upgrade mujoco version

Author: peterdavidfagan

mujoco_controllers/osc.py

@@ -222,7 +222,16 @@ def compute_control_output(self):
         tau += self.physics.data.qfrc_bias[self.arm_joint_ids]
 
         # compute effective torque
-        actuator_moment_inv = np.linalg.pinv(self.physics.data.actuator_moment)
+        actuator_moment_mat = np.zeros((self.physics.model.nu, self.physics.model.nv))
+        mujoco.mju_sparse2dense(
+            actuator_moment_mat,
+            self.physics.data.actuator_moment,
+            self.physics.data.moment_rownnz,
+            self.physics.data.moment_rowadr,
+            self.physics.data.moment_colind,
+        )                    
+
+        actuator_moment_inv = np.linalg.pinv(actuator_moment_mat)
         actuator_moment_inv = actuator_moment_inv[self.arm_joint_ids, :][:, self.arm_joint_ids]
         tau = tau @ actuator_moment_inv 
 

pyproject.toml

@@ -30,8 +30,8 @@ py-modules=["mujoco_controllers"]
 [tool.poetry.dependencies]
 python = "3.10.6"
 numpy = "^1.16.0"
-mujoco = "3.1.1"
-dm-control = "1.0.16"
+mujoco = "3.2.6"
+dm-control = "1.0.26"
 pillow = "10.0.0"
 jax = "^0.4.14"
 matplotlib = "^3.7.2"