build(deps-dev): bump mujoco from 2.3.7 to 3.1.2

[dependabot]

Warning

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

Bumps mujoco from 2.3.7 to 3.1.2.

Release notes

Sourced from mujoco's releases.

3.1.2

See the changelog.

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.

... (truncated)

Changelog

Sourced from mujoco's changelog.

Version 3.1.2 (February 05, 2024)

General ^^^^^^^

1. Improved the :ref:discardvisual<compiler-discardvisual> compiler flag, which now discards all visual-only assets. See :ref:discardvisual<compiler-discardvisual> for details.

2. Removed the :ref:timer<mjtTimer> for midphase colllision detection, it is now folded in with the narrowphase timer. This is because timing the two phases seperately required fine-grained timers inside the collision functions; these functions are so small and fast that the timer itself was incurring a measurable cost.

3. Added the flag :ref:bvactive<visual-global-bvactive> to visual/global, allowing users to turn off visualisation of active bounding volumes (the red/green boxes in this :ref:this changelog item<midphase>). For models with very high-resolution meshes, the computation required for this visualization can slow down simulation speed. Fixes :github:issue:1279.

   • Added color of :ref:bounding volumes<visual-rgba-bv> and :ref:active bounding volumes<visual-rgba-bvactive> to :ref:visual/rgba<visual-rgba>.

4. Height-field elevation data can now be specified directly in XML with the :ref:elevation<asset-hfield-elevation> attribute (and not only with PNG files). See example model <https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/hfield_xml.xml>__.

MJX ^^^ 5. Added :ref:dyntype<actuator-general-dyntype> filterexact. 6. Added :at:site transmission. 7. Updated MJX colab tutorial with more stable quadruped environment. 8. Added mjx.ray which mirrors :ref:mj_ray for planes, spheres, capsules, boxes, and meshes. 9. Added mjx.is_sparse which mirrors :ref:mj_isSparse and mjx.full_m which mirrors :ref:mj_fullM. 10. Added support for specifying sparse or dense mass matrices via :ref:option-jacobian. 11. Raise a not implemented error when nonzero frictionloss is present. Fixes :github:issue:1344.

Python bindings ^^^^^^^^^^^^^^^ 12. Improved the implementation of the :ref:rollout<PySample> module. Note the changes below are breaking, dependent code will require modification.

- Uses :ref:`mjSTATE_FULLPHYSICS<geFullPhysics>` as state spec, enabling divergence detection by inspecting time.
- Allows user-defined control spec for any combination of :ref:`user input<geInput>` fields as controls.
- Outputs are no longer squeezed and always have dim=3.

13. The sync function for the :ref:passive viewer<PyViewerPassive> can now pick up changes to rendering flags in user_scn, as requested in :github:issue:1190.

Bug fixes ^^^^^^^^^ 14. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes :github:issue:1270. 15. Fixed a bug in the :ref:muscle model<CMuscle> that led to non-zero values outside the lower bound of the length range. Fixes :github:issue:1342.

... (truncated)

Commits

• f75923a Updated version numbers to cmake files
• 81adba7 Update title - Version number and date to Version 3.1.2 (February 05, 2024)
• 41ad07c Fix numbering in changelog.rst
• 55cbbd0 Merge pull request #1381 from ryanwhite04:patch-1
• e3dc54f Emit only one warning about ARB_depth_buffer_float or ARB_clip_control.
• 2bbf542 Improve option/actuatorgroupdisable documentation.
• ced37ff Add refsite to list of non-defaultable attributes.
• 66a8bef Merge pull request #1392 from alefram:fix-mj_forward-link
• eb844a4 When computing suitable initial font scale for a display, let 250% be the max...
• f3b48ed fix metadata and update mj_forward link
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Superseded by #372.