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Update changelog to version 3.3.7 and reformat lists.

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We won't be bumping the minor version until the next release.

PiperOrigin-RevId: 818748607
Change-Id: I34d0ac8836eeb6512f8dde112980f49f17125400
This commit is contained in:
Gabe Oppenheimer
2025-10-13 11:14:35 -07:00
committed by Copybara-Service
parent ae1febd83f
commit f7708954cb
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Changelog
=========
Version 3.4.0 (October 13, 2025)
Version 3.3.7 (October 13, 2025)
-----------------------------------
General
@@ -11,41 +11,41 @@ General
.. admonition:: Breaking API changes
:class: attention
- The mjSpec C API fields :ref:`meshdir<compiler-meshdir>` and :ref:`texturedir<compiler-texturedir>` have been moved
to `compiler.meshdir <https://github.com/google-deepmind/mujoco/blob/0baac589993220095cf09e153f194f35ca0f0738/include/mujoco/mjspec.h#L154>`__ and
`compiler.texturedir <https://github.com/google-deepmind/mujoco/blob/0baac589993220095cf09e153f194f35ca0f0738/include/mujoco/mjspec.h#L155>`__
respectively. For backwards compatibility, the old fields are still available in the Python API but will be removed
in a future release.
1. The mjSpec C API fields :ref:`meshdir<compiler-meshdir>` and :ref:`texturedir<compiler-texturedir>` have been
moved to `compiler.meshdir <https://github.com/google-deepmind/mujoco/blob/0baac589993220095cf09e153f194f35ca0f0738/include/mujoco/mjspec.h#L154>`__
and `compiler.texturedir <https://github.com/google-deepmind/mujoco/blob/0baac589993220095cf09e153f194f35ca0f0738/include/mujoco/mjspec.h#L155>`__
respectively. For backwards compatibility, the old fields are still available in the Python API but will be
removed in a future release.
**Migration:** Replace ``meshdir`` and ``texturedir`` with ``compiler.meshdir`` and ``compiler.texturedir``.
- Remove ``_full_compat`` from ``mjx.put_data`` and ``mjx.put_model``.
**Migration:** Replace ``meshdir`` and ``texturedir`` with ``compiler.meshdir`` and ``compiler.texturedir``.
2. Remove ``_full_compat`` from ``mjx.put_data`` and ``mjx.put_model``.
- Joint decorators and spatial tendons which have limits defined and whose current value (angle or length) exceeds the
limit, are recolored by using the :ref:`constraint impedance<soParameters>` :math:`d` to mix the existing color with
:ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization aid is active only if
no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.
- Added :ref:`mju_getXMLDependencies` for computing a list of unique asset dependencies from an MJCF file.
- Added the code sample ``dependencies`` which provides command line utility for printing the result of :ref:`mju_getXMLDependencies`.
- The minimum C++ standard required to compile MuJoCo is now C++20, this has been the case within Google since 2023 but
the CMake update was forgotten.
3. Joint decorators and spatial tendons which have limits defined and whose current value (angle or length) exceeds the
limit, are recolored by using the :ref:`constraint impedance<soParameters>` :math:`d` to mix the existing color with
:ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization aid is active only if
no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.
4. Added :ref:`mju_getXMLDependencies` for computing a list of unique asset dependencies from an MJCF file.
5. Added the code sample ``dependencies`` which provides command line utility for printing the result of :ref:`mju_getXMLDependencies`.
6. The minimum C++ standard required to compile MuJoCo is now C++20, this has been the case within Google since 2023
but the CMake update was forgotten.
.. admonition:: Breaking ABI changes
:class: attention
- The attribute ``mjOption.apirate`` was unused and has been removed.
- MJX ``nconmax`` and ``njmax`` fields in ``mjx.make_data`` now default to ``None`` instead of -1.
7. The attribute ``mjOption.apirate`` was unused and has been removed.
8. MJX ``nconmax`` and ``njmax`` fields in ``mjx.make_data`` now default to ``None`` instead of -1.
MJX
^^^
- Fix :github:issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
- Pull in MuJoCo Warp updatest to ``io.py``, and use ``naconmax`` instead of ``naconmax`` to set the maximum number of
contacts over all environments.
9. Fix :github:issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
10. Pull in MuJoCo Warp update to ``io.py``, and use ``naconmax`` instead of ``nconmax`` to set the maximum number
of contacts over all environments.
Bug fixes
^^^^^^^^^
- Fix :github:issue:`2881`, :at:`fitaabb` was adding an offset to the mesh and applying an incorrect frame
transformation. Also, unify the meaning of fitting a geom to a mesh AABB: it now means to find the smallest geom such
that its AABB contains the mesh AABB.
11. Fix :github:issue:`2881`, :at:`fitaabb` was adding an offset to the mesh and applying an incorrect frame
transformation. Also, unify the meaning of fitting a geom to a mesh AABB: it now means to find the smallest geom
such that its AABB contains the mesh AABB.
Version 3.3.6 (September 15, 2025)
----------------------------------