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Update changelog for MuJoCo 3.2.2 release.

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PiperOrigin-RevId: 660823679
Change-Id: I983220b7e0314bdb2476a48b68399b0921834747
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Taylor Howell
2024-08-08 07:10:13 -07:00
committed by Copybara-Service
parent c486f62cb7
commit 5383d1cd44
1 changed files with 16 additions and 10 deletions
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doc/changelog.rst
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Changelog
=========
Version 3.2.2 (Aug 8, 2024)
---------------------------
General
^^^^^^^
1. Increase texture and material limit back to 1000. 3.2.0 inadvertently reduced this limit to 100, breaking some
existing models (:github:issue:`1877`).
Version 3.2.1 (Aug 5, 2024)
---------------------------
@@ -13,25 +21,23 @@ General
3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures
for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't
support these new features, and they are made available for use with external renderers.
4. Increase texture and material limit back to 1000. 3.2.0 inadvertently reduced this limit to 100, breaking some
existing models (:github:issue:`1877`).
MJX
^^^
5. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
6. Added support for :ref:`fixed tendons <tendon-fixed>`.
7. Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`).
8. Added support for tendon equality constraints (``mjEQ_TENDON`` in :ref:`mjtEq`).
9. Added support for tendon actuator transmission (``mjTRN_TENDON`` in :ref:`mjtTrn`).
4. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
5. Added support for :ref:`fixed tendons <tendon-fixed>`.
6. Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`).
7. Added support for tendon equality constraints (``mjEQ_TENDON`` in :ref:`mjtEq`).
8. Added support for tendon actuator transmission (``mjTRN_TENDON`` in :ref:`mjtTrn`).
Python bindings
^^^^^^^^^^^^^^^
10. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
``mujoco.spec.compile``.
9. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
``mujoco.spec.compile``.
Bug fixes
^^^^^^^^^
11. Fixed a bug where implicit integrators did not take into account disabled actuators (:github:issue:`1838`).
10. Fixed a bug where implicit integrators did not take into account disabled actuators (:github:issue:`1838`).
Version 3.2.0 (Jul 15, 2024)
----------------------------