Apply version number 2.3.6 to the pending changelog.

PiperOrigin-RevId: 541964989
Change-Id: I66a18f2bae624f63962f28f434b9a5cf90d260c7

Author: saran-t

doc/changelog.rst

@@ -2,8 +2,11 @@
 Changelog
 =========
 
-Upcoming version (not yet released)
------------------------------------
+Version 2.3.6 (June 20, 2023)
+-----------------------------
+
+.. note::
+   MuJoCo 2.3.6 is the last version to officially support Python 3.7.
 
 .. youtube:: ZppeDArq6AU
    :align: right
@@ -12,22 +15,22 @@ Upcoming version (not yet released)
 Models
 ^^^^^^
 
-- Added `3x3x3 cube <https://github.com/deepmind/mujoco/blob/main/model/cube/cube_3x3x3.xml>`__ example model. See
-  `README <https://github.com/deepmind/mujoco/blob/main/model/cube/README.md>`__ for details.
+1. Added `3x3x3 cube <https://github.com/deepmind/mujoco/blob/main/model/cube/cube_3x3x3.xml>`__ example model. See
+   `README <https://github.com/deepmind/mujoco/blob/main/model/cube/README.md>`__ for details.
 
 Bug fixes
 ^^^^^^^^^
 
-- Fixed a bug that was causing an incorrect computation of the mesh bounding box and coordinate frame if the volume was
-  invalid. In such case, now MuJoCo only accepts a non-watertight geometry if
-  :ref:`shellinertia<body-geom-shellinertia>` is equal to ``true``.
-- Fixed the sparse Jacobian multiplication logic that is used to compute derivatives for tendon damping and fluid force,
-  which affects the behaviour of the :ref:`implicit and implicitfast integrators<geIntegration>`.
-- Fixes to :ref:`mj_ray`, in line with geom visualisation conventions:
+2. Fixed a bug that was causing an incorrect computation of the mesh bounding box and coordinate frame if the volume was
+   invalid. In such case, now MuJoCo only accepts a non-watertight geometry if
+   :ref:`shellinertia<body-geom-shellinertia>` is equal to ``true``.
+#. Fixed the sparse Jacobian multiplication logic that is used to compute derivatives for tendon damping and fluid force,
+   which affects the behaviour of the :ref:`implicit and implicitfast integrators<geIntegration>`.
+#. Fixes to :ref:`mj_ray`, in line with geom visualisation conventions:
 
-  - Planes and height-fields respect the ``geom_group`` and ``flg_static`` arguments. Before this change, rays would
-    intersect planes and height-fields unconditionally.
-  - ``flg_static`` now apllies to all static geoms, not just those which are direct children of the world body.
+   - Planes and height-fields respect the ``geom_group`` and ``flg_static`` arguments. Before this change, rays would
+     intersect planes and height-fields unconditionally.
+   - ``flg_static`` now applies to all static geoms, not just those which are direct children of the world body.
 
 .. youtube:: hqIMTNGaLF4
    :align: right
@@ -36,9 +39,9 @@ Bug fixes
 Plugins
 ^^^^^^^
 
-- Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
-  for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/touch_grid.xml>`_
-  example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
+5. Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
+   for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/touch_grid.xml>`_
+   example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
 
 Simulate
 ^^^^^^^^
@@ -47,42 +50,42 @@ Simulate
    :align: right
    :width: 240px
 
-- Added Visualization tab to simulate UI, corresponding to elements of the :ref:`visual<visual>` MJCF element. After
-  modifying values in the GUI, a saved XML will contain the new values. The modifyable members of
-  :ref:`mjStatistic` (:ref:`extent<statistic-extent>`, :ref:`meansize<statistic-meansize>` and
-  :ref:`center<statistic-center>`) are computed by the compiler and therefore do not have defaults. In order for these
-  attributes to appear in the saved XML, a value must be specified in the loaded XML.
+6. Added Visualization tab to simulate UI, corresponding to elements of the :ref:`visual<visual>` MJCF element. After
+   modifying values in the GUI, a saved XML will contain the new values. The modifyable members of
+   :ref:`mjStatistic` (:ref:`extent<statistic-extent>`, :ref:`meansize<statistic-meansize>` and
+   :ref:`center<statistic-center>`) are computed by the compiler and therefore do not have defaults. In order for these
+   attributes to appear in the saved XML, a value must be specified in the loaded XML.
 
 .. image:: images/changelog/simulate_text_width.png
    :align: right
    :width: 380px
    :alt: Before / After
 
-- Increased text width for UI elements in the default spacing. [before / after]:
+7. Increased text width for UI elements in the default spacing. [before / after]:
 
