Merge branch 'google-deepmind:main' into mjx-warp-segmentation

2026-04-29 09:28:08 -04:00
parent 1009478de9 9796345888
commit 5a51f4795d
48 changed files with 1335 additions and 903 deletions
@@ -2,6 +2,16 @@
 Changelog
 =========

+Upcoming version (not yet released)
+-----------------------------------
+
+- Added island support for the :ref:`PGS solver<soAlgorithms>`.
+
+Python
+^^^^^^
+
+- Added ``MjSpec.encode`` method, wrapping :ref:`mj_encode`.
+
 Version 3.8.0 (April 24, 2026)
 ------------------------------

@@ -1424,12 +1424,6 @@ While islanding is not free (see implementation in `engine_island.c
 - Unconstrained DOFs are completely untouched by the solver, which otherwise needs to discover that they are unaffected.
 - Solving separate islands can be multi-threaded.

-.. admonition:: Known issues
-   :class: note
-
-   Islanding is not yet supported by the PGS solver.
-
-
 .. _soParameters:

 Parameters
@@ -547,6 +547,12 @@ Compiled ``MjSpec`` objects can be saved to XML string with the ``to_xml()`` met
     </worldbody>
   </mujoco>

+Alternatively, the spec can be saved directly to a file using ``encode()``:
+
+.. code-block:: python
+
+   spec.encode('model.xml', model)
+
 Attachment
 ----------