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Update Mujoco Deps in preperation for the 3.3.4 release

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PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
This commit is contained in:
Rishi Krishnan
2025-07-08 14:20:07 -07:00
committed by Copybara-Service
parent 13621879c6
commit 2a32babb78
3 changed files with 22 additions and 22 deletions
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doc/changelog.rst
+17 -17
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@@ -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- The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by :ref:`mjs_delete`.
- The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``.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 The functions ``mjs_detachBody`` and ``mjs_detachDefault`` have been replaced by :ref:`mjs_delete`.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 The Python functions ``element.delete`` have been replaced by ``spec.delete(element)``.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<visual-global-cameraid>`.
- Added support to only sync the state in the Python :ref:`passive viewer<PyViewerPassive>`'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<visual-global-cameraid>`.
4. Added support to only sync the state in the Python :ref:`passive viewer<PyViewerPassive>`'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<tendon-spatial-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<tendon-spatial-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%