From 2a32babb78ae6fe55ad67c6aebd5c477cfe0e863 Mon Sep 17 00:00:00 2001 From: Rishi Krishnan Date: Tue, 8 Jul 2025 14:20:07 -0700 Subject: [PATCH] Update Mujoco Deps in preperation for the 3.3.4 release PiperOrigin-RevId: 780712420 Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932 --- cmake/MujocoDependencies.cmake | 6 +++--- doc/changelog.rst | 34 +++++++++++++++++----------------- python/mujoco/CMakeLists.txt | 4 ++-- 3 files changed, 22 insertions(+), 22 deletions(-) diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake index 78522705..cb17621a 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake @@ -19,7 +19,7 @@ set(MUJOCO_DEP_VERSION_lodepng CACHE STRING "Version of `lodepng` to be fetched." ) set(MUJOCO_DEP_VERSION_tinyxml2 - 9a89766acc42ddfa9e7133c7d81a5bda108a0ade + e6caeae85799003f4ca74ff26ee16a789bc2af48 CACHE STRING "Version of `tinyxml2` to be fetched." ) set(MUJOCO_DEP_VERSION_tinyobjloader @@ -39,12 +39,12 @@ set(MUJOCO_DEP_VERSION_qhull CACHE STRING "Version of `qhull` to be fetched." ) set(MUJOCO_DEP_VERSION_Eigen3 - d0b490ee091629068e0c11953419eb089f9e6bb2 + 81044ec13df7608d0d9d86aff2ef9805fc69bed1 CACHE STRING "Version of `Eigen3` to be fetched." ) set(MUJOCO_DEP_VERSION_abseil - bc257a88f7c1939f24e0379f14a3589e926c950c # LTS 20250512.0 + 76bb24329e8bf5f39704eb10d21b9a80befa7c81 # LTS 20250512.0 CACHE STRING "Version of `abseil` to be fetched." ) diff --git a/doc/changelog.rst b/doc/changelog.rst index 7e2001fb..20a465c7 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,35 +2,35 @@ Changelog ========= -Upcoming version (not yet released) +Version 3.3.4 (July 8, 2025) ----------------------------------- .. admonition:: Breaking API changes :class: attention - - The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by :ref:`mjs_delete`. - - The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``. + 1. The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by :ref:`mjs_delete`. + 2. The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``. General ^^^^^^^ -- Added support for setting the initial camera in the viewer using - :ref:`visual/global/cameraid`. -- Added support to only sync the state in the Python :ref:`passive viewer`'s ``Sync`` method, this is - useful to improve performance. The default behavior is unchanged and copies the entire model and data. -- In the mjSpec C API, directly setting an element's name using :ref:`mjs_setString` has been replaced with a new - function :ref:`mjs_setName` which allows checking for naming collisions at set-time rather than compile-time, for - earlier catching of errors. +3. Added support for setting the initial camera in the viewer using + :ref:`visual/global/cameraid`. +4. Added support to only sync the state in the Python :ref:`passive viewer`'s ``Sync`` method, this is + useful to improve performance. The default behavior is unchanged and copies the entire model and data. +5. In the mjSpec C API, directly setting an element's name using :ref:`mjs_setString` has been replaced with a new + function :ref:`mjs_setName` which allows checking for naming collisions at set-time rather than compile-time, for + earlier catching of errors. Bug fixes ^^^^^^^^^ -- Inverse dynamics were not being computed correctly when :ref:`tendon armature` was present, - now fixed. -- Fix bug in ``mjx.put_data`` where ``actuator_moment`` was not being copied correctly for the C implementation. +6. Inverse dynamics were not being computed correctly when :ref:`tendon armature` was present, + now fixed. +7. Fix bug in ``mjx.put_data`` where ``actuator_moment`` was not being copied correctly for the C implementation. Documentation ^^^^^^^^^^^^^ -- Added missing item documentation and clarified the nature of breaking changes in the 3.3.3 changelog. - See items 3 and 4 below. +8. Added missing item documentation and clarified the nature of breaking changes in the 3.3.3 changelog. + See items 3 and 4 below. Version 3.3.3 (June 10, 2025) ----------------------------- @@ -69,8 +69,8 @@ General Simulate ^^^^^^^^ 8. The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and - ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel` - and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization. + ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by + :ref:`mjv_copyModel` and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization. .. image:: images/changelog/procedural_terrain_generation.png :width: 33% diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index 87441234..2f8da9e6 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -140,7 +140,7 @@ findorfetch( GIT_REPO https://github.com/abseil/abseil-cpp GIT_TAG - bc257a88f7c1939f24e0379f14a3589e926c950c # LTS 20250512.0 + 76bb24329e8bf5f39704eb10d21b9a80befa7c81 # LTS 20250512.0 TARGETS ${MUJOCO_PYTHON_ABSL_TARGETS} EXCLUDE_FROM_ALL @@ -173,7 +173,7 @@ findorfetch( GIT_REPO https://gitlab.com/libeigen/eigen GIT_TAG - d0b490ee091629068e0c11953419eb089f9e6bb2 + 81044ec13df7608d0d9d86aff2ef9805fc69bed1 TARGETS Eigen3::Eigen EXCLUDE_FROM_ALL