Release version 2.3.7.

PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec

doc/APIreference/APIglobals.rst

@@ -512,7 +512,7 @@ table below. Their names are in the format ``mjKEY_XXX``. They correspond to GLF
      - Maximum number of UI rectangles.
        Defined in `mjui.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
    * - ``mjVERSION_HEADER``
-     - 236
+     - 237
      - The version of the MuJoCo headers; changes with every release. This is an integer equal to 100x the software
        version, so 210 corresponds to version 2.1. Defined in  mujoco.h. The API function :ref:`mj_version` returns a
        number with the same meaning but for the compiled library.

doc/changelog.rst

@@ -2,43 +2,44 @@
 Changelog
 =========
 
-Upcoming version (not yet released)
------------------------------------
+Version 2.3.7 (July 20, 2023)
+-----------------------------
 
 General
 ^^^^^^^
 
-- Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
-- Added :ref:`joint-actuatorforcerange<body-joint-actuatorforcerange>` for clamping total actuator force at joints and
-  :ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force applied at a joint. The
-  most important use case for joint-level actuator force clamping is to ensure that
-  :ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.
-  See :ref:`CForceRange` for details.
-- Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute supports a formatted
-  `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (previously known as MIME type) string
-  used to determine the type of the asset file without resorting to pulling the type from the file extension.
-- Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and :ref:`integration<mjd_quatIntegrate>`
-  (rotation with an angular velocity). Derivatives are in the 3D tangent space.
-- Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
-  "from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
-- Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
+1. Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
+#. Added :ref:`joint-actuatorforcerange<body-joint-actuatorforcerange>` for clamping total actuator force at joints and
+   :ref:`sensor-jointactuatorfrc<sensor-jointactuatorfrc>` for measuring total actuation force applied at a joint. The
+   most important use case for joint-level actuator force clamping is to ensure that
+   :ref:`Cartesian actuator<actuator-general-refsite>` forces are realizable by individual motors at the joints.
+   See :ref:`CForceRange` for details.
+#. Added an optional ``content_type`` attribute to hfield, texture, and mesh assets. This attribute supports a formatted
+   `Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (previously known as MIME type) string
+   used to determine the type of the asset file without resorting to pulling the type from the file extension.
+#. Added analytic derivatives for quaternion :ref:`subtraction<mjd_subQuat>` and :ref:`integration<mjd_quatIntegrate>`
+   (rotation with an angular velocity). Derivatives are in the 3D tangent space.
+#. Added :ref:`mjv_connector` which has identical functionality to :ref:`mjv_makeConnector`, but with more convenient
+   "from-to" argument parametrization. :ref:`mjv_makeConnector` is now deprecated.
+#. Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.
 
 Python bindings
 ^^^^^^^^^^^^^^^
 
-- The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``, and
-  ``update_texture`` methods to allow users to update renderable assets.
-  (`#812 <https://github.com/deepmind/mujoco/issues/812>`_, `#958 <https://github.com/deepmind/mujoco/issues/958>`_,
-  `#965 <https://github.com/deepmind/mujoco/issues/965>`_)
-- Allow a custom keyboard event callback to be specified in the :ref:`passive viewer<PyViewerPassive>`.
-  (`#766 <https://github.com/deepmind/mujoco/issues/766>`_)
-- Fix GLFW crash when Python exits while the passive viewer is running.
-  (`#790 <https://github.com/deepmind/mujoco/issues/790>`_)
+7. The :ref:`passive viewer<PyViewerPassive>` handle now exposes ``update_hfield``, ``update_mesh``, and
+   ``update_texture`` methods to allow users to update renderable assets.
+   (`#812 <https://github.com/deepmind/mujoco/issues/812>`_, `#958 <https://github.com/deepmind/mujoco/issues/958>`_,
+   `#965 <https://github.com/deepmind/mujoco/issues/965>`_)
+#. Allow a custom keyboard event callback to be specified in the :ref:`passive viewer<PyViewerPassive>`.
+   (`#766 <https://github.com/deepmind/mujoco/issues/766>`_)
+#. Fix GLFW crash when Python exits while the passive viewer is running.
+   (`#790 <https://github.com/deepmind/mujoco/issues/790>`_)
 
 Models
 ^^^^^^
 
-- Added simple `car <https://github.com/deepmind/mujoco/blob/main/model/car/car.xml>`__ example model.
+10. Added simple `car <https://github.com/deepmind/mujoco/blob/main/model/car/car.xml>`__ example model.
+
 
 Version 2.3.6 (June 20, 2023)
 -----------------------------

doc/unity.rst

@@ -30,14 +30,14 @@ _____
 
 The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
 a trusted binary. Then, copy the dynamic library file from
-``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.6.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.2.3.7.dylib`` (it can be
 found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
 
 Linux
 _____
 
 Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
-``~/.mujoco/mujoco-2.3.6/lib/libmujoco.so.2.3.6`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-2.3.7/lib/libmujoco.so.2.3.7`` and rename it as ``libmujoco.so``.
 
 Windows
 _______