Prepare changelog for release

PiperOrigin-RevId: 869124525
Change-Id: I7ea6f3c1cf163e98b1bc0b8ed87f8e44afd59ab5

doc/changelog.rst

@@ -8,16 +8,18 @@ Upcoming version (not yet released)
 Significant new features
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
-- Added new System Identification toolbox (Python), see
+1. :doc:`MuJoCo Warp <mjwarp/index>` is now officially released.
+2. Added a new **System Identification** toolbox (Python), see
    `README <https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/sysid/README.md>`__ for details.
-  A Colab notebook demonstrating the toolbox is available here: |sysid_colab|
+   |br| A Colab notebook demonstrating the toolbox is available here: |sysid_colab|
-  Contribution by :github:user:`kevinzakka`, :github:user:`aftersomemath`, :github:user:`jonathanembleyriches`,
+   |br| Contribution by :github:user:`kevinzakka`, :github:user:`aftersomemath`, :github:user:`jonathanembleyriches`,
    :github:user:`qiayuanl`, :github:user:`spjardim` and :github:user:`gizemozd`.
 
 .. |sysid_colab| image:: https://colab.research.google.com/assets/colab-badge.png
                  :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mujoco/sysid/sysid.ipynb
 
-- Actuators and sensors now support arbitrary delays via history buffers, and sensors values can be computed at
+
+3. Actuators and sensors now support arbitrary delays via history buffers, and sensor values can be computed at
    intervals larger than the simulation timestep. Using a delay or interval introduces a new ``mjData.history`` variable
    to the :ref:`Physics state<siPhysicsState>`. See :ref:`Delays<CDelay>` for details.
 
@@ -26,29 +28,25 @@ Significant new features
    :align: right
    :target: https://github.com/google-deepmind/mujoco/blob/main/model/flex/poncho.xml
 
-- Added new :ref:`flexvert<equality-flexvert>` equality constraints that enable cloth simulations with coarser meshes.
+4. Added new :ref:`flexvert<equality-flexvert>` equality constraints that enable cloth simulations with coarser meshes.
-  This adds a new option ``vert`` to flexcomp edge :ref:`equality<flexcomp-edge-equality>` and the new equality type
+   This adds a new attribute value ``vert`` to flexcomp edge :ref:`equality<flexcomp-edge-equality>` and the new
-  :ref:`flexvert<equality-flexvert>`.
+   equality type :ref:`flexvert<equality-flexvert>`. Uses the method described in
-- Added implicit integration support for deformable objects (flex) in ``implicit`` and ``implicitfast``
+   `Chen, Kry and Vouga, 2019 <https://arxiv.org/abs/1911.05204>`__.
+5. Added implicit integration support for deformable objects (flex) in ``implicit`` and ``implicitfast``
    :ref:`integrators<geIntegration>`. This method extracts the flex degrees of freedom and solves them as a dense block,
    enabling increased stability for stiff flex objects without reducing the timestep. It is compatible with the
    ``trilinear`` and ``quadratic`` :ref:`dof<body-flexcomp-dof>` types.
 
-.. container:: custom-clear
-
-   .. raw:: html
-
-      <div style="clear: both;"></div>
-
 .. image:: images/XMLreference/rfcamera.png
    :width: 45%
    :align: right
    :target: https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/sensor/rfcamera.xml
 
-- Rangefinder sensors can now be attached to a camera using the :ref:`ragefinder/camera<sensor-rangefinder-camera>`
+6. Rangefinder sensors can now be attached to a camera using the :ref:`rangefinder/camera<sensor-rangefinder-camera>`
-  attribute. In this case, the sensor will cast multiple ray, one for each pixel.
+   attribute. In this case, the sensor respects the :ref:`camera/resolution<body-camera-resolution>` attribute and casts
-- :ref:`Rangefinders<sensor-rangefinder>` can now report various kinds of information besides ray distances,
+   multiple rays, one for each pixel.
-  including surface normals.
+7. :ref:`Rangefinders<sensor-rangefinder>` can now report various kinds of information besides ray distances,
+   including surface normals and intersection points.
 
