diff --git a/doc/changelog.rst b/doc/changelog.rst index b425d9c6..312b24d7 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,7 +2,7 @@ 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` and :ref:`texturedir` have been moved - to `compiler.meshdir `__ and - `compiler.texturedir `__ - 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` and :ref:`texturedir` have been + moved to `compiler.meshdir `__ + and `compiler.texturedir `__ + 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` :math:`d` to mix the existing color with - :ref:`visual/rgba/constraint`. For spatial tendons, this visualization aid is active only if - no :ref:`material` is set and :ref:`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` :math:`d` to mix the existing color with + :ref:`visual/rgba/constraint`. For spatial tendons, this visualization aid is active only if + no :ref:`material` is set and :ref:`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) ----------------------------------