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Update Mujoco Deps in preperation for the 3.3.5 release

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PiperOrigin-RevId: 792755404
Change-Id: I9776bb5e5bf2a891e0fa0fbf486875727e1d13b4
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Rishi Krishnan
2025-08-08 14:05:45 -07:00
committed by Copybara-Service
parent 249b0cd87d
commit 3152458a6b
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doc/changelog.rst
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Changelog
=========
Upcoming version (not yet released)
Version 3.3.5 (August 8, 2025)
-----------------------------------
General
^^^^^^^
- Added the :ref:`insidesite<sensor-insidesite>` sensor, for checking if an object is inside the volume of a site.
It is useful for triggering events in surrounding environment logic.
- Added the :ref:`contact<sensor-contact>` sensor, for reporting contact information according to user-defined criteria.
The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is useful
as input to learning-based agents and in environment logic.
- Added the :ref:`tactile<sensor-tactile>` sensor, for measuring the penetration depth between two objects at given
points and the sliding velocities in the tangent frame. The sensor reports tactile data only when colliding with SDFs.
- Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
supported natively in mjModel.
- Removed ``oct_depth`` from :ref:`mjvOption` (unused).
- Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`.
- Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
:ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
:ref:`mj_makeM` instead.
1. Added the :ref:`insidesite<sensor-insidesite>` sensor, for checking if an object is inside the volume of a site.
It is useful for triggering events in surrounding environment logic.
2. Added the :ref:`contact<sensor-contact>` sensor, for reporting contact information according to user-defined
criteria.
The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is
useful as input to learning-based agents and in environment logic.
3. Added the :ref:`tactile<sensor-tactile>` sensor, for measuring the penetration depth between two objects at given
points and the sliding velocities in the tangent frame. The sensor reports tactile data only when colliding with
SDFs.
4. Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
supported natively in mjModel.
5. Removed ``oct_depth`` from :ref:`mjvOption` (unused).
6. Added the functionality to create a builtin meshes, see :ref:`mesh/builtin<asset-mesh-builtin>`.
7. Inertia computation in MuJoCo C is now performed by a new :ref:`pipeline<piStages>` function :ref:`mj_makeM`, which
combines the Composite Rigid Body algorithm in :ref:`mj_crb` and additional terms related to
:ref:`tendon armature<tendon-spatial-armature>`. Code that uses :ref:`mj_crb` to compute the inertia should now use
:ref:`mj_makeM` instead.
.. admonition:: Breaking API changes
:class: attention
- Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH<mjtVisFlag>`.
8. Removed the ``mjVIS_FLEXBVH`` enum value, its functionality is now provided by :ref:`mjVIS_MESHBVH<mjtVisFlag>`.
Bug fixes
^^^^^^^^^
- Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was caused
by adding to the lists only the objects that belong to the tree of the requested body, but this causes to skip objects
that were attached, since they belong to the tree of the parent.
- Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a
:ref:`contact pair<contact-pair>`.
9. Fixed a bug that caused object lists in the child to have missing elements after attaching an mjSpec. This was
caused by adding to the lists only the objects that belong to the tree of the requested body, but this causes to
skip objects that were attached, since they belong to the tree of the parent.
10. Fixed a bug where the convex hull of a collision mesh was not being computed if the mesh could only collide via a
:ref:`contact pair<contact-pair>`.
Python
^^^^^^
- On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag. Previously MuJoCo
wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024.
11. On Linux, built distribution packages (wheels) now target the ``manylinux_2_28`` platform tag. Previously MuJoCo
wheels targeted ``manylinux2014`` based on CentOS 7, which reached end-of-life in June 2024.
MJX
^^^
- Add Warp as a backend implementation for MJX. The implementation can be specified via
``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires
a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in
"beta" and some bugs are expected.
12. Add Warp as a backend implementation for MJX. The implementation can be specified via
``mjx.put_model(m, impl='warp')`` and ``mjx.make_data(m, impl='warp')``. The warp implementation requires
a CUDA device and ``warp-lang`` to be installed (``pip install mujoco-mjx[warp]``). This feature is available in
"beta" and some bugs are expected.
Version 3.3.4 (July 8, 2025)
----------------------------