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Add missing changelog item and enum documentation, clarify breaking changes.

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PiperOrigin-RevId: 778842895
Change-Id: I53f7f639ce8f1d3d5066fa7364bc1b74f2ed14ef
This commit is contained in:
Yuval Tassa
2025-07-03 04:23:33 -07:00
committed by Copybara-Service
parent 564c51ddb9
commit 7548d370ed
2 changed files with 40 additions and 10 deletions
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doc/APIreference/APItypes.rst
+10
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@@ -197,6 +197,16 @@ uses RGB textures. These values are used to store the texture index in the mate
.. mujoco-include:: mjtTextureRole
.. _mjtColorSpace:
mjtColorSpace
~~~~~~~~~~~~~
Type of color space encoding for textures.
.. mujoco-include:: mjtColorSpace
.. _mjtIntegrator:
mjtIntegrator
doc/changelog.rst
+30 -10
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@@ -26,6 +26,11 @@ Bug fixes
- Inverse dynamics were not being computed correctly when :ref:`tendon armature<tendon-spatial-armature>` was present,
now fixed.
Documentation
^^^^^^^^^^^^^
- Added missing item documentation and clarified the nature of breaking changes in the 3.3.3 changelog.
See items 3 and 4 below.
Version 3.3.3 (June 10, 2025)
-----------------------------
@@ -35,19 +40,34 @@ General
solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported).
2. Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp<body-flexcomp>` and is active depending on
the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
3. Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
:ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
types.
4. Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the
.. admonition:: Breaking API changes
:class: attention
3. Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
:ref:`type<body-light-type>` field (of type :ref:`mjtLightType<mjtLightType>`) to allow for additional lighting
types.
**Migration:** Replace light/directional="false/true" with light/type="spot/directional", respectively.
4. Added :ref:`mjtColorSpace` enum and associated :ref:`colorspace<asset-texture-colorspace>` attribute that allows
to specify the color space of textures (either linear or `sRGB <https://en.wikipedia.org/wiki/SRGB>`__). Since
this property is now read correctly from PNG files, textures files which use sRGB will now be rendered
differently.
**Migration:** Set :ref:`colorspace<asset-texture-colorspace>` to "linear" for all textures that should be
look like they did before this change.
5. Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the
introduction in 3.3.1 of :ref:`tendon armature<tendon-spatial-armature>`. In addition to the traditional
``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix.
5. Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec.
6. Removed the limitation of :ref:`fusestatic<compiler-fusestatic>` to models which contain no references. The fusestatic
flag will now fuse all bodies which are not referenced and ignore bodies which are referenced.
6. Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec.
7. Removed the limitation of :ref:`fusestatic<compiler-fusestatic>` to models which contain no references. The
fusestatic flag will now fuse all bodies which are not referenced and ignore bodies which are referenced.
Simulate
^^^^^^^^
7. The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and
8. The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and
``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel`
and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization.
@@ -58,11 +78,11 @@ Simulate
Python bindings
^^^^^^^^^^^^^^^
8. Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab|
9. Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab|
MJX
^^^
9. Added tendon armature.
10. Added tendon armature.
Version 3.3.2 (April 28, 2025)
------------------------------