Update changelog.rst for version 2.3.3

PiperOrigin-RevId: 517932202
Change-Id: I55063e9bc5da2d424b1ad303834d8f11cb0a0fa9

doc/changelog.rst

@@ -2,83 +2,83 @@
 Changelog
 =========
 
-Upcoming version (not yet released)
------------------------------------
+Version 2.3.3 (March 20, 2023)
+------------------------------
 
 General
 ^^^^^^^
 
-- Improvements to implicit integration:
+1. Improvements to implicit integration:
 
-  - The derivatives of the RNE algorithm are now computed using sparse math, leading to significant speed
-    improvements for large models when using the :ref:`implicit integrator<geIntegration>`.
-  - A new integrator called ``implicitfast`` was added. It is similar to the existing implicit integrator, but skips the
-    derivatives of Coriolis and centripetal forces. See the :ref:`numerical integration<geIntegration>` section for a
-    detailed motivation and discussion. The implicitfast integrator is recommended for all new models and will
-    become the default integrator in a future version.
+   - The derivatives of the RNE algorithm are now computed using sparse math, leading to significant speed
+     improvements for large models when using the :ref:`implicit integrator<geIntegration>`.
+   - A new integrator called ``implicitfast`` was added. It is similar to the existing implicit integrator, but skips the
+     derivatives of Coriolis and centripetal forces. See the :ref:`numerical integration<geIntegration>` section for a
+     detailed motivation and discussion. The implicitfast integrator is recommended for all new models and will
+     become the default integrator in a future version.
 
-  The table below shows the compute cost of the 627-DoF `humanoid100
-  <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model using different integrators.
-  "implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned above.
-  Timings were measured on a single core of an AMD 3995WX CPU.
+   The table below shows the compute cost of the 627-DoF `humanoid100
+   <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model using different integrators.
+   "implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned above.
+   Timings were measured on a single core of an AMD 3995WX CPU.
 
-  .. csv-table::
-     :header: "timing", "Euler", "implicitfast", "implicit (new)", "implicit (old)"
-     :widths: auto
-     :align: left
+.. csv-table::
+   :header: "timing", "Euler", "implicitfast", "implicit (new)", "implicit (old)"
+   :widths: auto
+   :align: left
 
-     one step (ms),  0.5,   0.53,  0.77,  5.0
-     steps/second,   2000,  1900,  1300,  200
+   one step (ms),  0.5,   0.53,  0.77,  5.0
+   steps/second,   2000,  1900,  1300,  200
 
 .. image:: images/computation/midphase.gif
    :align: right
    :width: 350px
 
-- Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` for more details.
-  This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on the
-  right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`_.
-- The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested.
-- Corrected the spelling of the ``inteval`` attribute to ``interval`` in the :ref:`mjLROpt` struct.
-- Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer
-  duplicated in order to circumvent this limitation as they previously were.
-- The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation.
-  For instance, the constraint Jacobian matrix from the `humanoid100
-  <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously required
-  ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
-- Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
-  functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
-- Implemented a performant ``mju_sqrMatTDSparse`` function that doesn't require dense memory allocation.
-- Added ``mj_stackAllocInt`` to get correct size for allocating ints on mjData stack. Reducing stack memory usage
-  by 10% - 15%.
+2. Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` for more details.
+   This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on
+   the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`_.
+#. The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested.
+#. Corrected the spelling of the ``inteval`` attribute to ``interval`` in the :ref:`mjLROpt` struct.
+#. Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer
+   duplicated in order to circumvent this limitation as they previously were.
+#. The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation.
+   For instance, the constraint Jacobian matrix from the `humanoid100
+   <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously required
+   ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
+#. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
+   functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
+#. Implemented a performant ``mju_sqrMatTDSparse`` function that doesn't require dense memory allocation.
+#. Added ``mj_stackAllocInt`` to get correct size for allocating ints on mjData stack. Reducing stack memory usage
+   by 10% - 15%.
 
 
 Python bindings
 ^^^^^^^^^^^^^^^
 
-- Fixed IPython history corruption when using ``viewer.launch_repl``. The ``launch_repl`` function now provides seamless
-  continuation of an IPython interactive shell session, and is no longer considered experimental feature.
-- Added ``viewer.launch_passive`` which launches the interactive viewer in a passive, non-blocking mode. Calls to
-  ``launch_passive`` return immediately, allowing user code to continue execution, with the viewer automatically
-  reflecting any changes to the physics state. (Note that this functionality is currently in experimental/beta stage,
-  and is not yet described in our :ref:`viewer  documentation<PyViewer>`.)
-- Added the ``mjpython`` launcher for macOS, which is required for ``viewer.launch_passive`` to function there.
-- Removed ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields now have dynamic
-  sizes that change between time steps depending on the number of active constraints, breaking strict correspondence
-  between joints and ``efc_`` rows.
-- Added a number of missing fields to the bindings of ``mjVisual`` and ``mjvPerturb`` structs.
+10. Fixed IPython history corruption when using ``viewer.launch_repl``. The ``launch_repl`` function now provides
+    seamless continuation of an IPython interactive shell session, and is no longer considered experimental feature.
+#.  Added ``viewer.launch_passive`` which launches the interactive viewer in a passive, non-blocking mode. Calls to
+    ``launch_passive`` return immediately, allowing user code to continue execution, with the viewer automatically
+    reflecting any changes to the physics state. (Note that this functionality is currently in experimental/beta stage,
+    and is not yet described in our :ref:`viewer  documentation<PyViewer>`.)
+#.  Added the ``mjpython`` launcher for macOS, which is required for ``viewer.launch_passive`` to function there.
+#.  Removed ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields now have dynamic
+    sizes that change between time steps depending on the number of active constraints, breaking strict correspondence
+    between joints and ``efc_`` rows.
+#.  Added a number of missing fields to the bindings of ``mjVisual`` and ``mjvPerturb`` structs.
 
 Simulate
 ^^^^^^^^
 
-- Implemented a workaround for `broken VSync <https://github.com/glfw/glfw/issues/2249>`_ on macOS so that the frame
-  rate is correctly capped when the Vertical Sync toggle is enabled.
+15. Implemented a workaround for `broken VSync <https://github.com/glfw/glfw/issues/2249>`_ on macOS so that the frame
+    rate is correctly capped when the Vertical Sync toggle is enabled.
 
 .. image:: images/changelog/contactlabel.png
    :align: right
    :width: 400px
 
-- Added optional labels to contact visualization, indicating which two geoms are contacting (names if defined, ids
-  otherwise). This can be useful in cluttered scenes.
+16. Added optional labels to contact visualization, indicating which two geoms are contacting (names if defined, ids
+    otherwise). This can be useful in cluttered scenes.
 
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