Update the MuJoCo changelog for the 3.2.5 release
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Changelog
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Changelog
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=========
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=========
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Upcoming version (not yet released)
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Version 3.2.5 (Nov 4, 2024)
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-----------------------------------
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---------------------------
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Feature promotion
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Feature promotion
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^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^
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- The :doc:`Model Editing<programming/modeledit>` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an
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1. The :doc:`Model Editing<programming/modeledit>` framework afforded by :ref:`mjSpec`, introduced in 3.2.0 as an
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in-development feature, is now stable and recommended for general use.
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in-development feature, is now stable and recommended for general use.
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- The native convex collision detection pipeline introduced in 3.2.3 and enabled by the
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2. The native convex collision detection pipeline introduced in 3.2.3 and enabled by the
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:ref:`nativeccd<option-flag-nativeccd>` flag, is not yet the default but is already recommended for general use.
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:ref:`nativeccd<option-flag-nativeccd>` flag, is not yet the default but is already recommended for general use.
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Please try it when encountering collision-related problems and report any issues you encounter.
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Please try it when encountering collision-related problems and report any issues you encounter.
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General
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General
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^^^^^^^
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^^^^^^^
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- The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
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3. The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
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:ref:`inertia<asset-mesh-inertia>` attribute.
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:ref:`inertia<asset-mesh-inertia>` attribute.
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- The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed.
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4. The not-useful ``convexhull`` compiler option (to disable computation of mesh convex hulls) has been removed.
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- Removed the deprecated ``mju_rotVecMat``, ``mju_rotVecMatT`` and ``mjv_makeConnector`` functions.
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5. Removed the deprecated ``mju_rotVecMat``, ``mju_rotVecMatT`` and ``mjv_makeConnector`` functions.
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- Sorting now uses a faster, native sort function (fixes :github:issue:`1638`).
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6. Sorting now uses a faster, native sort function (fixes :github:issue:`1638`).
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- The PBR texture layers introduced in 3.2.1 were refactored from seperate sub-elements to a single
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7. The PBR texture layers introduced in 3.2.1 were refactored from seperate sub-elements to a single
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:ref:`layer<material-layer>` sub-element.
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:ref:`layer<material-layer>` sub-element.
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- The composite types box, cylinder, and sphere have been removed. Users should instead use the equivalent types
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8. The composite types box, cylinder, and sphere have been removed. Users should instead use the equivalent types
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available in :ref:`flexcomp<body-flexcomp>`.
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available in :ref:`flexcomp<body-flexcomp>`.
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MJX
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MJX
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^^^
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^^^
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- Added ``apply_ft``, ``jac``, and ``xfrc_accumulate`` as public functions.
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9. Added ``apply_ft``, ``jac``, and ``xfrc_accumulate`` as public functions.
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- Added ``TOUCH`` sensor.
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10. Added ``TOUCH`` sensor.
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- Added support for ``eq_active``. Fixes :github:issue:`2173`.
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11. Added support for ``eq_active``. Fixes :github:issue:`2173`.
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- Added ray intersection with ellipsoid.
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12. Added ray intersection with ellipsoid.
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Bug fixes
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Bug fixes
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^^^^^^^^^
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^^^^^^^^^
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- Fixed several bugs related to connect and weld constraints with site semantics (fixes :github:issue:`2179`, reported
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13. Fixed several bugs related to connect and weld constraints with site semantics (fixes :github:issue:`2179`, reported
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by :github:user:`yinfanyi`). The introduction of site specification to connects and welds in 3.2.3 conditionally
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by :github:user:`yinfanyi`). The introduction of site specification to connects and welds in 3.2.3 conditionally
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changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`, but these changes were not properly propagated in
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changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`, but these changes were not properly propagated in
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several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and
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several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and
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runtime enabling/disabling of such constraints.
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runtime enabling/disabling of such constraints.
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- Fixed a bug in slider-crank :ref:`transmission<geTransmission>`. The bug was introduced in 3.0.0.
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14. Fixed a bug in slider-crank :ref:`transmission<geTransmission>`. The bug was introduced in 3.0.0.
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- Fixed a bug in flex texture coordinates that prevented the correct allocation of textures in mjModel.
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15. Fixed a bug in flex texture coordinates that prevented the correct allocation of textures in mjModel.
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Documentation
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Documentation
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^^^^^^^^^^^^^
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^^^^^^^^^^^^^
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- Function headers in the :doc:`API reference <../APIreference/APIfunctions>` now link to their source definitions
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16. Function headers in the :doc:`API reference <../APIreference/APIfunctions>` now link to their source definitions
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in GitHub.
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in GitHub.
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Version 3.2.4 (Oct 15, 2024)
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Version 3.2.4 (Oct 15, 2024)
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----------------------------
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----------------------------
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