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Final preparations for the v3.4.0 release

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PiperOrigin-RevId: 838824676
Change-Id: Icb5a825cb41be4d0730f4a6729b63531d649066f
This commit is contained in:
Gabe Oppenheimer
2025-12-01 10:05:23 -08:00
committed by Copybara-Service
parent 448fc0e4d5
commit b663b7602b
3 changed files with 32 additions and 35 deletions
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cmake/MujocoDependencies.cmake
+1 -4
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@@ -38,11 +38,8 @@ set(MUJOCO_DEP_VERSION_qhull
62ccc56af071eaa478bef6ed41fd7a55d3bb2d80
CACHE STRING "Version of `qhull` to be fetched."
)
# TODO(matijak): Update this commit only after google's version of Eigen version
# is updated to include a fix to https://gitlab.com/libeigen/eigen/-/issues/2986
# which is causing build errors in CI when using MSVC.
set(MUJOCO_DEP_VERSION_Eigen3
4be7e6b4e0a82853e853c0c7c4ef72f395e1f497
49623d0c4e1af3c680845191948d10f6d3e92f8a
CACHE STRING "Version of `Eigen3` to be fetched."
)
doc/changelog.rst
+30 -30
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@@ -2,8 +2,8 @@
Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 3.4.0 (December 1, 2025)
--------------------------------
General
^^^^^^^
@@ -12,52 +12,52 @@ General
:align: right
:width: 35%
- Introduced a major new feature: :ref:`sleeping islands<Sleeping>`. Preliminary release for early testing, see
documentation for details.
- Added "quadratic" option to :ref:`flexcomp/dof<body-flexcomp-dof>`. This type of fast :ref:`deformable<CDeformable>`
flex object is similar to the "trilinear" option, but it includes curved deformations.
- Raise an error if there are name collisions also during parsing.
- Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
- Added a new pipeline component function :ref:`mj_fwdKinematics` that combines all kinematics-like sub-components.
Relatedly, added a clarifying table at the top of the :ref:`Simulation Pipeline<Pipeline>` chapter.
- Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously returned by
:ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
- Added a new :ref:`mj_copyState` function that copies state components from one ``mjData`` to another.
- Tendon paths can now be queried from Python via ``MjsTendon.path``, the returned object
is iterable and indexing it will give the ``MjsWrap`` at the given index in the path.
- ``MjsWrap`` now exposes:
1. Introduced a major new feature: :ref:`sleeping islands<Sleeping>`. Preliminary release for early testing, see
documentation for details.
2. Added "quadratic" option to :ref:`flexcomp/dof<body-flexcomp-dof>`. This type of fast :ref:`deformable<CDeformable>`
flex object is similar to the "trilinear" option, but it includes curved deformations.
3. Raise an error if there are name collisions also during parsing.
4. Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
5. Added a new pipeline component function :ref:`mj_fwdKinematics` that combines all kinematics-like sub-components.
Relatedly, added a clarifying table at the top of the :ref:`Simulation Pipeline<Pipeline>` chapter.
6. Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously returned by
:ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
7. Added a new :ref:`mj_copyState` function that copies state components from one ``mjData`` to another.
8. Tendon paths can now be queried from Python via ``MjsTendon.path``, the returned object
is iterable and indexing it will give the ``MjsWrap`` at the given index in the path.
9. ``MjsWrap`` now exposes:
- ``type -> mujoco.mjtWrap``
- ``target -> MjsSite|MjsJoint|MjsGeom|None``
- ``sidesite -> MjsSite|None``
- ``coef -> real``
- ``divisor -> real``
10. ``type -> mujoco.mjtWrap``
11. ``target -> MjsSite|MjsJoint|MjsGeom|None``
12. ``sidesite -> MjsSite|None``
13. ``coef -> real``
14. ``divisor -> real``
- Non-breaking ABI changes:
15. Non-breaking ABI changes:
- :ref:`mjtSize` is now defined as ``int64_t`` rather than ``uint64_t`` to avoid future type-promotion bugs.
- :ref:`mj_sizeModel` now returns an :ref:`mjtSize` rather than an ``int``.
16. :ref:`mjtSize` is now defined as ``int64_t`` rather than ``uint64_t`` to avoid future type-promotion bugs.
17. :ref:`mj_sizeModel` now returns an :ref:`mjtSize` rather than an ``int``.
MJX
^^^
- ``warp-lang`` optional dependency is updated to 1.10.0. ``pmap`` now works with MuJoCo Warp from MJX.
18. ``warp-lang`` optional dependency is updated to 1.10.0. ``pmap`` now works with MuJoCo Warp from MJX.
.. admonition:: Breaking ABI changes
:class: attention
- ``mjx.Model.tex_data`` is now a numpy ndarray instead of a jax.Array, to avoid vmapping over this potentially
large array. This may break certain use-cases with Madrona MJX, but we are no longer supporting this codepath.
We will be migrating users to a Warp-based batch renderer.
19. ``mjx.Model.tex_data`` is now a numpy ndarray instead of a jax.Array, to avoid vmapping over this potentially
large array. This may break certain use-cases with Madrona MJX, but we are no longer supporting this codepath.
We will be migrating users to a Warp-based batch renderer.
Bug fixes
^^^^^^^^^
- Fixed a bug in the box-box distance computation. Reported by :github:user:`nvtw`.
20. Fixed a bug in the box-box distance computation. Reported by :github:user:`nvtw`.
Version 3.3.7 (October 13, 2025)
-----------------------------------
--------------------------------
General
^^^^^^^
python/mujoco/CMakeLists.txt
+1 -1
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@@ -173,7 +173,7 @@ findorfetch(
GIT_REPO
https://gitlab.com/libeigen/eigen
GIT_TAG
4033cfcc1dd45b3cdf7285afd93556f2cfbe9425
49623d0c4e1af3c680845191948d10f6d3e92f8a
TARGETS
Eigen3::Eigen
EXCLUDE_FROM_ALL