Prepare for v3.3.1 release.

PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02

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."
 )
 

doc/changelog.rst

@@ -1,27 +1,26 @@
 =========
 Changelog
 =========
-
+Version 3.3.1 (Apr 9, 2025)
-Upcoming version (not yet released)
+----------------------------
------------------------------------
 
 .. admonition:: Breaking API changes
    :class: attention
 
-   - The default value of the flag for toggling :ref:`internal flex contacts<flex-contact-internal>` was changed from
+   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.
+      "true" to "false". This feature has proven to be counterintuitive for users.
-   - All of the attach functions (``mjs_attachBody``, ``mjs_attachFrame``, ``mjs_attachToSite``,
+   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`.
+      ``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.
+3. 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
+4. Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
-  bodies when saving to XML.
+   bodies when saving to XML.
-- Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
+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.
+   composite to be the direct child of a frame.
-- Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
+6. Added :ref:`tendon actuator force limits<tendon-spatial-actuatorfrclimited>` and
-  :ref:`tendon actuator force sensor<sensor-tendonactuatorfrc>`.
+   :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
+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.
+   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
+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.
+   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.
+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`.
+   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|
+10. 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>`
+11. Added support for nameless :ref:`mjSpec` objects in the ``bind`` method, see the corresponding :ref:`section<PyMJCF>`
-  in the documentation.
+    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

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