diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake index 9d5dc01c..78522705 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake @@ -15,7 +15,7 @@ # Build configuration for third party libraries used in MuJoCo. set(MUJOCO_DEP_VERSION_lodepng - b4ed2cd7ecf61d29076169b49199371456d4f90b + 17d08dd26cac4d63f43af217ebd70318bfb8189c CACHE STRING "Version of `lodepng` to be fetched." ) set(MUJOCO_DEP_VERSION_tinyxml2 @@ -35,21 +35,21 @@ set(MUJOCO_DEP_VERSION_ccd CACHE STRING "Version of `ccd` to be fetched." ) set(MUJOCO_DEP_VERSION_qhull - 0c8fc90d2037588024d9964515c1e684f6007ecc + c7bee59d068a69f427b1273e71cdc5bc455a5bdd CACHE STRING "Version of `qhull` to be fetched." ) set(MUJOCO_DEP_VERSION_Eigen3 - 464c1d097891a1462ab28bf8bb763c1683883892 + d0b490ee091629068e0c11953419eb089f9e6bb2 CACHE STRING "Version of `Eigen3` to be fetched." ) set(MUJOCO_DEP_VERSION_abseil - d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1 + bc257a88f7c1939f24e0379f14a3589e926c950c # LTS 20250512.0 CACHE STRING "Version of `abseil` to be fetched." ) set(MUJOCO_DEP_VERSION_gtest - 6910c9d9165801d8827d628cb72eb7ea9dd538c5 # v1.16.0 + 52eb8108c5bdec04579160ae17225d66034bd723 # v1.17.0 CACHE STRING "Version of `gtest` to be fetched." ) diff --git a/doc/changelog.rst b/doc/changelog.rst index 589fb67b..6469e9f4 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,30 +2,30 @@ Changelog ========= -Upcoming version (not yet release) ----------------------------------- +Version 3.3.3 (June 10, 2025) +----------------------------- General ^^^^^^^ -- Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the - solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported). -- Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp` and is active depending on - the :ref:`elastic2d` attribute (off by default). -- Replaced the :ref:`directional` (boolean) field for lights with a - :ref:`type` field (of type :ref:`mjtLightType`) to allow for additional lighting - types. -- Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the - introduction in 3.3.1 of :ref:`tendon armature`. In addition to the traditional - ``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix. -- Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec. -- Removed the limitation of :ref:`fusestatic` to models which contain no references. The fusestatic - flag will now fuse all bodies which are not referenced and ignore bodies which are referenced. +1. Refactored island implementation so that island data is memory-contiguous. This speeds up island processing in the + solver and clears the way for the addition of the Newton and PGS solvers (currently only CG is supported). +2. Removed the :at:`shell` plugin. This is now supported by :ref:`flexcomp` and is active depending on + the :ref:`elastic2d` attribute (off by default). +3. Replaced the :ref:`directional` (boolean) field for lights with a + :ref:`type` field (of type :ref:`mjtLightType`) to allow for additional lighting + types. +4. Added new sub-component :ref:`mj_makeM` which combines the :ref:`mj_crb` call with additional logic to support the + introduction in 3.3.1 of :ref:`tendon armature`. In addition to the traditional + ``mjData.qM``, :ref:`mj_makeM` also computes ``mjData.M``, a CSR representation of the same matrix. +5. Added a new function :ref:`mj_copyBack` to copy real-valued arrays in an mjModel to a compatible mjSpec. +6. Removed the limitation of :ref:`fusestatic` to models which contain no references. The fusestatic + flag will now fuse all bodies which are not referenced and ignore bodies which are referenced. Simulate ^^^^^^^^ -- The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and - ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel` - and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization. +7. The struct ``mjv_sceneState`` has been removed. This struct was used for partial synchronization of ``mjModel`` and + ``mjData`` when the Python viewer is used in passive mode. This functionality is now provided by :ref:`mjv_copyModel` + and :ref:`mjv_copyData`, which don't copy arrays which are not required for visualization. .. image:: images/changelog/procedural_terrain_generation.png :width: 33% @@ -34,11 +34,11 @@ Simulate Python bindings ^^^^^^^^^^^^^^^ -- Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab| +8. Added examples of procedural terrain generation to the Model Editing tutorial: |mjspec_colab| MJX ^^^ -- Added tendon armature. +9. Added tendon armature. Version 3.3.2 (April 28, 2025) ------------------------------ diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index b1aec9ed..e103f9c0 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -140,7 +140,7 @@ findorfetch( GIT_REPO https://github.com/abseil/abseil-cpp GIT_TAG - d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1 + bc257a88f7c1939f24e0379f14a3589e926c950c # LTS 20250512.0 TARGETS ${MUJOCO_PYTHON_ABSL_TARGETS} EXCLUDE_FROM_ALL @@ -173,7 +173,7 @@ findorfetch( GIT_REPO https://gitlab.com/libeigen/eigen GIT_TAG - 464c1d097891a1462ab28bf8bb763c1683883892 + d0b490ee091629068e0c11953419eb089f9e6bb2 TARGETS Eigen3::Eigen EXCLUDE_FROM_ALL