mujoco 3.3.0__tar.gz → 3.3.2__tar.gz

{mujoco-3.3.0/mujoco.egg-info → mujoco-3.3.2}/PKG-INFO

@@ -1,13 +1,13 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: mujoco
-Version: 3.3.0
+Version: 3.3.2
 Summary: MuJoCo Physics Simulator
 Author-email: Google DeepMind <mujoco@deepmind.com>
 License: Apache License 2.0
 Project-URL: Homepage, https://github.com/google-deepmind/mujoco
-Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.3.0
+Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.3.2
 Project-URL: Repository, https://github.com/google-deepmind/mujoco
-Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.3.0/changelog.html
+Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.3.2/changelog.html
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
 Classifier: Intended Audience :: Science/Research
@@ -33,6 +33,7 @@ Requires-Dist: usd-core; extra == "usd"
 Requires-Dist: pillow; extra == "usd"
 Dynamic: description
 Dynamic: description-content-type
+Dynamic: license-file
 
 # MuJoCo Python Bindings
 

{mujoco-3.3.0 → mujoco-3.3.2}/mujoco/CMakeLists.txt

@@ -84,7 +84,7 @@ if(NOT TARGET mujoco)
     if(MUJOCO_FRAMEWORK)
       message("MuJoCo framework is at ${MUJOCO_FRAMEWORK}/mujoco.framework")
       set(MUJOCO_LIBRARY
-          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.0.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.2.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.3.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.3.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -140,7 +140,7 @@ findorfetch(
   GIT_REPO
   https://github.com/abseil/abseil-cpp
   GIT_TAG
-  9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f # LTS 20250127.0
+  d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
   TARGETS
   ${MUJOCO_PYTHON_ABSL_TARGETS}
   EXCLUDE_FROM_ALL
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  66f7f51b7e069d0a03a21157fa60b24aece69aeb
+  464c1d097891a1462ab28bf8bb763c1683883892
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL
@@ -278,6 +278,25 @@ target_link_libraries(
             raw
 )
 
+add_library(structs_wrappers STATIC
+  structs_wrappers.cc
+  serialization.h
+  indexers.cc
+)
+target_include_directories(structs_wrappers PRIVATE ${Python3_INCLUDE_DIRS})
+target_link_libraries(
+  structs_wrappers
+  PRIVATE absl::flat_hash_map
+          absl::span
+          crossplatform
+          mujoco
+          raw
+          structs_header
+          pybind11::headers
+          Eigen3::Eigen
+)
+
+
 add_library(functions_header INTERFACE)
 target_sources(functions_header INTERFACE functions.h)
 set_target_properties(functions_header PROPERTIES PUBLIC_HEADER functions.h)
@@ -403,6 +422,7 @@ target_link_libraries(
           func_wrap
           function_traits
           structs_header
+          structs_wrappers
 )
 
 if(NOT EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/specs.cc.inc)
@@ -417,6 +437,8 @@ endif()
 mujoco_pybind11_module(
   _specs
   specs.cc
+  specs_wrapper.h
+  specs_wrapper.cc
   specs.cc.inc
 )
 target_link_libraries(

{mujoco-3.3.0 → mujoco-3.3.2}/mujoco/__init__.py

@@ -91,7 +91,7 @@ MjStruct: TypeAlias = Union[
 
 
 def to_zip(spec: _specs.MjSpec, file: Union[str, IO[bytes]]) -> None:
-  """Converts a spec to a zip file.
+  """Converts an MjSpec to a zip file.
 
   Args:
     spec: The mjSpec to save to a file.
@@ -109,6 +109,33 @@ def to_zip(spec: _specs.MjSpec, file: Union[str, IO[bytes]]) -> None:
       zip_file.writestr(zip_info, contents)
 
 
+def from_zip(file: Union[str, IO[bytes]]) -> _specs.MjSpec:
+  """Reads a zip file and returns an MjSpec.
+
+  Args:
+    file: The path to the file to read from or the file object to read from.
+  Returns:
+    An MjSpec object.
+  """
+  assets = {}
+  xml_string = None
+  if isinstance(file, str):
+    file = open(file, 'rb')
+  if not zipfile.is_zipfile(file):
+    raise ValueError(f'File {file} is not a zip file.')
+  with zipfile.ZipFile(file, 'r') as zip_file:
+    for zip_info in zip_file.infolist():
+      if not zip_info.filename.endswith(os.path.sep):
+        with zip_file.open(zip_info.filename) as f:
+          if zip_info.filename.endswith('.xml'):
+            xml_string = f.read()
+          else:
+            assets[zip_info.filename] = f.read()
+  if not xml_string:
+    raise ValueError('No XML file found in zip file.')
+  return _specs.MjSpec.from_string(xml_string, assets=assets)
+
+
 class _MjBindModel:
   def __init__(self, elements: Sequence[Any]):
     self.elements = elements
@@ -166,7 +193,7 @@ def _bind_data(
   else:
     return data.bind_scalar(specs)
 
