From d39ed1d3c8890f30037cc454a0f415f506cf907f Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Mon, 18 Dec 2023 10:04:25 -0800 Subject: [PATCH] Update changelog. PiperOrigin-RevId: 591932297 Change-Id: I9131400fee6839e9311baf28a069fc1e7237ee86 --- doc/changelog.rst | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index 5a90b5f6..016d028b 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,9 +2,23 @@ Changelog ========= -Version 3.1.0 (December 12, 2023) + +Upcoming version (not yet released) ----------------------------------- +Bug fixes +^^^^^^^^^ +- Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts is one box was deeply embedded in the + other. +- Fixed a bug in :ref:`simulate` where the "LOADING..." message was not showing correctly. +- Fixed a crash in the Python :ref:`passive viewer`, when used with models containing Flex objects. +- Fixed a bug in MJX where ``site_xmat`` was ignored in ``get_data`` and ``put_data`` +- Fixed a bug in MJX where ``efc_address`` was sometimes incorrectly calculated in ``get_data``. + + +Version 3.1.0 (December 12, 2023) +--------------------------------- + General ^^^^^^^ 1. Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function @@ -39,7 +53,7 @@ Bug fixes ^^^^^^^^^ 8. Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped. Before this fix such actuators could lead to non-conservation of momentum. -9. Fix bug that prevented using flex with the :ref:`passive viewer`. +9. Fix bug that prevented using flex with :ref:`simulate`. 10. Fix bug that prevented the use of elasticity plugins in combination with pinned flex vertices. 11. Release Python wheels targeting macOS 10.16 to support x86_64 systems where SYSTEM_VERSION_COMPAT is set. The minimum supported version is still 11.0, but we release these wheels to fix compatibility for those users. See