 .. container:: custom-clear
 
@@ -62,51 +60,43 @@ General
 .. admonition:: Breaking API changes
    :class: attention
 
-   - Ray-cast functions now optionally compute the surface normal at the ray intersection. This is a breaking change due
+   8. Ray-cast functions now optionally compute the surface normal at the ray intersection. This is a breaking change
-     to the addition of the ``mjtNum normal[3]`` argument. The modified functions are :ref:`mj_ray`, :ref:`mj_multiRay`,
+      due to the addition of the ``mjtNum normal[3]`` argument. The modified functions are :ref:`mj_ray`,
-     :ref:`mju_rayGeom`, :ref:`mj_rayFlex`, :ref:`mj_rayHfield` and :ref:`mj_rayMesh`.
+      :ref:`mj_multiRay`, :ref:`mju_rayGeom`, :ref:`mj_rayFlex`, :ref:`mj_rayHfield` and :ref:`mj_rayMesh`.
 
       **Migration:** In C/C++, pass ``NULL`` to the ``normal`` argument. In Python, in all functions except
       :ref:`mj_multiRay`, it defaults to ``None``, so no action is required.
 
-   - ``mju_rayFlex`` has been renamed to :ref:`mj_rayFlex` for consistency with other functions that take
+   9. ``mju_rayFlex`` has been renamed to :ref:`mj_rayFlex` for consistency with other functions that take
       ``mjModel*`` and ``mjData*`` arguments.
 
-   - The ``mjModel.cam_orthographic`` field has been renamed to ``cam_projection``, with the semantic of a new enum type
+   10. The ``mjModel.cam_orthographic`` field has been renamed to ``cam_projection``, with the semantic of a new enum
-     :ref:`mjtProjection`. This will allow for more projection types in the future like fisheye cameras.
+       type :ref:`mjtProjection`. This will allow for more projection types in the future like fisheye cameras.
        Relatedly, the ``camera/orthographic`` MJCF attribute for cameras has been renamed to
        :ref:`camera/projection<body-camera-projection>` and now accepts the values ``orthographic`` and ``perspective``.
 
        **Migration:** Replace ``orthographic = "false/true"`` with ``projection="perspective/orthographic"``,
        respectively.
 
-   - Removed ``getdir`` from the ``mjpResourceProvider`` struct. All Resource Providers now use the same shared
+   11. Removed ``getdir`` from the ``mjpResourceProvider`` struct. All Resource Providers now use the same shared
        implementation.
-   - When combining the ``margin`` and ``gap`` :ref:`parameters<CContact>` of two geoms to obtain the parameters
+   12. When combining the ``margin`` or ``gap`` :ref:`parameters<CContact>` of two geoms to obtain the parameters
-     of a contact, the respective values are now **summed** rather than than taking the maximum. This allows geom
+       of a contact, the respective values are now **summed** rather than taking the maximum. This allows geom
        margins to be a proper "inflation" of the geom.
 
-- Camera frustum visualization is now triggered by setting :ref:`resolution<body-camera-resolution>` to values larger
+13. Camera frustum visualization is now triggered by setting :ref:`resolution<body-camera-resolution>` to values larger
     than 1. Relatedly, frustum visualization also works for :ref:`orthographic<body-camera-projection>` cameras.
     See :ref:`rangefinder<sensor-rangefinder>` for details.
-- Cameras now have an :ref:`output<body-camera-output>` attribute, parsed into the ``mjModel.cam_output`` bitfield.
+14. Cameras now have an :ref:`output<body-camera-output>` attribute, parsed into the ``mjModel.cam_output`` bitfield.
     Unused by the renderer, it serves as a convenient location to store a camera's supported output types.
-- Added :ref:`mj_mountVFS` and :ref:`mj_unmountVFS` functions for mounting a custom VFS provider. Mounting Allows
+15. Added :ref:`mj_mountVFS` and :ref:`mj_unmountVFS` functions for mounting a custom VFS provider. Mounting allows
     providers to be used to open/read/close resources dynamically at arbitrary paths.
-- The optimization whereby sequential :ref:`collision sensors<collision-sensors>` with identical attributes shared
+16. The optimization whereby sequential :ref:`collision sensors<collision-sensors>` with identical attributes shared
     computation has been removed. This results in a (likely minor) performance regression for models which exploited
     this optimization. To recover the performance, use the :ref:`fromto<sensor-fromto>` and compute the other values
     manually. If ``from = fromto[0:3]`` and ``to = fromto[3:6]`` then ``distance = norm(to-from)`` and
     ``normal = normalize(to-from)``.
-- Non-breaking ABI changes:
+17. :doc:`OpenUSD <OpenUSD/index>`:
-
-  - The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
-    ``unsigned int`` to ``int``. Before this change, invalid negative arguments passed to this function would result in
-    a silent implicit cast, now negativity will trigger an error.
-  - Added a :ref:`depth<mjtRndFlag>` rendering flag.
-  - Allocating sizes in :ref:`mjModel` now use 64-bit rather than 32-bit integers to accommodate larger scenes.
-
-- :doc:`OpenUSD <OpenUSD/index>`:
 
