Version 2.3.7

[saran-t]

General

1. Added primitive collider for sphere-cylinder contacts, previously this pair used the generic convex-convex collider.
2. Added joint-actuatorforcerange for clamping total actuator force at joints and sensor-jointactuatorfrc<sensor-jointactuatorfrc> for measuring total actuation force applied at a joint. The most important use case for joint-level actuator force clamping is to ensure that Cartesian actuator forces are realizable by individual motors at the joints. See Actuator force clamping for details.
3. Added an optional content_type attribute to hfield, texture, and mesh assets. This attribute supports a formatted Media Type (previously known as MIME type) string used to determine the type of the asset file without resorting to pulling the type from the file extension.
4. Added analytic derivatives for quaternion subtraction and integration (rotation with an angular velocity). Derivatives are in the 3D tangent space.
5. Added mjv_connector which has identical functionality to mjv_makeConnector, but with more convenient "from-to" argument parametrization. mjv_makeConnector is now deprecated.
6. Bumped oldest supported MacOS from version 10.12 to 11. MacOS 11 is the oldest version still maintained by Apple.

Python bindings

7. The passive viewer handle now exposes update_hfield, update_mesh, and update_texture methods to allow users to update renderable assets. (Runtime HField geometry change not reflected visually #812 , Dynamically Update Assets (height field) #958, Cant use mjr_uploadHField when using passive viewer because of missing context #965)
8. Allow a custom keyboard event callback to be specified in the passive viewer. (Getting the GLFW context of "Simulate" in Python #766)
9. Fix GLFW crash when Python exits while the passive viewer is running. (Python viewer.launch.passive() (v 2.3.3) - Crush problem #790)

Models

10. Added simple car example model.

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This discussion was created from the release 2.3.7.