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PiperOrigin-RevId: 622962761
Change-Id: I960fc9c2a13a6216da03a8fa9b29ce7a55b6da4a
This commit is contained in:
Tom Erez
2024-04-08 15:06:00 -07:00
committed by Copybara-Service
parent b441923598
commit 725630c95d
1 changed files with 9 additions and 3 deletions
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doc/changelog.rst
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@@ -2,6 +2,13 @@
Changelog Changelog
========= =========
Upcoming version (not yet released)
-----------------------------------
MJX
^^^
1. Added support for userdata.
Version 3.1.4 (April 8th, 2024) Version 3.1.4 (April 8th, 2024)
------------------------------- -------------------------------
@@ -36,11 +43,10 @@ MJX
5. Fixed bug for sphere/capsule-convex deep penetration. 5. Fixed bug for sphere/capsule-convex deep penetration.
6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``. 6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
7. Throw an error for margin/gap for convex mesh collisions, since they are not supported. 7. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
8. Added support for userdata.
Simulate Simulate
^^^^^^^^ ^^^^^^^^
9. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the 8. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
:ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the :ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the
other flag. other flag.
@@ -51,7 +57,7 @@ Python bindings
:align: right :align: right
:width: 240px :width: 240px
10. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID). 9. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
Kinematics, is available here: |ls_colab| Kinematics, is available here: |ls_colab|
|br| The video on the right shows example clips from the tutorial. |br| The video on the right shows example clips from the tutorial.