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Update eigen3 and the changelog ahead of the 3.2.7 release.

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PiperOrigin-RevId: 715467319
Change-Id: I4a6a168bc981c976890c46b784e94805afc86323
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Gabe Oppenheimer
2025-01-14 11:50:30 -08:00
committed by Copybara-Service
parent ba183adb67
commit 61973a33c9
3 changed files with 16 additions and 16 deletions
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doc/changelog.rst
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Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 3.2.7 (Jan 14, 2025)
----------------------------
Python bindings
^^^^^^^^^^^^^^^
- :ref:`rollout<PyRollout>` now features native multi-threading. If a sequence of ``MjData`` instances
of length ``nthread`` is passed in, ``rollout`` will automatically create a thread pool and parallelize
the computation. The thread pool can be reused across calls, but then the function cannot be called simultaneously
from multiple threads. To run multiple threaded rollouts simultaneously, use the new class ``Rollout`` which
encapsulates the thread pool. Contribution by :github:user:`aftersomemath`.
- Fix global namespace pollution when using ``mjpython`` (:github:issue:`2265`).
1. :ref:`rollout<PyRollout>` now features native multi-threading. If a sequence of ``MjData`` instances
of length ``nthread`` is passed in, ``rollout`` will automatically create a thread pool and parallelize
the computation. The thread pool can be reused across calls, but then the function cannot be called simultaneously
from multiple threads. To run multiple threaded rollouts simultaneously, use the new class ``Rollout`` which
encapsulates the thread pool. Contribution by :github:user:`aftersomemath`.
2. Fix global namespace pollution when using ``mjpython`` (:github:issue:`2265`).
General
^^^^^^^
@@ -20,16 +20,16 @@ General
.. admonition:: Breaking API changes (minor)
:class: attention
- The field ``mjData.qLDiagSqrtInv`` has been removed. This field is only required for the dual solvers. It is now
computed as-needed rather than unconditionally. Relatedly, added the corresponding argument to :ref:`mj_solveM2`.
3. The field ``mjData.qLDiagSqrtInv`` has been removed. This field is only required for the dual solvers. It is now
computed as-needed rather than unconditionally. Relatedly, added the corresponding argument to :ref:`mj_solveM2`.
- Reduced the memory footprint of the PGS solver's :ref:`A matrix<soDual>`. This was the last remaining dense-memory
allocation in MuJoCo, allowing for a significant reduction of the :ref:`dynamic memory allocation heuristic<CSize>`.
4. Reduced the memory footprint of the PGS solver's :ref:`A matrix<soDual>`. This was the last remaining dense-memory
allocation in MuJoCo, allowing for a significant reduction of the :ref:`dynamic memory allocation heuristic<CSize>`.
Bug fixes
^^^^^^^^^
- Fixed a bug in the box-sphere collider, depth was incorrect for deep penetrations (:github:issue:`2206`).
- Fixed a bug in :ref:`mj_mulM2` and added a test.
5. Fixed a bug in the box-sphere collider, depth was incorrect for deep penetrations (:github:issue:`2206`).
6. Fixed a bug in :ref:`mj_mulM2` and added a test.
Version 3.2.6 (Dec 2, 2024)
---------------------------