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Update the MuJoCo changelog for the 3.1.4 release

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PiperOrigin-RevId: 623527462
Change-Id: I45f76d57198f4906e932463d76287b0e394b9273
This commit is contained in:
Gabe Oppenheimer
2024-04-10 10:00:20 -07:00
committed by Copybara-Service
parent 5a365603f8
commit 32fa61731e
1 changed files with 12 additions and 21 deletions
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doc/changelog.rst
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@@ -2,20 +2,8 @@
Changelog Changelog
========= =========
Upcoming version (not yet released) Version 3.1.4 (April 10th, 2024)
----------------------------------- --------------------------------
General
^^^^^^^
1. Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion.
MJX
^^^
2. Added support for userdata.
3. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs).
Version 3.1.4 (April 8th, 2024)
-------------------------------
General General
^^^^^^^ ^^^^^^^
@@ -41,18 +29,21 @@ General
which demostrates Cartesian actuation of an arm, has been updated to use this attribute. which demostrates Cartesian actuation of an arm, has been updated to use this attribute.
3. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__. 3. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
4. Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion.
MJX MJX
^^^ ^^^
4. Improved performance of SAT for convex collisions. 5. Improved performance of SAT for convex collisions.
5. Fixed bug for sphere/capsule-convex deep penetration. 6. Fixed bug for sphere/capsule-convex deep penetration.
6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``. 7. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
7. Throw an error for margin/gap for convex mesh collisions, since they are not supported. 8. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
8. Added ellipsoid plane collisions. 9. Added ellipsoid plane collisions.
10. Added support for userdata.
11. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs).
Simulate Simulate
^^^^^^^^ ^^^^^^^^
9. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the 12. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
:ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the :ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the
other flag. other flag.
@@ -63,7 +54,7 @@ Python bindings
:align: right :align: right
:width: 240px :width: 240px
10. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID). 13. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
Kinematics, is available here: |ls_colab| Kinematics, is available here: |ls_colab|
|br| The video on the right shows example clips from the tutorial. |br| The video on the right shows example clips from the tutorial.