diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake index 6c08fbfe..5cdc33cb 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake @@ -39,7 +39,7 @@ set(MUJOCO_DEP_VERSION_qhull CACHE STRING "Version of `qhull` to be fetched." ) set(MUJOCO_DEP_VERSION_Eigen3 - 81044ec13df7608d0d9d86aff2ef9805fc69bed1 + 4be7e6b4e0a82853e853c0c7c4ef72f395e1f497 CACHE STRING "Version of `Eigen3` to be fetched." ) diff --git a/doc/changelog.rst b/doc/changelog.rst index 9cb049a6..67a6748e 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,51 +2,53 @@ Changelog ========= -Upcoming version (not yet released) +Version 3.3.5 (August 8, 2025) ----------------------------------- General ^^^^^^^ -- Added the :ref:`insidesite` sensor, for checking if an object is inside the volume of a site. - It is useful for triggering events in surrounding environment logic. -- Added the :ref:`contact` sensor, for reporting contact information according to user-defined criteria. - The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is useful - as input to learning-based agents and in environment logic. -- Added the :ref:`tactile` sensor, for measuring the penetration depth between two objects at given - points and the sliding velocities in the tangent frame. The sensor reports tactile data only when colliding with SDFs. -- Removed the SdfLib plugin and the dependency on `SdfLib `__. SDFs are now - supported natively in mjModel. -- Removed ``oct_depth`` from :ref:`mjvOption` (unused). -- Added the functionality to create a builtin meshes, see :ref:`mesh/builtin`. -- Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline` function :ref:`mj_makeM`, which - combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to - :ref:`tendon armature`. Code that uses :ref:`mj_crb` to compute the inertia should now use - :ref:`mj_makeM` instead. +1. Added the :ref:`insidesite` sensor, for checking if an object is inside the volume of a site. + It is useful for triggering events in surrounding environment logic. +2. Added the :ref:`contact` sensor, for reporting contact information according to user-defined + criteria. + The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is + useful as input to learning-based agents and in environment logic. +3. Added the :ref:`tactile` sensor, for measuring the penetration depth between two objects at given + points and the sliding velocities in the tangent frame. The sensor reports tactile data only when colliding with + SDFs. +4. Removed the SdfLib plugin and the dependency on `SdfLib `__. SDFs are now + supported natively in mjModel. +5. Removed ``oct_depth`` from :ref:`mjvOption` (unused). +6. Added the functionality to create a builtin meshes, see :ref:`mesh/builtin`. +7. Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline` function :ref:`mj_makeM`, which + combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to + :ref:`tendon armature`. Code that uses :ref:`mj_crb` to compute the inertia should now use + :ref:`mj_makeM` instead. .. admonition:: Breaking API changes :class: attention - - Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH`. + 8. Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH`. Bug fixes ^^^^^^^^^ -- Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was caused - by adding to the lists only the objects that belong to the tree of the requested body, but this causes to skip objects - that were attached, since they belong to the tree of the parent. -- Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a - :ref:`contact pair`. +9. Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was + caused by adding to the lists only the objects that belong to the tree of the requested body, but this causes to + skip objects that were attached, since they belong to the tree of the parent. +10. Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a + :ref:`contact pair`. Python ^^^^^^ -- On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag. Previously MuJoCo - wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024. +11. On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag. Previously MuJoCo + wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024. MJX ^^^ -- Add Warp as a backend implementation for MJX. The implementation can be specified via - ``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires - a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in - "beta" and some bugs are expected. +12. Add Warp as a backend implementation for MJX. The implementation can be specified via + ``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires + a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in + "beta" and some bugs are expected. Version 3.3.4 (July 8, 2025) ---------------------------- diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index ff2bb3ff..a78bb2d3 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -173,7 +173,7 @@ findorfetch( GIT_REPO https://gitlab.com/libeigen/eigen GIT_TAG - 81044ec13df7608d0d9d86aff2ef9805fc69bed1 + 4be7e6b4e0a82853e853c0c7c4ef72f395e1f497 TARGETS Eigen3::Eigen EXCLUDE_FROM_ALL @@ -191,7 +191,7 @@ findorfetch( GIT_REPO https://github.com/pybind/pybind11 GIT_TAG - a2e59f0e7065404b44dfe92a28aca47ba1378dc4 # v2.13.6 + f0ecf21301c0c24bc78b8b310347c7507d9f41d0 # v3.0.0 TARGETS pybind11::pybind11_headers EXCLUDE_FROM_ALL