build(deps-dev): bump mujoco from 2.3.7 to 3.1.1

[dependabot]

Bumps mujoco from 2.3.7 to 3.1.1.

Release notes

Sourced from mujoco's releases.

3.1.1

See the changelog.

3.1.0

See the changelog.

3.0.1

See the changelog.

3.0.0

New features

1. Added simulation on GPU and TPU via the new MuJoCo XLA (MJX) Python module. Python users can now natively run MuJoCo simulations at millions of steps per second on Google TPU or their own accelerator hardware.

   • MJX is designed to work with on-device reinforcement learning algorithms. This Colab notebook demonstrates using MJX along with reinforcement learning to train humanoid and quadruped robots to locomote:
   • The MJX API is compatible with MuJoCo but is missing some features in this release. See the outline of MJX feature parity for more details.

2. Added new signed distance field (SDF) collision primitive. SDFs can take any shape and are not constrained to be convex. Collision points are found by minimizing the maximum of the two colliding SDFs via gradient descent.

   • Added new SDF plugin for defining implicit geometries. The plugin must define methods computing an SDF and its gradient at query points. See the documentation for more details.

3. Added new low-level model element called flex, used to define deformable objects. These simplicial complexes can be of dimension 1, 2 or 3, corresponding to stretchable lines, triangles or tetrahedra. Two new MJCF elements are used to define flexes. The top-level deformable section contains the low-level flex definition. The flexcomp element, similar to composite is a convenience macro for creating deformables, and supports the GMSH tetrahedral file format.

   • Added shell passive force plugin, computing bending forces using a constant precomputed Hessian (cotangent operator).

     Note: This feature is still under development and subject to change. In particular, deformable object functionality is currently available both via deformable and composite, and both are modifiable by the first-party elasticity plugins. We expect some of this functionality to be unified in the future.

4. Added constraint island discovery with mj_island. Constraint islands are disjoint sets of constraints and degrees-of-freedom that do not interact. The only solver which currently supports islands is CG. Island discovery can be activated using a new enable flag. If island discovery is enabled, geoms, contacts and tendons will be colored according to the corresponding island, see video. Island discovery is currently disabled for models that have deformable objects (see previous item).

5. Added mjThreadPool and mjTask which allow for multi-threaded operations within the MuJoCo engine pipeline. If engine-internal threading is enabled, the following operations will be multi-threaded:

   • Island constraint resolution, if island discovery is enabled and the CG solver is selected. The 22 humanoids model shows a 3x speedup compared to the single threaded simulation.
   • Inertia-related computations and collision detection will happen in parallel.

   Engine-internal threading is a work in progress and currently only available in first-party code via the testspeed utility, exposed with the npoolthread flag.

6. Added capability to initialize composite particles from OBJ files. Fixes #642 and #674.

General

[!IMPORTANT] Breaking API changes

7. Removed the macros mjMARKSTACK and mjFREESTACK.

   Migration: These macros have been replaced by new functions mj_markStack and mj_freeStack. These functions manage the mjData stack in a fully encapsulated way (i.e., without introducing a local variable at the call site).

8. Renamed mj_stackAlloc to mj_stackAllocNum. The new function mj_stackAllocByte allocates an arbitrary number of bytes and has an additional argument for specifying the alignment of the returned pointer.

   Migration: The functionality for allocating mjtNum arrays is now available via mj_stackAllocNum.

9. Renamed the nstack field in mjModel and mjData to narena. Changed narena, pstack, and maxuse_stack to count number of bytes rather than number of mjtNums.

10. Changed mjData.solver, the array used to collect solver diagnostic information. This array of mjSolverStat structs is now of length mjNISLAND * mjNSOLVER, interpreted as as a matrix. Each row of length mjNSOLVER contains separate solver statistics for each constraint island. If the solver does not use islands, only row 0 is filled.

... (truncated)

Changelog

Sourced from mujoco's changelog.

Version 3.1.1 (December 18, 2023)

Bug fixes ^^^^^^^^^

1. Fixed a bug (introduced in 3.1.0) where box-box collisions produced no contacts if one box was deeply embedded in the other.
2. Fixed a bug in :ref:simulate<saSimulate> where the "LOADING..." message was not showing correctly.
3. Fixed a crash in the Python :ref:passive viewer<PyViewerPassive>, when used with models containing Flex objects.
4. Fixed a bug in MJX where site_xmat was ignored in get_data and put_data
5. Fixed a bug in MJX where efc_address was sometimes incorrectly calculated in get_data.

Version 3.1.0 (December 12, 2023)

General ^^^^^^^

1. Improved convergence of Signed Distance Function (SDF) collisions by using line search and a new objective function for the optimization. This allows to decrease the number of initial points needed for finding the contacts and is more robust for very small or large geom sizes.
2. Added :ref:frame<frame> to MJCF, a :ref:meta-element<meta-element> which defines a pure coordinate transformation on its direct children, without requiring a :ref:body<body>.
3. Added the :at:kv attribute to the :ref:position<actuator-position> and :ref:intvelocity<actuator-intvelocity> actuators, for specifying actuator-applied damping. This can be used to implement a PD controller with 0 reference velocity. When using this attribute, it is recommended to use the implicitfast or implicit :ref:integrators<geIntegration>.

Plugins ^^^^^^^

4. Allow actuator plugins to use activation variables in mjData.act as their internal state, rather than mjData.plugin_state. Actuator plugins can now specify :ref:callbacks<mjpPlugin> that compute activation variables, and they can be used with built-in :ref:dyntype<actuator-plugin-dyntype> actuator dynamics.

5. Added the pid <https://github.com/deepmind/mujoco/blob/main/plugin/actuator/README.md>__ actuator plugin, a configurable PID controller that implements the Integral term, which is not available with native MuJoCo actuators.

MJX ^^^

6. Added site_xpos and site_xmat to MJX.
7. Added put_data, put_model, get_data to replace device_put and device_get_into, which will be deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as efc_J.

Bug fixes ^^^^^^^^^ 8. Fix bug in Cartesian actuation with movable refsite, as when using body-centric Cartesian actuators on a quadruped. Before this fix such actuators could lead to non-conservation of momentum. 9. Fix bug that prevented using flex with :ref:simulate<saSimulate>.

... (truncated)

Commits

• 3ed81f8 Update version number in third_party/mujoco/doc/changelog.rst for v3.1.1
• d39ed1d Update changelog.
• 7cb7c87 Fix a few issues with the passive viewer.
• 8ecb16a Don't run particle.xml in testspeed_test under ASAN.
• dc0d0c5 Fix bug in simulate where the "LOADING..." label was not properly showing.
• 38fa756 Add mjGEOM_LINEBOX, used in visualization of collision trees.
• f2a9673 Fix bug introduced in 7942fe957ea046750f936ac002d49425e31d9dab
• 9f6be31 Modify mjListKeyMap to be a fixed-size array, and add internal object_lists v...
• 0915d69 Correctly transform site_xmat in MJX get_data/put_data.
• da211dd Improve description of the collision detection pipeline.
• Additional commits viewable in compare view

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[rickstaa]

Warning

Don't merge unless Farama-Foundation/Gymnasium#746 has been released.

[dependabot]

Superseded by #365.