     - Parsing has been moved out of experimental into a mjpDecoder plugin. (documentation pending)
     - OpenUSD can now be built with the
@@ -116,34 +106,43 @@ General
       library.
     - Users no longer have to set ``PXR_PLUGINPATH_NAME`` environment variable, MuJoCo should load USD plugins
       automatically.
+18. Non-breaking ABI changes:
+
+    - The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
+      ``unsigned int`` to ``int``. Before this change, invalid negative arguments passed to this function would result
+      in a silent implicit cast; now, negativity will trigger an error.
+    - Added a :ref:`depth<mjtRndFlag>` rendering flag.
+    - Allocation sizes in :ref:`mjModel` now use 64-bit rather than 32-bit integers to accommodate larger scenes.
 
 
 MJX
 ^^^
-- Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
+19. Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
-- Add ``graph_mode`` argument to ``put_model`` to support multiple Warp graph capture modes.
+20. Add ``graph_mode`` argument to ``put_model`` to support multiple Warp graph capture modes.
 
 Documentation
 ^^^^^^^^^^^^^
-- General improvements to the :ref:`Programming/Simulation<Simulation>` chapter. Notably, the main discussion of
+21. General improvements to the :ref:`Programming/Simulation<Simulation>` chapter. Notably, the main discussion of
     :ref:`state<siStateControl>` has been moved there, and the section on :ref:`mjModel changes<siChange>` has been
     expanded.
-- The usability of the :ref:`MJCF schema<CSchema>` is improved with a collapsible dropdown menu with links to elements
+22. The usability of the :ref:`MJCF schema<CSchema>` is improved with a collapsible dropdown menu with links to elements
     and attributes.
+23. MuJoCo version numbering is now based on Semantic Versioning, see
+    `VERSIONING.md <https://github.com/google-deepmind/mujoco/blob/main/VERSIONING.md>`__.
 
 
 Bug fixes
 ^^^^^^^^^
-- Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives were
+24. Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives were
     incorrectly computed when the force was clamped by :ref:`forcerange<actuator-general-forcerange>`.
-- Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives did not
+25. Fixed a bug in :ref:`implicit integrator<geIntegrators>` derivatives where actuator velocity derivatives did not
     account for the :ref:`actearly<actuator-general-actearly>` flag.
-- Multi threaded mesh processing, enabled by the :ref:`usethread<compiler-usethread>` compiler flag (on by default), was
+26. Multi-threaded mesh processing, enabled by the :ref:`usethread<compiler-usethread>` compiler flag (on by default),
-  in fact disabled by the flag. Fixing this bug speeds up compilation of mesh-heavy models by (up to) the number of
+    was in fact disabled by the flag. Fixing this bug speeds up compilation of mesh-heavy models by (up to) the number
-  available cores.
+    of available cores.
-- The ``vertid`` argument of :ref:`mj_rayFlex` and :ref:`mju_raySkin` was marked as nullable but was not; it is now
+27. The ``vertid`` argument of :ref:`mj_rayFlex` and :ref:`mju_raySkin` was marked as nullable but was not; it is now
     nullable.
-- Fixed :ref:`gravcomp<body-gravcomp>` being ignored for bodies with no joints nested inside jointed parent bodies
+28. Fixed :ref:`gravcomp<body-gravcomp>` being ignored for bodies with no joints nested inside jointed parent bodies
     (:issue:`3066`, reported by :github:user:`Alex108306`).
 
 Version 3.4.0 (December 5, 2025)

doc/mjwarp/index.rst

@@ -11,8 +11,7 @@ MuJoCo Warp (MJWarp)
 
 MuJoCo Warp (MJWarp) is an implementation of MuJoCo written in `Warp <https://nvidia.github.io/warp/>`__ and optimized
 for `NVIDIA <https://nvidia.com>`__ hardware and parallel simulation. MJWarp lives in the
-`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository and is currently in
+`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository.
-beta.
 
 MJWarp is developed and maintained as a joint effort by `NVIDIA <https://nvidia.com>`__ and
 `Google DeepMind <https://deepmind.google/>`__.