Fix changlelog item numbering
PiperOrigin-RevId: 948228547 Change-Id: I26eebaa4c8f4c0f30718b6e4391cf990a85bc30f
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Yuval Tassa
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Copybara-Service
Copybara-Service
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@@ -99,29 +99,29 @@ General
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.. admonition:: Breaking API changes
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:class: attention
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- The header file ``mjthread.h`` was removed along with the old engine threading API.
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|br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
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- Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
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(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
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allocated on the stack.
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- Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
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``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
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the :math:`A` ("Delassus") matrix.
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- The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
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10. The header file ``mjthread.h`` was removed along with the old engine threading API.
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|br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
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11. Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
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(multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
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allocated on the stack.
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12. Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
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``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
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the :math:`A` ("Delassus") matrix.
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13. The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
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- Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to ``mj_fullM(m, d, dst)`` as part of the
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planned deprecation of ``mjData.qM`` in favor of the CSR-format ``mjData.M``.
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14. Changed the signature of :ref:`mj_fullM` from ``mj_fullM(m, dst, M)`` to ``mj_fullM(m, d, dst)`` as part of
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the planned deprecation of ``mjData.qM`` in favor of the CSR-format ``mjData.M``.
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**Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)`` or
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``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
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**Migration:** For inertia matrix conversion, replace ``mj_fullM(m, dst, d->qM)`` with ``mj_fullM(m, d, dst)``
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or ``mju_sym2dense(dst, d->M, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind)``.
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Bug fixes
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^^^^^^^^^
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10. Fixed a vulnerability in the System Identification toolbox where loading a trajectory or time series called
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15. Fixed a vulnerability in the System Identification toolbox where loading a trajectory or time series called
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``np.load`` with ``allow_pickle=True``, allowing arbitrary code execution from a malicious ``.npz`` file. Signal
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metadata is now serialized as JSON and loaded with ``allow_pickle=False``.
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11. Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read.
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12. Fixed a bug where the mesh compiler would produce non-unit convex hull polygon normals.
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16. Fixed a bug in the ``mjz`` :ref:`decoder <mjpDecoder>` where unnormalized paths would fail to be read.
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17. Fixed a bug where the mesh compiler would produce non-unit convex hull polygon normals.
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Version 3.9.0 (May 27, 2026)
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----------------------------
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@@ -596,15 +596,15 @@ MJX
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.. admonition:: Breaking ABI changes
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:class: attention
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- ``mjx.Model.tex_data`` is now a numpy ndarray instead of a jax.Array, to avoid vmapping over this potentially
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large array. This may break certain use-cases with Madrona MJX, but we are no longer supporting this codepath.
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We will be migrating users to a Warp-based batch renderer.
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12. ``mjx.Model.tex_data`` is now a numpy ndarray instead of a jax.Array, to avoid vmapping over this potentially
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large array. This may break certain use-cases with Madrona MJX, but we are no longer supporting this codepath.
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We will be migrating users to a Warp-based batch renderer.
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Bug fixes
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^^^^^^^^^
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12. Fixed a bug in the box-box distance computation. Reported by :github:user:`nvtw`.
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13. Fixed a bug in the box-box distance computation. Reported by :github:user:`nvtw`.
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Version 3.3.7 (October 13, 2025)
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--------------------------------
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@@ -627,30 +627,30 @@ General
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in favor of ``naconmax`` in a future release.
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3. Joint decorators and spatial tendons which have limits defined and whose current value (angle or length) exceeds the
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4. Joint decorators and spatial tendons which have limits defined and whose current value (angle or length) exceeds the
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limit, are recolored by using the :ref:`constraint impedance<soParameters>` :math:`d` to mix the existing color with
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:ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization aid is active only if
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no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.
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4. Added :ref:`mju_getXMLDependencies` for computing a list of unique asset dependencies from an MJCF file.
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5. Added the code sample ``dependencies`` which provides command line utility for printing the result of :ref:`mju_getXMLDependencies`.
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6. The minimum C++ standard required to compile MuJoCo is now C++20, this has been the case within Google since 2023
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5. Added :ref:`mju_getXMLDependencies` for computing a list of unique asset dependencies from an MJCF file.
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6. Added the code sample ``dependencies`` which provides command line utility for printing the result of :ref:`mju_getXMLDependencies`.
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7. The minimum C++ standard required to compile MuJoCo is now C++20, this has been the case within Google since 2023
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but the CMake update was forgotten.
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.. admonition:: Breaking ABI changes
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:class: attention
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7. The attribute ``mjOption.apirate`` was unused and has been removed.
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8. MJX ``nconmax`` and ``njmax`` fields in ``mjx.make_data`` now default to ``None`` instead of -1.
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8. The attribute ``mjOption.apirate`` was unused and has been removed.
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9. MJX ``nconmax`` and ``njmax`` fields in ``mjx.make_data`` now default to ``None`` instead of -1.
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MJX
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^^^
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9. Fix :issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
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10. Pull in MuJoCo Warp update to ``io.py``, and use ``naconmax`` instead of ``nconmax`` to set the maximum number
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10. Fix :issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
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11. Pull in MuJoCo Warp update to ``io.py``, and use ``naconmax`` instead of ``nconmax`` to set the maximum number
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of contacts over all environments.
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Bug fixes
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^^^^^^^^^
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11. Fix :issue:`2881`, :at:`fitaabb` was adding an offset to the mesh and applying an incorrect frame
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12. Fix :issue:`2881`, :at:`fitaabb` was adding an offset to the mesh and applying an incorrect frame
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transformation. Also, unify the meaning of fitting a geom to a mesh AABB: it now means to find the smallest geom
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such that its AABB contains the mesh AABB.
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@@ -792,20 +792,20 @@ Version 3.3.4 (July 8, 2025)
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General
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^^^^^^^
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4. Added support for setting the initial camera in the viewer using
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5. Added support for setting the initial camera in the viewer using
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:ref:`visual/global/cameraid<visual-global-cameraid>`.
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5. Added support to only sync the state in the Python :ref:`passive viewer<PyViewerPassive>`'s ``Sync`` method, this is
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6. Added support to only sync the state in the Python :ref:`passive viewer<PyViewerPassive>`'s ``Sync`` method, this is
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useful to improve performance. The default behavior is unchanged and copies the entire model and data.
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Bug fixes
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^^^^^^^^^
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6. Inverse dynamics were not being computed correctly when :ref:`tendon armature<tendon-spatial-armature>` was present,
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7. Inverse dynamics were not being computed correctly when :ref:`tendon armature<tendon-spatial-armature>` was present,
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now fixed.
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7. Fix bug in ``mjx.put_data`` where ``actuator_moment`` was not being copied correctly for the C implementation.
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8. Fix bug in ``mjx.put_data`` where ``actuator_moment`` was not being copied correctly for the C implementation.
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Documentation
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^^^^^^^^^^^^^
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8. Added missing item documentation and clarified the nature of breaking changes in the 3.3.3 changelog.
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9. Added missing item documentation and clarified the nature of breaking changes in the 3.3.3 changelog.
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See items 3 and 4 below.
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Version 3.3.3 (June 10, 2025)
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