diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake index cec1570a..34be423f 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake @@ -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." ) diff --git a/doc/changelog.rst b/doc/changelog.rst index ab462204..193f1048 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -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`. Preliminary release for early testing, see - documentation for details. -- Added "quadratic" option to :ref:`flexcomp/dof`. This type of fast :ref:`deformable` - 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` 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`. Preliminary release for early testing, see + documentation for details. +2. Added "quadratic" option to :ref:`flexcomp/dof`. This type of fast :ref:`deformable` + 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` 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 ^^^^^^^ diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index ecd0d628..d5496d82 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -173,7 +173,7 @@ findorfetch( GIT_REPO https://gitlab.com/libeigen/eigen GIT_TAG - 4033cfcc1dd45b3cdf7285afd93556f2cfbe9425 + 49623d0c4e1af3c680845191948d10f6d3e92f8a TARGETS Eigen3::Eigen EXCLUDE_FROM_ALL