^^ @@ -28,7 +24,33 @@ Bug fixes principal components of the shell inertia, while the vertex coordinates are rotated using the volumetric inertia. Now the volumetric inertia orientation is used also in the shell case. - Fixed misalignment bug in mesh-to-primitive fitting when using the bounding box fitting option :at:`fitaabb`. + +.. image:: images/changelog/meshfit.png + :align: right + :width: 300px + - The ``launch_repl`` functionality in the Python viewer is fixed. +- Set ``time`` correctly in ``mjd_transitionFD``, to support time-dependent user code. +- Fix sensor data dimension validation when ``user`` type sensors are present. +- Fix incorrect plugin error message when a null ``nsensordata`` callback is encountered during model compilation. +- Correctly end the timer (``TM_END``) ``mj_fwdConstraint`` returns early. + +Simulate +^^^^^^^^ + +- Increase precision of simulate sensor plot y-axis by 1 digit + (`#719 `_). +- Body labels are now drawn at the body frame rather than inertial frame, unless inertia is being visualised. + +Plugins +^^^^^^^ + +- The ``reset`` callback now receives instance-specific ``plugin_state`` and ``plugin_data`` as arguments, rather than + the entire ``mjData``. Since ``reset`` is called inside ``mj_resetData`` before any physics forwarding call has been + made, it is an error to read anything from ``mjData`` at this stage. +- The ``capabilities`` field in ``mjpPlugin`` is renamed ``capabilityflags`` to more clearly indicate that this is a + bit field. + Version 2.3.1 (December 6, 2022) -----------------------------------