upgrade mujoco to dev899043541 (#1284)

Author: thowell

mujoco_warp/_src/constraint_test.py

@@ -172,7 +172,11 @@ def test_constraints(self, xml, cone, jacobian):
       self.skipTest("flex/floppy.xml with dense jacobian not supported")
     for key in range(3):
       mjm, mjd, m, d = test_data.fixture(xml, keyframe=key, overrides={"opt.cone": cone, "opt.jacobian": jacobian})
-
+      # scale down velocities to minimize Jdotv effect (not in mujoco warp)
+      # TODO(team): remove when Jdotv correction is implemented
+      mjd.qvel[:] *= 1e-2
+      mujoco.mj_forward(mjm, mjd)
+      wp.copy(d.qvel, wp.array(mjd.qvel, dtype=float))
       for arr in (d.ne, d.nefc, d.nf, d.nl, d.efc.type):
         arr.fill_(-1)
       for arr in (d.efc.J, d.efc.D, d.efc.vel, d.efc.aref, d.efc.pos, d.efc.margin):

mujoco_warp/_src/forward_test.py

@@ -203,6 +203,8 @@ def test_implicit(self, jacobian, actuation, spring, damper):
         "opt.jacobian": jacobian,
         "opt.disableflags": DisableBit.CONTACT | actuation | spring | damper,
         "opt.integrator": IntegratorType.IMPLICITFAST,
+        # TODO(team): remove override when mujoco warp feature matches mujoco
+        "opt.enableflags": EnableBit.INVDISCRETE,
       },
     )
 
@@ -491,7 +493,11 @@ def _getattr(arr):
     integrator=(IntegratorType.EULER, IntegratorType.IMPLICITFAST, IntegratorType.RK4),
   )
   def test_step2(self, xml, integrator):
-    mjm, mjd, m, _ = test_data.fixture(xml, qvel_noise=0.01, ctrl_noise=0.1, overrides={"opt.integrator": integrator})
+    # TODO(team): remove enableflags override when mujoco warp feature matches mujoco
+    enableflags = EnableBit.INVDISCRETE if integrator == IntegratorType.IMPLICITFAST else 0
+    mjm, mjd, m, _ = test_data.fixture(
+      xml, qvel_noise=0.01, ctrl_noise=0.1, overrides={"opt.integrator": integrator, "opt.enableflags": enableflags}
+    )
 
     # some of the fields updated by step2
     step2_field = [