From 61973a33c967c2dd2dd3a074bca29f153c09b39a Mon Sep 17 00:00:00 2001 From: Gabe Oppenheimer Date: Tue, 14 Jan 2025 11:50:30 -0800 Subject: [PATCH] Update eigen3 and the changelog ahead of the 3.2.7 release. PiperOrigin-RevId: 715467319 Change-Id: I4a6a168bc981c976890c46b784e94805afc86323 --- cmake/MujocoDependencies.cmake | 2 +- doc/changelog.rst | 28 ++++++++++++++-------------- python/mujoco/CMakeLists.txt | 2 +- 3 files changed, 16 insertions(+), 16 deletions(-) diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake index 77a52decb6..23e4e71e75 100644 --- a/cmake/MujocoDependencies.cmake +++ b/cmake/MujocoDependencies.cmake @@ -39,7 +39,7 @@ set(MUJOCO_DEP_VERSION_qhull CACHE STRING "Version of `qhull` to be fetched." ) set(MUJOCO_DEP_VERSION_Eigen3 - d34b100c137ac931379ae5e1b888f16a9c8d6c72 + 7f2377859377da6f22152015c28b12c04752af77 CACHE STRING "Version of `Eigen3` to be fetched." ) diff --git a/doc/changelog.rst b/doc/changelog.rst index 38d5b39228..d9a9936d7f 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -2,17 +2,17 @@ Changelog ========= -Upcoming version (not yet released) ------------------------------------ +Version 3.2.7 (Jan 14, 2025) +---------------------------- Python bindings ^^^^^^^^^^^^^^^ -- :ref:`rollout` now features native multi-threading. If a sequence of ``MjData`` instances - of length ``nthread`` is passed in, ``rollout`` will automatically create a thread pool and parallelize - the computation. The thread pool can be reused across calls, but then the function cannot be called simultaneously - from multiple threads. To run multiple threaded rollouts simultaneously, use the new class ``Rollout`` which - encapsulates the thread pool. Contribution by :github:user:`aftersomemath`. -- Fix global namespace pollution when using ``mjpython`` (:github:issue:`2265`). +1. :ref:`rollout` now features native multi-threading. If a sequence of ``MjData`` instances + of length ``nthread`` is passed in, ``rollout`` will automatically create a thread pool and parallelize + the computation. The thread pool can be reused across calls, but then the function cannot be called simultaneously + from multiple threads. To run multiple threaded rollouts simultaneously, use the new class ``Rollout`` which + encapsulates the thread pool. Contribution by :github:user:`aftersomemath`. +2. Fix global namespace pollution when using ``mjpython`` (:github:issue:`2265`). General ^^^^^^^ @@ -20,16 +20,16 @@ General .. admonition:: Breaking API changes (minor) :class: attention - - The field ``mjData.qLDiagSqrtInv`` has been removed. This field is only required for the dual solvers. It is now - computed as-needed rather than unconditionally. Relatedly, added the corresponding argument to :ref:`mj_solveM2`. + 3. The field ``mjData.qLDiagSqrtInv`` has been removed. This field is only required for the dual solvers. It is now + computed as-needed rather than unconditionally. Relatedly, added the corresponding argument to :ref:`mj_solveM2`. -- Reduced the memory footprint of the PGS solver's :ref:`A matrix`. This was the last remaining dense-memory - allocation in MuJoCo, allowing for a significant reduction of the :ref:`dynamic memory allocation heuristic`. +4. Reduced the memory footprint of the PGS solver's :ref:`A matrix`. This was the last remaining dense-memory + allocation in MuJoCo, allowing for a significant reduction of the :ref:`dynamic memory allocation heuristic`. Bug fixes ^^^^^^^^^ -- Fixed a bug in the box-sphere collider, depth was incorrect for deep penetrations (:github:issue:`2206`). -- Fixed a bug in :ref:`mj_mulM2` and added a test. +5. Fixed a bug in the box-sphere collider, depth was incorrect for deep penetrations (:github:issue:`2206`). +6. Fixed a bug in :ref:`mj_mulM2` and added a test. Version 3.2.6 (Dec 2, 2024) --------------------------- diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt index b6d6c07814..4301dd0f6a 100644 --- a/python/mujoco/CMakeLists.txt +++ b/python/mujoco/CMakeLists.txt @@ -173,7 +173,7 @@ findorfetch( GIT_REPO https://gitlab.com/libeigen/eigen GIT_TAG - d34b100c137ac931379ae5e1b888f16a9c8d6c72 + 7f2377859377da6f22152015c28b12c04752af77 TARGETS Eigen3::Eigen EXCLUDE_FROM_ALL