Update Mujoco Deps in preperation for the 3.3.6 release
PiperOrigin-RevId: 805007266 Change-Id: I9332d0b8439f8941b9dc9889c1e27d54e9a70b99
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Rishi Krishnan
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Copybara-Service
Copybara-Service
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Changelog
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=========
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Upcoming version (not yet released)
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3.3.6 (September 9, 2025)
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-----------------------------------
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General
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^^^^^^^
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- Constraint island discovery and construction, previously an experimental feature, is now :ref:`documented<soIsland>`
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and promoted to default; disable it with :ref:`option/flag/island <option-flag-island>`. We expect islanding to be
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a strict improvement over the monolithic constraint solver, please let us know if you experience any issues.
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- :ref:`Contact sensor<sensor-contact>` :at-val:`subtree1/subtree2` specification is now available for any body, not
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just direct children of the world.
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1. Constraint island discovery and construction, previously an experimental feature, is now :ref:`documented<soIsland>`
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and promoted to default; disable it with :ref:`option/flag/island <option-flag-island>`. We expect islanding to be
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a strict improvement over the monolithic constraint solver, please let us know if you experience any issues.
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2. :ref:`Contact sensor<sensor-contact>` :at-val:`subtree1/subtree2` specification is now available for any body, not
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just direct children of the world.
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.. admonition:: Breaking API changes
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:class: attention
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- The update of ``mjData.qacc_warmstart`` was moved from the end of the solver call (:ref:`mj_fwdConstraint`) to the
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end of :ref:`mj_step`, and is now updated with all other state variables. This change makes :ref:`mj_forward`
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fully idempotent.
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3. The update of ``mjData.qacc_warmstart`` was moved from the end of the solver call (:ref:`mj_fwdConstraint`) to
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the end of :ref:`mj_step`, and is now updated with all other state variables. This change makes :ref:`mj_forward`
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fully idempotent.
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Before this change, calling :ref:`mj_forward` repeatedly would make the constraint solver converge,
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since each subsequent call would start from the previously updated ``qacc_warmstart`` value.
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Indeed, this is precisely what happened in the viewer, which calls :ref:`mj_forward` repeatedly in PAUSE mode.
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Before this change, calling :ref:`mj_forward` repeatedly would make the constraint solver converge,
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since each subsequent call would start from the previously updated ``qacc_warmstart`` value.
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Indeed, this is precisely what happened in the viewer, which calls :ref:`mj_forward` repeatedly in PAUSE mode.
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**Migration:** If your code depended on this behavior, you can recover it by updating manually after each
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:ref:`mj_forward`: ``qacc_warmstart ← qacc``. The behavior is available in :ref:`simulate<saSimulate>` by
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clicking the "Pause update" toggle (off by default).
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**Migration:** If your code depended on this behavior, you can recover it by updating manually after each
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:ref:`mj_forward`: ``qacc_warmstart ← qacc``. The behavior is available in :ref:`simulate<saSimulate>` by
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clicking the "Pause update" toggle (off by default).
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Furthermore, this change has a numerical impact on the output of the :ref:`RK4 <geIntegrators>` integrator. Before
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this change, due to the ``qacc_warmstart`` update occurring after each of the four Runge-Kutta substeps, the solver
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convergence of RK4 was faster, at the cost of unprincipled integration. This change makes the RK4 integration
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principled and well-defined. Since this change to RK4 is effectively a bug fix, migration to the previous behavior
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is not provided.
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Furthermore, this change has a numerical impact on the output of the :ref:`RK4 <geIntegrators>` integrator.
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Before this change, due to the ``qacc_warmstart`` update occurring after each of the four Runge-Kutta substeps,
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the solver convergence of RK4 was faster, at the cost of unprincipled integration. This change makes the RK4
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integration principled and well-defined. Since this change to RK4 is effectively a bug fix, migration to the
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previous behavior is not provided.
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- The ``mjDSBL_PASSIVE`` flag for disabling passive forces was removed and replaced by
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:ref:`mjDSBL_SPRING<mjtDisableBit>` and :ref:`mjDSBL_DAMPER<mjtDisableBit>` with corresponding
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:ref:`mjcf<option-flag-spring>` :ref:`attributes<option-flag-damper>`. Each flag disables only joint and tendon
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springs or dampers, respectively. When both flags are set, **all** passive forces are disabled, including gravity
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compensation, fluid forces, forces computed by the :ref:`mjcb_passive` callback, and forces computed by
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:ref:`plugins <exPlugin>` when passed the :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
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4. The ``mjDSBL_PASSIVE`` flag for disabling passive forces was removed and replaced by
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:ref:`mjDSBL_SPRING<mjtDisableBit>` and :ref:`mjDSBL_DAMPER<mjtDisableBit>` with corresponding
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:ref:`mjcf<option-flag-spring>` :ref:`attributes<option-flag-damper>`. Each flag disables only joint and tendon
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springs or dampers, respectively. When both flags are set, **all** passive forces are disabled, including gravity
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compensation, fluid forces, forces computed by the :ref:`mjcb_passive` callback, and forces computed by
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:ref:`plugins <exPlugin>` when passed the :ref:`mjPLUGIN_PASSIVE<mjtPluginCapabilityBit>` capability flag.
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**Migration:** Set both flags to recover the behavior of the previous flag.
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@@ -47,31 +47,31 @@ General
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.. admonition:: Breaking ABI changes
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:class: attention
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- Removed ``mjMOUSE_SELECT`` flag for :ref:`mjtMouse` as it is no longer in use.
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5. Removed ``mjMOUSE_SELECT`` flag for :ref:`mjtMouse` as it is no longer in use.
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- The promotion of islanding to default involved removing the enable flag ``mjENBL_ISLAND`` and
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converting it to a disable flag :ref:`mjDSBL_ISLAND <mjtDisableBit>`.
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6. The promotion of islanding to default involved removing the enable flag ``mjENBL_ISLAND`` and
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converting it to a disable flag :ref:`mjDSBL_ISLAND <mjtDisableBit>`.
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- Added support for shells with a curved reference configuration. See this `example
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<https://github.com/google-deepmind/mujoco/blob/main/model/flex/basket.xml>`__.
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- Added experimental option for :ref:`passive<flex-contact-passive>` contacts involving flexes.
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7. Added support for shells with a curved reference configuration. See this `example
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<https://github.com/google-deepmind/mujoco/blob/main/model/flex/basket.xml>`__.
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8. Added experimental option for :ref:`passive<flex-contact-passive>` contacts involving flexes.
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- Added support for assigning a default material to a mesh asset using the :ref:`mesh/material <asset-mesh-material>`
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attribute.
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9. Added support for assigning a default material to a mesh asset using the :ref:`mesh/material <asset-mesh-material>`
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attribute.
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MJX
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^^^
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- Promote ``ten_length`` to the public MJX API. Add Warp support for ``mjx.tendon``.
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10. Promote ``ten_length`` to the public MJX API. Add Warp support for ``mjx.tendon``.
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.. admonition:: Breaking API changes
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:class: attention
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- ``ten_length`` was moved from ``mjx.Data._impl.ten_length`` to a public field ``mjx.Data.ten_length``.
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11. ``ten_length`` was moved from ``mjx.Data._impl.ten_length`` to a public field ``mjx.Data.ten_length``.
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Bug fixes
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^^^^^^^^^
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- Fixed a latent bug where MjData objects were not serialized correctly by the Python bindings when islanding was
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enabled.
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12. Fixed a latent bug where MjData objects were not serialized correctly by the Python bindings when islanding was
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enabled.
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Version 3.3.5 (August 8, 2025)
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