-
+_specs.MjSpec.from_zip = from_zip
 _specs.MjSpec.to_zip = to_zip
 _structs.MjData.bind = _bind_data
 _structs.MjModel.bind = _bind_model

{mujoco-3.3.0 → mujoco-3.3.2}/mujoco/bindings_test.py

@@ -377,6 +377,12 @@ class MuJoCoBindingsTest(parameterized.TestCase):
         4,
     )
 
+  def test_mjvisual_repr(self):
+    # Regression test for issue #2488.
+    vis_repr = repr(self.model.vis)
+    self.assertNotEmpty(vis_repr)
+    self.assertIn('MjVisual', vis_repr)
+
   def test_mjmodel_can_read_and_write_opt(self):
     self.assertEqual(self.model.opt.timestep, 0.002)
     np.testing.assert_array_equal(self.model.opt.gravity, [0, 0, -9.81])
@@ -1077,6 +1083,20 @@ Euler integrator, semi-implicit in velocity.
     ):
       mujoco.mj_forward(self.model, self.data)
 
+  def test_timer_installed_by_default(self):
+    timer_step = mujoco.mjtTimer.mjTIMER_STEP
+    self.assertEqual(self.data.timer[timer_step].number, 0)
+    self.assertEqual(self.data.timer[timer_step].duration, 0.0)
+
+    mujoco.mj_step(self.model, self.data)
+    self.assertEqual(self.data.timer[timer_step].number, 1)
+    duration_1 = self.data.timer[timer_step].duration
+    self.assertGreater(duration_1, 0.0)
+
+    mujoco.mj_step(self.model, self.data, 5)
+    self.assertEqual(self.data.timer[timer_step].number, 6)
+    self.assertGreater(self.data.timer[timer_step].duration, duration_1)
+
   def test_mjcb_time(self):
 
     class CallCounter:

{mujoco-3.3.0 → mujoco-3.3.2}/mujoco/cmake/MujocoDependencies.cmake

@@ -39,12 +39,12 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    66f7f51b7e069d0a03a21157fa60b24aece69aeb
+    464c1d097891a1462ab28bf8bb763c1683883892
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_abseil
-    9ac7062b1860d895fb5a8cbf58c3e9ef8f674b5f # LTS 20250127.0
+    d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
     CACHE STRING "Version of `abseil` to be fetched."
 )
 

{mujoco-3.3.0 → mujoco-3.3.2}/mujoco/enum_traits.h

@@ -269,7 +269,9 @@ struct mjtObj {
     std::make_pair("mjOBJ_KEY", ::mjtObj::mjOBJ_KEY),
     std::make_pair("mjOBJ_PLUGIN", ::mjtObj::mjOBJ_PLUGIN),
     std::make_pair("mjNOBJECT", ::mjtObj::mjNOBJECT),
-    std::make_pair("mjOBJ_FRAME", ::mjtObj::mjOBJ_FRAME)};
+    std::make_pair("mjOBJ_FRAME", ::mjtObj::mjOBJ_FRAME),
+    std::make_pair("mjOBJ_DEFAULT", ::mjtObj::mjOBJ_DEFAULT),
+    std::make_pair("mjOBJ_MODEL", ::mjtObj::mjOBJ_MODEL)};
 };
 
 struct mjtConstraint {
@@ -318,6 +320,7 @@ struct mjtSensor {
     std::make_pair("mjSENS_ACTUATORVEL", ::mjtSensor::mjSENS_ACTUATORVEL),
     std::make_pair("mjSENS_ACTUATORFRC", ::mjtSensor::mjSENS_ACTUATORFRC),
     std::make_pair("mjSENS_JOINTACTFRC", ::mjtSensor::mjSENS_JOINTACTFRC),
+    std::make_pair("mjSENS_TENDONACTFRC", ::mjtSensor::mjSENS_TENDONACTFRC),
     std::make_pair("mjSENS_BALLQUAT", ::mjtSensor::mjSENS_BALLQUAT),
     std::make_pair("mjSENS_BALLANGVEL", ::mjtSensor::mjSENS_BALLANGVEL),
     std::make_pair("mjSENS_JOINTLIMITPOS", ::mjtSensor::mjSENS_JOINTLIMITPOS),

{mujoco-3.3.0 → mujoco-3.3.2}/mujoco/function_traits.h

@@ -134,7 +134,7 @@ struct mj_recompile {
 
 struct mj_saveLastXML {
   static constexpr char name[] = "mj_saveLastXML";
-  static constexpr char doc[] = "Update XML data structures with info from low-level model, save as MJCF. If error is not NULL, it must have size error_sz.";
+  static constexpr char doc[] = "Update XML data structures with info from low-level model created with mj_loadXML, save as MJCF. If error is not NULL, it must have size error_sz.";
   using type = int (const char *, const mjModel *, char *, int);
   static constexpr auto param_names = std::make_tuple("filename", "m", "error", "error_sz");
 
