Update Mujoco Deps in preperation for the 3.3.5 release
PiperOrigin-RevId: 792755404 Change-Id: I9776bb5e5bf2a891e0fa0fbf486875727e1d13b4
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Rishi Krishnan
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Copybara-Service
Copybara-Service
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3152458a6b
@@ -39,7 +39,7 @@ set(MUJOCO_DEP_VERSION_qhull
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CACHE STRING "Version of `qhull` to be fetched."
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)
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set(MUJOCO_DEP_VERSION_Eigen3
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81044ec13df7608d0d9d86aff2ef9805fc69bed1
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4be7e6b4e0a82853e853c0c7c4ef72f395e1f497
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CACHE STRING "Version of `Eigen3` to be fetched."
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)
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+30
-28
@@ -2,51 +2,53 @@
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Changelog
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=========
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Upcoming version (not yet released)
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Version 3.3.5 (August 8, 2025)
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-----------------------------------
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General
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^^^^^^^
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- Added the :ref:`insidesite<sensor-insidesite>` sensor, for checking if an object is inside the volume of a site.
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It is useful for triggering events in surrounding environment logic.
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- Added the :ref:`contact<sensor-contact>` sensor, for reporting contact information according to user-defined criteria.
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The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is useful
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as input to learning-based agents and in environment logic.
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- Added the :ref:`tactile<sensor-tactile>` sensor, for measuring the penetration depth between two objects at given
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points and the sliding velocities in the tangent frame. The sensor reports tactile data only when colliding with SDFs.
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- Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
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supported natively in mjModel.
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- Removed ``oct_depth`` from :ref:`mjvOption` (unused).
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- Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`.
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- Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
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combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
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:ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
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:ref:`mj_makeM` instead.
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1. Added the :ref:`insidesite<sensor-insidesite>` sensor, for checking if an object is inside the volume of a site.
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It is useful for triggering events in surrounding environment logic.
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2. Added the :ref:`contact<sensor-contact>` sensor, for reporting contact information according to user-defined
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criteria.
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The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is
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useful as input to learning-based agents and in environment logic.
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3. Added the :ref:`tactile<sensor-tactile>` sensor, for measuring the penetration depth between two objects at given
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points and the sliding velocities in the tangent frame. The sensor reports tactile data only when colliding with
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SDFs.
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4. Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
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supported natively in mjModel.
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5. Removed ``oct_depth`` from :ref:`mjvOption` (unused).
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6. Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`.
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7. Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
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combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
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:ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
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:ref:`mj_makeM` instead.
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.. admonition:: Breaking API changes
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:class: attention
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- Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH<mjtVisFlag>`.
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8. Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH<mjtVisFlag>`.
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Bug fixes
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^^^^^^^^^
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- Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was caused
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by adding to the lists only the objects that belong to the tree of the requested body, but this causes to skip objects
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that were attached, since they belong to the tree of the parent.
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- Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a
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:ref:`contact pair<contact-pair>`.
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9. Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was
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caused by adding to the lists only the objects that belong to the tree of the requested body, but this causes to
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skip objects that were attached, since they belong to the tree of the parent.
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10. Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a
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:ref:`contact pair<contact-pair>`.
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Python
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^^^^^^
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- On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag. Previously MuJoCo
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wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024.
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11. On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag. Previously MuJoCo
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wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024.
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MJX
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^^^
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- Add Warp as a backend implementation for MJX. The implementation can be specified via
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``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires
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a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in
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"beta" and some bugs are expected.
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12. Add Warp as a backend implementation for MJX. The implementation can be specified via
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``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires
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a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in
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"beta" and some bugs are expected.
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Version 3.3.4 (July 8, 2025)
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----------------------------
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@@ -173,7 +173,7 @@ findorfetch(
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GIT_REPO
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https://gitlab.com/libeigen/eigen
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GIT_TAG
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81044ec13df7608d0d9d86aff2ef9805fc69bed1
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4be7e6b4e0a82853e853c0c7c4ef72f395e1f497
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TARGETS
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Eigen3::Eigen
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EXCLUDE_FROM_ALL
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@@ -191,7 +191,7 @@ findorfetch(
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GIT_REPO
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https://github.com/pybind/pybind11
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GIT_TAG
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a2e59f0e7065404b44dfe92a28aca47ba1378dc4 # v2.13.6
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f0ecf21301c0c24bc78b8b310347c7507d9f41d0 # v3.0.0
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TARGETS
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pybind11::pybind11_headers
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EXCLUDE_FROM_ALL
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