 General
 ^^^^^^^
 
-- Added :ref:`mj_getState` and :ref:`mj_setState` for getting and setting the simulation state as a concatenated vector
-  of floating point numbers. See the :ref:`State<geState>`  section for details.
-- Added :ref:`mjContact.solreffriction<mjContact>`, allowing different :ref:`solref<CSolver>` parameters for the normal
-  and frictional axes of contacts when using :ref:`elliptic friction cones<option-cone>`.  This attribute is required
-  for elastic frictional collisions, see associated
-  `example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/spin_recoil.xml>`__ mimicking the
-  spin-bounce recoil behaviour of `elastic rubber balls <https://www.youtube.com/watch?v=uFLJcRegIVQ&t=3s>`__.
-  This is an advanced option currently only supported by explicit :ref:`contact pairs<contact-pair>`, using the
-  :ref:`solreffriction<contact-pair-solreffriction>` attribute.
-- Added :ref:`mjd_inverseFD` for finite-differenced inverse-dynamics derivatives.
-- Added functions for operations on banded-then-dense "arrowhead" matrices. Such matrices are common when doing direct
-  trajectory optimization. See :ref:`mju_cholFactorBand` documentation for details.
-- Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
-  This is significantly faster than calling :ref:`mj_ray` multiple times.
-- Ray-mesh collisions are now up to 10x faster, using a bounding volume hierarchy of mesh faces.
-- Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
-- Added :ref:`documentation<exProvider>` for resource providers.
-- Changed the formula for :ref:`mju_sigmoid`, a finite-support sigmoid :math:`s \colon \mathbf R \rightarrow [0, 1]`.
-  Previously, the smooth part consisted of two stitched quadratics, once continuously differentiable.
-  It is now a single quintic, twice continuously differentiable:
+8. Added :ref:`mj_getState` and :ref:`mj_setState` for getting and setting the simulation state as a concatenated vector
+   of floating point numbers. See the :ref:`State<geState>`  section for details.
+#. Added :ref:`mjContact.solreffriction<mjContact>`, allowing different :ref:`solref<CSolver>` parameters for the normal
+   and frictional axes of contacts when using :ref:`elliptic friction cones<option-cone>`.  This attribute is required
+   for elastic frictional collisions, see associated
+   `example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/spin_recoil.xml>`__ mimicking the
+   spin-bounce recoil behaviour of `elastic rubber balls <https://www.youtube.com/watch?v=uFLJcRegIVQ&t=3s>`__.
+   This is an advanced option currently only supported by explicit :ref:`contact pairs<contact-pair>`, using the
+   :ref:`solreffriction<contact-pair-solreffriction>` attribute.
+#. Added :ref:`mjd_inverseFD` for finite-differenced inverse-dynamics derivatives.
+#. Added functions for operations on banded-then-dense "arrowhead" matrices. Such matrices are common when doing direct
+   trajectory optimization. See :ref:`mju_cholFactorBand` documentation for details.
+#. Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
+   This is significantly faster than calling :ref:`mj_ray` multiple times.
+#. Ray-mesh collisions are now up to 10x faster, using a bounding volume hierarchy of mesh faces.
+#. Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
+#. Added :ref:`documentation<exProvider>` for resource providers.
+#. Changed the formula for :ref:`mju_sigmoid`, a finite-support sigmoid :math:`s \colon \mathbf R \rightarrow [0, 1]`.
+   Previously, the smooth part consisted of two stitched quadratics, once continuously differentiable.
+   It is now a single quintic, twice continuously differentiable:
 
   .. math::
      s(x) =
@@ -91,21 +94,22 @@ General
         6x^5 - 15x^4 + 10x^3, & 0 \lt & x \lt 1  \\
         1,                    & 1 \le & x \qquad
      \end{cases}
-- Added optional :ref:`tausmooth<actuator-muscle-tausmooth>` attribute to muscle actuators. When positive, the
-  time-constant :math:`\tau` of muscle activation/deactivation uses :ref:`mju_sigmoid` to transition smoothly
-  between the two extremal values given by the `Millard et al. (2013) <https://doi.org/10.1115/1.4023390>`__ muscle
-  model, within a range of width tausmooth.  See :ref:`Muscle actuators<CMuscle>` for more details.
-  Relatedly, :ref:`mju_muscleDynamics` now takes 3 parameters instead of 2, adding the new smoothing-width parameter.
-- Moved public C macro definitions out of mujoco.h into a new public header file called
-  `mjmacro.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__. The new file
-  is included by mujoco.h so this change does not break existing user code.
-- Added instrumentation for the `Address Sanitizer (ASAN) <https://clang.llvm.org/docs/AddressSanitizer.html>`__ and
-  `Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__ to detect memory bugs when allocating
-  from the ``mjData`` stack and arena.
-- Removed ``pstack`` and ``parena`` from the output of ``mj_printData``, since these are implementation details of the
-  ``mjData`` allocators that are affected by diagnostic paddings in instrumented builds.
-- Removed the ``mj_activate`` and ``mj_deactivate`` functions. These had been kept around for compatibility with old
-  user code from when MuJoCo was closed source, but have been no-op functions since open sourcing.
+
+17. Added optional :ref:`tausmooth<actuator-muscle-tausmooth>` attribute to muscle actuators. When positive, the
+    time-constant :math:`\tau` of muscle activation/deactivation uses :ref:`mju_sigmoid` to transition smoothly
+    between the two extremal values given by the `Millard et al. (2013) <https://doi.org/10.1115/1.4023390>`__ muscle
+    model, within a range of width tausmooth.  See :ref:`Muscle actuators<CMuscle>` for more details.
+    Relatedly, :ref:`mju_muscleDynamics` now takes 3 parameters instead of 2, adding the new smoothing-width parameter.
+#.  Moved public C macro definitions out of mujoco.h into a new public header file called
+    `mjmacro.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mjmacro.h>`__. The new file
+    is included by mujoco.h so this change does not break existing user code.
+#.  Added instrumentation for the `Address Sanitizer (ASAN) <https://clang.llvm.org/docs/AddressSanitizer.html>`__ and
+    `Memory Sanitizer (MSAN) <https://clang.llvm.org/docs/MemorySanitizer.html>`__ to detect memory bugs when allocating
+    from the ``mjData`` stack and arena.
+#.  Removed ``pstack`` and ``parena`` from the output of ``mj_printData``, since these are implementation details of the
+    ``mjData`` allocators that are affected by diagnostic paddings in instrumented builds.
+#.  Removed the ``mj_activate`` and ``mj_deactivate`` functions. These had been kept around for compatibility with old
+    user code from when MuJoCo was closed source, but have been no-op functions since open sourcing.
 
 
 Version 2.3.5 (April 25, 2023)