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Release notes for 3.3.3 + update git hashes.

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- Upgraded dependencies versions.
- Added release date for 3.3.3
- Reordered changelog to be a numbered list.

PiperOrigin-RevId: 769808336
Change-Id: Iffa074f52ef2e3f9d450ce6973a7e85980417367
This commit is contained in:
Kevin Sayed
2025-06-10 14:48:28 -07:00
committed by Copybara-Service
parent e5631c0bab
commit f978b4eea3
3 changed files with 27 additions and 27 deletions
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doc/changelog.rst
+20 -20
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@@ -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<body-flexcomp>` and is active depending on
the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
- Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
:ref:`type<body-light-type>` field (of type :ref:`mjtLightType<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<tendon-spatial-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<compiler-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<body-flexcomp>` and is active depending on
the :ref:`elastic2d<flexcomp-elasticity-elastic2d>` attribute (off by default).
3. Replaced the :ref:`directional<body-light-directional>` (boolean) field for lights with a
:ref:`type<body-light-type>` field (of type :ref:`mjtLightType<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<tendon-spatial-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<compiler-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)
------------------------------