From 32fa61731e75ae23f11e8f6c50894fcb9271f137 Mon Sep 17 00:00:00 2001 From: Gabe Oppenheimer Date: Wed, 10 Apr 2024 10:00:20 -0700 Subject: [PATCH] Update the MuJoCo changelog for the 3.1.4 release PiperOrigin-RevId: 623527462 Change-Id: I45f76d57198f4906e932463d76287b0e394b9273 --- doc/changelog.rst | 33 ++++++++++++--------------------- 1 file changed, 12 insertions(+), 21 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index ab6f970e9c..3b1d9b92d4 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,20 +2,8 @@ Changelog ========= -Upcoming version (not yet released) ------------------------------------ - -General -^^^^^^^ -1. Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion. - -MJX -^^^ -2. Added support for userdata. -3. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs). - -Version 3.1.4 (April 8th, 2024) -------------------------------- +Version 3.1.4 (April 10th, 2024) +-------------------------------- General ^^^^^^^ @@ -41,18 +29,21 @@ General which demostrates Cartesian actuation of an arm, has been updated to use this attribute. 3. Added support for gmsh format 2.2, as generated by e.g. `fTetwild `__. +4. Added :ref:`mju_euler2Quat` for converting an Euler-angle sequence to quaternion. MJX ^^^ -4. Improved performance of SAT for convex collisions. -5. Fixed bug for sphere/capsule-convex deep penetration. -6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``. -7. Throw an error for margin/gap for convex mesh collisions, since they are not supported. -8. Added ellipsoid plane collisions. +5. Improved performance of SAT for convex collisions. +6. Fixed bug for sphere/capsule-convex deep penetration. +7. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``. +8. Throw an error for margin/gap for convex mesh collisions, since they are not supported. +9. Added ellipsoid plane collisions. +10. Added support for userdata. +11. Added ellipsoid-ellipsoid and ellipsoid-capsule collisions using signed distance functions (SDFs). Simulate ^^^^^^^^ -9. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the +12. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the :ref:`invdiscrete` or the (now removed) ``sensornoise`` flags would actually toggle the other flag. @@ -63,7 +54,7 @@ Python bindings :align: right :width: 240px -10. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID). +13. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID). The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse Kinematics, is available here: |ls_colab| |br| The video on the right shows example clips from the tutorial.