@@ -3861,53 +3861,20 @@ struct mju_taskJoin {
   }
 };
 
-struct mjs_attachBody {
-  static constexpr char name[] = "mjs_attachBody";
-  static constexpr char doc[] = "Attach child body to a parent frame, return the attached body if success or NULL otherwise.";
-  using type = mjsBody * (mjsFrame *, const mjsBody *, const char *, const char *);
+struct mjs_attach {
+  static constexpr char name[] = "mjs_attach";
+  static constexpr char doc[] = "Attach child to a parent, return the attached element if success or NULL otherwise.";
+  using type = mjsElement * (mjsElement *, const mjsElement *, const char *, const char *);
   static constexpr auto param_names = std::make_tuple("parent", "child", "prefix", "suffix");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjs_attachBody;
-  }
-};
-
-struct mjs_attachFrame {
-  static constexpr char name[] = "mjs_attachFrame";
-  static constexpr char doc[] = "Attach child frame to a parent body, return the attached frame if success or NULL otherwise.";
-  using type = mjsFrame * (mjsBody *, const mjsFrame *, const char *, const char *);
-  static constexpr auto param_names = std::make_tuple("parent", "child", "prefix", "suffix");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjs_attachFrame;
-  }
-};
-
-struct mjs_attachToSite {
-  static constexpr char name[] = "mjs_attachToSite";
-  static constexpr char doc[] = "Attach child body to a parent site, return the attached body if success or NULL otherwise.";
-  using type = mjsBody * (mjsSite *, const mjsBody *, const char *, const char *);
-  static constexpr auto param_names = std::make_tuple("parent", "child", "prefix", "suffix");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjs_attachToSite;
-  }
-};
-
-struct mjs_attachFrameToSite {
-  static constexpr char name[] = "mjs_attachFrameToSite";
-  static constexpr char doc[] = "Attach child frame to a parent site, return the attached frame if success or NULL otherwise.";
-  using type = mjsFrame * (mjsSite *, const mjsFrame *, const char *, const char *);
-  static constexpr auto param_names = std::make_tuple("parent", "child", "prefix", "suffix");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjs_attachFrameToSite;
+    return ::mjs_attach;
   }
 };
 
 struct mjs_detachBody {
   static constexpr char name[] = "mjs_detachBody";
-  static constexpr char doc[] = "Detach body from mjSpec, remove all references and delete the body, return 0 on success.";
+  static constexpr char doc[] = "Delete body and descendants from mjSpec, remove all references, return 0 on success.";
   using type = int (mjSpec *, mjsBody *);
   static constexpr auto param_names = std::make_tuple("s", "b");
 
@@ -3916,6 +3883,17 @@ struct mjs_detachBody {
   }
 };
 
+struct mjs_detachDefault {
+  static constexpr char name[] = "mjs_detachDefault";
+  static constexpr char doc[] = "Delete default class and descendants from mjSpec, remove all references, return 0 on success.";
+  using type = int (mjSpec *, mjsDefault *);
+  static constexpr auto param_names = std::make_tuple("s", "d");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_detachDefault;
+  }
+};
+
 struct mjs_addBody {
   static constexpr char name[] = "mjs_addBody";
   static constexpr char doc[] = "Add child body to body, return child.";
@@ -4323,6 +4301,17 @@ struct mjs_getParent {
   }
 };
 
+struct mjs_getFrame {
+  static constexpr char name[] = "mjs_getFrame";
+  static constexpr char doc[] = "Get parent frame.";
+  using type = mjsFrame * (mjsElement *);
+  static constexpr auto param_names = std::make_tuple("element");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_getFrame;
+  }
+};
+
 struct mjs_findFrame {
   static constexpr char name[] = "mjs_findFrame";
   static constexpr char doc[] = "Find frame by name.";
@@ -4348,7 +4337,7 @@ struct mjs_getDefault {
 struct mjs_findDefault {
   static constexpr char name[] = "mjs_findDefault";
   static constexpr char doc[] = "Find default in model by class name.";
-  using type = const mjsDefault * (mjSpec *, const char *);
+  using type = mjsDefault * (mjSpec *, const char *);
   static constexpr auto param_names = std::make_tuple("s", "classname");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4578,8 +4567,8 @@ struct mjs_setDefault {
 
 struct mjs_setFrame {
   static constexpr char name[] = "mjs_setFrame";
-  static constexpr char doc[] = "Set element's enclosing frame.";
-  using type = void (mjsElement *, mjsFrame *);
+  static constexpr char doc[] = "Set element's enclosing frame, return 0 on success.";
+  using type = int (mjsElement *, mjsFrame *);
   static constexpr auto param_names = std::make_tuple("dest", "frame");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4609,6 +4598,39 @@ struct mjs_bodyToFrame {
   }
 };
 
