From da1850760ae019aa88610385bdd51e1176d0beec Mon Sep 17 00:00:00 2001 From: Gabe Oppenheimer Date: Wed, 9 Apr 2025 08:39:27 -0700 Subject: [PATCH] Prepare for v3.3.1 release. PiperOrigin-RevId: 745602958 Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02 --- cmake/MujocoDependencies.cmake | 4 +-- doc/changelog.rst | 45 +++++++++++++++++----------------- python/mujoco/CMakeLists.txt | 4 +-- 3 files changed, 26 insertions(+), 27 deletions(-) diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake index 004aedc4..9d5dc01c 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake @@ -39,12 +39,12 @@ set(MUJOCO_DEP_VERSION_qhull CACHE STRING "Version of `qhull` to be fetched." ) set(MUJOCO_DEP_VERSION_Eigen3 - 66f7f51b7e069d0a03a21157fa60b24aece69aeb + 464c1d097891a1462ab28bf8bb763c1683883892 CACHE STRING "Version of `Eigen3` to be fetched." ) set(MUJOCO_DEP_VERSION_abseil - 9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f # LTS 20250127.0 + d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1 CACHE STRING "Version of `abseil` to be fetched." ) diff --git a/doc/changelog.rst b/doc/changelog.rst index f2590378..fa30391f 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -1,27 +1,26 @@ ========= Changelog ========= - -Upcoming version (not yet released) ------------------------------------ +Version 3.3.1 (Apr 9, 2025) +---------------------------- .. admonition:: Breaking API changes :class: attention - - The default value of the flag for toggling :ref:`internal flex contacts` was changed from - "true" to "false". This feature has proven to be counterintuitive for users. - - All of the attach functions (``mjs_attachBody``, ``mjs_attachFrame``, ``mjs_attachToSite``, - ``mjs_attachFrameToSite``) have been removed and replaced by a single function :ref:`mjs_attach`. + 1. The default value of the flag for toggling :ref:`internal flex contacts` was changed from + "true" to "false". This feature has proven to be counterintuitive for users. + 2. All of the attach functions (``mjs_attachBody``, ``mjs_attachFrame``, ``mjs_attachToSite``, + ``mjs_attachFrameToSite``) have been removed and replaced by a single function :ref:`mjs_attach`. General ^^^^^^^ -- Added :ref:`tendon armature`: inertia associated with changes in tendon length. -- Added the :ref:`compiler/saveinertial` flag, writing explicit inertial clauses for all - bodies when saving to XML. -- Added :ref:`orientation` attribute to :ref:`composite`. Moreover, allow the - composite to be the direct child of a frame. -- Added :ref:`tendon actuator force limits` and - :ref:`tendon actuator force sensor`. +3. Added :ref:`tendon armature`: inertia associated with changes in tendon length. +4. Added the :ref:`compiler/saveinertial` flag, writing explicit inertial clauses for all + bodies when saving to XML. +5. Added :ref:`orientation` attribute to :ref:`composite`. Moreover, allow the + composite to be the direct child of a frame. +6. Added :ref:`tendon actuator force limits` and + :ref:`tendon actuator force sensor`. MJX ^^^ @@ -29,12 +28,12 @@ MJX Bug fixes ^^^^^^^^^ -- :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to - which the Jacobian is computed, now fixed. -- Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set when attaching an - mjSpec to a frame or a site. -- Fixed a bug that caused shadow rendering to flicker on platforms (e.g., MacOS) that do not support ARB_clip_control. - Fixed in collaboration with :github:user:`aftersomemath`. +7. :ref:`mj_jacDot` was missing a term that accounts for the motion of the point with respect to + which the Jacobian is computed, now fixed. +8. Fixed a bug that caused the parent frame of elements in the child worldbody to be incorrectly set when attaching an + mjSpec to a frame or a site. +9. Fixed a bug that caused shadow rendering to flicker on platforms (e.g., MacOS) that do not support ARB_clip_control. + Fixed in collaboration with :github:user:`aftersomemath`. Python bindings ^^^^^^^^^^^^^^^ @@ -44,9 +43,9 @@ Python bindings :align: right :width: 240px -- Added examples of procedural model creation to the Model Editing tutorial: |mjspec_colab| -- Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding :ref:`section` - in the documentation. +10. Added examples of procedural model creation to the Model Editing tutorial: |mjspec_colab| +11. Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding :ref:`section` + in the documentation. .. |mjspec_colab| image:: https://colab.research.google.com/assets/colab-badge.svg :target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/mjspec.ipynb diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index 03e45b95..2a59248e 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -140,7 +140,7 @@ findorfetch( GIT_REPO https://github.com/abseil/abseil-cpp GIT_TAG - 9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f # LTS 20250127.0 + d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1 TARGETS ${MUJOCO_PYTHON_ABSL_TARGETS} EXCLUDE_FROM_ALL @@ -173,7 +173,7 @@ findorfetch( GIT_REPO https://gitlab.com/libeigen/eigen GIT_TAG - 66f7f51b7e069d0a03a21157fa60b24aece69aeb + 464c1d097891a1462ab28bf8bb763c1683883892 TARGETS Eigen3::Eigen EXCLUDE_FROM_ALL