build(deps): bump mujoco from 2.3.7 to 3.1.5

[dependabot[bot]]

Bumps mujoco from 2.3.7 to 3.1.5.

Release notes

Sourced from mujoco's releases.

3.1.5

See the changelog.

3.1.4

See the changelog.

3.1.3

See the changelog.

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

... (truncated)

Changelog

Sourced from mujoco's changelog.

Version 3.1.5 (May 7, 2024)

General ^^^^^^^

.. youtube:: 5k0_wsIRAFc :align: right :width: 240px

1. Added the :ref:replicate<replicate> to MJCF, a :ref:meta-element<meta-element> which permits to repeat a subtree with incremental translational and rotational offsets.

2. Enabled an internal cache in the MuJoCo compiler resulting in recompilation speedup. Currently, processed textures, hfields, and OBJ meshes are cached. Support for Unity environments is not yet available.

3. Added mjModel.mesh_scale: the scaling applied to asset vertices, as specified in the :ref:scale<asset-mesh-scale> attribute.

4. Added visual properties which are ignored by the native renderer, but can be used by external renderers:

   • :ref:light/bulbradius<body-light-bulbradius> attribute and corresponding mjModel.light_bulbradius field.
   • :ref:material/metallic<asset-material-metallic> attribute and corresponding mjModel.material_metallic field.
   • :ref:material/roughness<asset-material-roughness> attribute and corresponding mjModel.material_roughness field.

5. The type of the size argument of :ref:mj_stackAllocNum and :ref:mj_stackAllocInt was changed from int to size_t.

6. Added support for gmsh format version 2.2 surface meshes in :ref:flexcomp<body-flexcomp-file>.

MJX ^^^ .. admonition:: Breaking API changes :class: attention

7. Removed deprecated mjx.device_get_into and mjx.device_put functions as they lack critical new functionality.

   Migration: Use mjx.get_data_into instead of mjx.device_get_into, and mjx.put_data instead of mjx.device_put.

8. Added cylinder plane collisions.

9. Added efc_type to mjx.Data and dim, efc_address to mjx.Contact.

10. Added geom to mjx.Contact and marked geom1, geom2 deprecated.

11. Added ne, nf, nl, nefc, and ncon to mjx.Data to match mujoco.MjData.

12. Given the above added fields, removed mjx.get_params, mjx.ncon, and mjx.count_constraints.

13. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many geoms.

14. Fixed a bug where capsules might be ignored in broadphase colliision checking.

15. Added cylinder collisions using SDFs.

16. Added support for all :ref:condim <coContact>: 1, 3, 4, 6.

17. Add support functions for id2name and name2id, MJX versions of :ref:mj_id2name and :ref:mj_name2id.

18. Added support for :ref:gravcomp<body-gravcomp> and :ref:actuatorgravcomp<body-joint-actuatorgravcomp>.

19. Fixed a bug in mjx.ray for sometimes allowed negative distances for ray-mesh tests.

... (truncated)

Commits

• e001975 Update changelog for MuJoCo 3.1.5
• efbcd86 Update abseil to LTS 20240116.2.
• 24bc1c8 Add new differentiable physics tutorial to readme.
• 8d89652 Replace .copy() with list() in minimize.py
• 4647f79 Update MarchingCubeCpp to version f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d.
• dbb258e Fix compile-time size_t narrowing to bool.
• ad04596 Enable compiler asset cache for public use, and add changelog entry.
• a40de1b Move notebook copyright notice into HTML comment.
• 34e537e Updates to minimize.least_squares. Fixes #1585
• 93b57c1 Update Python documentation.
• Additional commits viewable in compare view

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Superseded by #378.