Merge branch 'google-deepmind:main' into main

doc/changelog.rst

@@ -14,12 +14,30 @@ General
 
 MJX
 ^^^
-3. Added cylinder plane collisions.
+.. admonition:: Breaking API changes
+   :class: attention
+
+   3. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
+      functionality.
+
+      **Migration:** Use ``mjx.get_data_into`` instead of ``mjx.device_get_into``, and ``mjx.put_data`` instead of
+      ``mjx.device_put``.
+
+4. Added cylinder plane collisions.
+5. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
+6. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
+7. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
+8. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
+9. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
+   geoms.
+10. Fixed a bug where capsules might be ignored in broadphase colliision checking.
 
 Bug fixes
 ^^^^^^^^^
-4. Defaults of lights were not being saved, now fixed.
-5. Prevent overwriting of frame names by body names when saving an XML.  Bug introduced in 3.1.4.
+11. Defaults of lights were not being saved, now fixed.
+12. Prevent overwriting of frame names by body names when saving an XML.  Introduced in 3.1.4.
+13. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
+    not optional.
 
 
 Version 3.1.4 (April 10th, 2024)

doc/models.rst

@@ -129,3 +129,17 @@ Drones
      - Preview
    * - `Skydio X2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2>`_
      - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/skydio_x2/x2.png
+   * - `Bitcraze Crazyflie 2 <https://github.com/google-deepmind/mujoco_menagerie/tree/main/bitcraze_crazyflie_2>`_
+     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/bitcraze_crazyflie_2/cf2.png
+
+
+Biomechanical
+^^^^^^^^^^^^^
+
+.. list-table::
+   :header-rows: 1
+
+   * - Model
+     - Preview
+   * - `Fruitfly <https://github.com/google-deepmind/mujoco_menagerie/tree/main/flybody>`_
+     - .. image:: https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/main/flybody/flybody.png