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CI issues resolved, we're going ahead with the 3.4.0 release.

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PiperOrigin-RevId: 840763554
Change-Id: Ib50b00ec43d8713821f98a131fb19640810ea777
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Gabe Oppenheimer
2025-12-05 09:36:42 -08:00
committed by Copybara-Service
parent fcdacd0690
commit e55fff5dea
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doc/changelog.rst
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@@ -2,9 +2,8 @@
Changelog
=========
Upcoming version (not yet released)
-----------------------------------
Version 3.4.0 (December 5, 2025)
--------------------------------
General
^^^^^^^
@@ -13,20 +12,20 @@ General
:align: right
:width: 35%
- Introduced a major new feature: :ref:`sleeping islands<Sleeping>`. Preliminary release for early testing, see
documentation for details.
- Added "quadratic" option to :ref:`flexcomp/dof<body-flexcomp-dof>`. This type of fast :ref:`deformable<CDeformable>`
flex object is similar to the "trilinear" option, but it includes curved deformations.
- Raise an error if there are name collisions also during parsing.
- Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
- Added a new pipeline component function :ref:`mj_fwdKinematics` that combines all kinematics-like sub-components.
Relatedly, added a clarifying table at the top of the :ref:`Simulation Pipeline<Pipeline>` chapter.
- Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously returned by
:ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
- Added a new :ref:`mj_copyState` function that copies state components from one ``mjData`` to another.
- Tendon paths can now be queried from Python via ``MjsTendon.path``, the returned object
is iterable and indexing it will give the ``MjsWrap`` at the given index in the path.
- ``MjsWrap`` now exposes:
1. Introduced a major new feature: :ref:`sleeping islands<Sleeping>`. Preliminary release for early testing, see
documentation for details.
2. Added "quadratic" option to :ref:`flexcomp/dof<body-flexcomp-dof>`. This type of fast :ref:`deformable<CDeformable>`
flex object is similar to the "trilinear" option, but it includes curved deformations.
3. Raise an error if there are name collisions also during parsing.
4. Increase Windows stack size to 16MB to enable models with deep nested body hierarchies.
5. Added a new pipeline component function :ref:`mj_fwdKinematics` that combines all kinematics-like sub-components.
Relatedly, added a clarifying table at the top of the :ref:`Simulation Pipeline<Pipeline>` chapter.
6. Added a new :ref:`mj_extractState` function that allows a subset of a state that was previously returned by
:ref:`mj_getState` to be extracted without having to be written back into ``mjData`` first.
7. Added a new :ref:`mj_copyState` function that copies state components from one ``mjData`` to another.
8. Tendon paths can now be queried from Python via ``MjsTendon.path``, the returned object
is iterable and indexing it will give the ``MjsWrap`` at the given index in the path.
9. ``MjsWrap`` now exposes:
- ``type -> mujoco.mjtWrap``
- ``target -> MjsSite|MjsJoint|MjsGeom|None``
@@ -34,15 +33,15 @@ General
- ``coef -> real``
- ``divisor -> real``
- Non-breaking ABI changes:
10. Non-breaking ABI changes:
- :ref:`mjtSize` is now defined as ``int64_t`` rather than ``uint64_t`` to avoid future type-promotion bugs.
- :ref:`mj_sizeModel` now returns an :ref:`mjtSize` rather than an ``int``.
- :ref:`mjtSize` is now defined as ``int64_t`` rather than ``uint64_t`` to avoid future type-promotion bugs.
- :ref:`mj_sizeModel` now returns an :ref:`mjtSize` rather than an ``int``.
MJX
^^^
- ``warp-lang`` optional dependency is updated to 1.10.0. ``pmap`` now works with MuJoCo Warp from MJX.
11. ``warp-lang`` optional dependency is updated to 1.10.0. ``pmap`` now works with MuJoCo Warp from MJX.
.. admonition:: Breaking ABI changes
:class: attention
@@ -55,7 +54,7 @@ MJX
Bug fixes
^^^^^^^^^
- Fixed a bug in the box-box distance computation. Reported by :github:user:`nvtw`.
12. Fixed a bug in the box-box distance computation. Reported by :github:user:`nvtw`.
Version 3.3.7 (October 13, 2025)
--------------------------------