|
2 | 2 | Changelog |
3 | 3 | ========= |
4 | 4 |
|
5 | | -Upcoming version (not yet released) |
| 5 | +Version 3.3.5 (August 8, 2025) |
6 | 6 | ----------------------------------- |
7 | 7 |
|
8 | 8 | General |
9 | 9 | ^^^^^^^ |
10 | | -- Added the :ref:`insidesite<sensor-insidesite>` sensor, for checking if an object is inside the volume of a site. |
11 | | - It is useful for triggering events in surrounding environment logic. |
12 | | -- Added the :ref:`contact<sensor-contact>` sensor, for reporting contact information according to user-defined criteria. |
13 | | - The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is useful |
14 | | - as input to learning-based agents and in environment logic. |
15 | | -- Added the :ref:`tactile<sensor-tactile>` sensor, for measuring the penetration depth between two objects at given |
16 | | - points and the sliding velocities in the tangent frame. The sensor reports tactile data only when colliding with SDFs. |
17 | | -- Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now |
18 | | - supported natively in mjModel. |
19 | | -- Removed ``oct_depth`` from :ref:`mjvOption` (unused). |
20 | | -- Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`. |
21 | | -- Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which |
22 | | - combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to |
23 | | - :ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use |
24 | | - :ref:`mj_makeM` instead. |
| 10 | +1. Added the :ref:`insidesite<sensor-insidesite>` sensor, for checking if an object is inside the volume of a site. |
| 11 | + It is useful for triggering events in surrounding environment logic. |
| 12 | +2. Added the :ref:`contact<sensor-contact>` sensor, for reporting contact information according to user-defined |
| 13 | + criteria. |
| 14 | + The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is |
| 15 | + useful as input to learning-based agents and in environment logic. |
| 16 | +3. Added the :ref:`tactile<sensor-tactile>` sensor, for measuring the penetration depth between two objects at given |
| 17 | + points and the sliding velocities in the tangent frame. The sensor reports tactile data only when colliding with |
| 18 | + SDFs. |
| 19 | +4. Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now |
| 20 | + supported natively in mjModel. |
| 21 | +5. Removed ``oct_depth`` from :ref:`mjvOption` (unused). |
| 22 | +6. Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`. |
| 23 | +7. Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which |
| 24 | + combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to |
| 25 | + :ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use |
| 26 | + :ref:`mj_makeM` instead. |
25 | 27 |
|
26 | 28 | .. admonition:: Breaking API changes |
27 | 29 | :class: attention |
28 | 30 |
|
29 | | - - Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH<mjtVisFlag>`. |
| 31 | + 8. Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH<mjtVisFlag>`. |
30 | 32 |
|
31 | 33 | Bug fixes |
32 | 34 | ^^^^^^^^^ |
33 | | -- Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was caused |
34 | | - by adding to the lists only the objects that belong to the tree of the requested body, but this causes to skip objects |
35 | | - that were attached, since they belong to the tree of the parent. |
36 | | -- Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a |
37 | | - :ref:`contact pair<contact-pair>`. |
| 35 | +9. Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was |
| 36 | + caused by adding to the lists only the objects that belong to the tree of the requested body, but this causes to |
| 37 | + skip objects that were attached, since they belong to the tree of the parent. |
| 38 | +10. Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a |
| 39 | + :ref:`contact pair<contact-pair>`. |
38 | 40 |
|
39 | 41 | Python |
40 | 42 | ^^^^^^ |
41 | | -- On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag. Previously MuJoCo |
42 | | - wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024. |
| 43 | +11. On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag. Previously MuJoCo |
| 44 | + wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024. |
43 | 45 |
|
44 | 46 | MJX |
45 | 47 | ^^^ |
46 | | -- Add Warp as a backend implementation for MJX. The implementation can be specified via |
47 | | - ``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires |
48 | | - a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in |
49 | | - "beta" and some bugs are expected. |
| 48 | +12. Add Warp as a backend implementation for MJX. The implementation can be specified via |
| 49 | + ``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires |
| 50 | + a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in |
| 51 | + "beta" and some bugs are expected. |
50 | 52 |
|
51 | 53 | Version 3.3.4 (July 8, 2025) |
52 | 54 | ---------------------------- |
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