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Prepare for v3.3.1 release.

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PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02
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Gabe Oppenheimer
2025-04-09 08:39:27 -07:00
committed by Copybara-Service
parent 5c12ea871f
commit da1850760a
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doc/changelog.rst
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=========
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<flex-contact-internal>` 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<flex-contact-internal>` 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<tendon-spatial-armature>`: inertia associated with changes in tendon length.
- Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
bodies when saving to XML.
- Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
composite to be the direct child of a frame.
- Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
:ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
3. Added :ref:`tendon armature<tendon-spatial-armature>`: inertia associated with changes in tendon length.
4. Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
bodies when saving to XML.
5. Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
composite to be the direct child of a frame.
6. Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
:ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
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<PyMJCF>`
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<PyMJCF>`
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