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Update changelog for 3.6.0 release.

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PiperOrigin-RevId: 881671049
Change-Id: I28a1a3341e6f01d916b35ee9fb3a6c12c627fe89
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Michael Moss
2026-03-10 16:19:15 -07:00
committed by Copybara-Service
parent 6890e133c0
commit 3cada28be7
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doc/changelog.rst
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Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 3.6.0 (March 10, 2026)
------------------------------
General
^^^^^^^
@@ -11,31 +11,32 @@ General
.. admonition:: Breaking API changes
:class: attention
- The tendon Jacobian ``ten_J`` is now always sparse. The fields ``ten_J_rownnz``, ``ten_J_rowadr``, and
``ten_J_colind`` have been moved from :ref:`mjData` to :ref:`mjModel` and are no longer computed at run time by
``mj_tendon`` but at compile time.
1. The tendon Jacobian ``ten_J`` is now always sparse. The fields ``ten_J_rownnz``, ``ten_J_rowadr``, and
``ten_J_colind`` have been moved from :ref:`mjData` to :ref:`mjModel` and are no longer computed at run time by
``mj_tendon`` but at compile time.
- Added :ref:`mjs_getCompiler` C API function and a ``compiler`` read-only property to all Python spec element types.
This allows querying the compiler settings (e.g., ``meshdir``) from any element, with the correct originating spec's
compiler preserved after attachment.
- Added a new ``strain`` :ref:`equality constraint<flexcomp-edge-equality>` type for trilinear and quadratic
:ref:`dofs<body-flexcomp-dof>`.
- Flexes now support collisions with SDF geoms.
- Improved memory requirements for ``ten_J`` and ``ten_J_colind`` by reducing the upper bound for the number
of non-zeros ``nJten``.
- Improved memory requirements for ``actuator_moment`` and ``moment_colind`` by reducing the upper bound for the number
of non-zeros ``nJmom``.
2. Added :ref:`mjs_getCompiler` C API function and a ``compiler`` read-only property to all Python spec element types.
This allows querying the compiler settings (e.g., ``meshdir``) from any element, with the correct originating spec's
compiler preserved after attachment.
3. Added a new ``strain`` :ref:`equality constraint<flexcomp-edge-equality>` type for trilinear and quadratic
:ref:`dofs<body-flexcomp-dof>`.
4. Flexes now support collisions with SDF geoms.
5. Improved memory requirements for ``ten_J`` and ``ten_J_colind`` by reducing the upper bound for the number of
non-zeros ``nJten``.
6. Improved memory requirements for ``actuator_moment`` and ``moment_colind`` by reducing the upper bound for the number
of non-zeros ``nJmom``.
MJX
^^^
- Add batch rendering support for MJX-Warp. See the :ref:`MJX-Warp batch rendering<MjxWarpBatchRendering>` section for details.
7. Add batch rendering support for MJX-Warp. See the :ref:`MJX-Warp batch rendering<MjxWarpBatchRendering>` section for
details.
Bug fixes
^^^^^^^^^
- Fixed a bug where :ref:`mjs_attach` silently dropped spatial tendons with wrapping geometries that had no
``sidesite`` attribute (:issue:`3119`, reported by :github:user:`tomstewart89`).
8. Fixed a bug where :ref:`mjs_attach` silently dropped spatial tendons with wrapping geometries that had no
``sidesite`` attribute (:issue:`3119`, reported by :github:user:`tomstewart89`).
Version 3.5.0 (February 12, 2026)
---------------------------------