+struct mjs_setUserValue {
+  static constexpr char name[] = "mjs_setUserValue";
+  static constexpr char doc[] = "Set user payload, overriding the existing value for the specified key if present.";
+  using type = void (mjsElement *, const char *, const void *);
+  static constexpr auto param_names = std::make_tuple("element", "key", "data");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_setUserValue;
+  }
+};
+
+struct mjs_getUserValue {
+  static constexpr char name[] = "mjs_getUserValue";
+  static constexpr char doc[] = "Return user payload or NULL if none found.";
+  using type = const void * (mjsElement *, const char *);
+  static constexpr auto param_names = std::make_tuple("element", "key");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_getUserValue;
+  }
+};
+
+struct mjs_deleteUserValue {
+  static constexpr char name[] = "mjs_deleteUserValue";
+  static constexpr char doc[] = "Delete user payload.";
+  using type = void (mjsElement *, const char *);
+  static constexpr auto param_names = std::make_tuple("element", "key");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_deleteUserValue;
+  }
+};
+
 struct mjs_defaultSpec {
   static constexpr char name[] = "mjs_defaultSpec";
   static constexpr char doc[] = "Default spec attributes.";

{mujoco-3.3.0 → mujoco-3.3.2}/mujoco/introspect/codegen/generate_structs.py

@@ -47,7 +47,7 @@ _EXCLUDED = (
     'mjResource_',
 )
 
-_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s\s+\((.+) x (.+)\)\Z')
+_ARRAY_COMMENT_PATTERN = re.compile(r'(.+?)\s+\(([^\(\)]+) x ([^\(\)]+)\)\Z')
 
 
 def traverse(node, visitor):
@@ -93,16 +93,19 @@ class MjStructVisitor:
     # No valid normalization, just parse the declname.
     return type_parsing.parse_type(declname)
 
-  def _make_comment(self, node: ClangJsonNode) -> str:
+  def _make_comment(self, node: ClangJsonNode, strip: bool = True) -> str:
     """Makes a comment string from a Clang AST FullComment node."""
     kind = node.get('kind')
     if kind == 'TextComment':
-      return node['text'].replace('\N{NO-BREAK SPACE}', ' ').strip()
+      retval = node['text'].replace('\N{NO-BREAK SPACE}', ' ')
     else:
       strings = []
       for child in node['inner']:
-        strings.append(self._make_comment(child))
-      return ''.join(strings).strip()
+        strings.append(self._make_comment(child, strip=False))
+      retval = ''.join(strings)
+    if strip:
+      retval = retval.strip()
+    return retval
 
   def _make_field(
       self, node: ClangJsonNode

{mujoco-3.3.0 → mujoco-3.3.2}/mujoco/introspect/enums.py

@@ -287,6 +287,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjOBJ_PLUGIN', 25),
              ('mjNOBJECT', 26),
              ('mjOBJ_FRAME', 100),
+             ('mjOBJ_DEFAULT', 101),
+             ('mjOBJ_MODEL', 102),
          ]),
      )),
     ('mjtConstraint',
@@ -338,34 +340,35 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjSENS_ACTUATORVEL', 14),
              ('mjSENS_ACTUATORFRC', 15),
              ('mjSENS_JOINTACTFRC', 16),
-             ('mjSENS_BALLQUAT', 17),
-             ('mjSENS_BALLANGVEL', 18),
-             ('mjSENS_JOINTLIMITPOS', 19),
-             ('mjSENS_JOINTLIMITVEL', 20),
-             ('mjSENS_JOINTLIMITFRC', 21),
-             ('mjSENS_TENDONLIMITPOS', 22),
-             ('mjSENS_TENDONLIMITVEL', 23),
-             ('mjSENS_TENDONLIMITFRC', 24),
-             ('mjSENS_FRAMEPOS', 25),
-             ('mjSENS_FRAMEQUAT', 26),
-             ('mjSENS_FRAMEXAXIS', 27),
-             ('mjSENS_FRAMEYAXIS', 28),
-             ('mjSENS_FRAMEZAXIS', 29),
-             ('mjSENS_FRAMELINVEL', 30),
-             ('mjSENS_FRAMEANGVEL', 31),
-             ('mjSENS_FRAMELINACC', 32),
-             ('mjSENS_FRAMEANGACC', 33),
-             ('mjSENS_SUBTREECOM', 34),
-             ('mjSENS_SUBTREELINVEL', 35),
-             ('mjSENS_SUBTREEANGMOM', 36),
-             ('mjSENS_GEOMDIST', 37),
-             ('mjSENS_GEOMNORMAL', 38),
-             ('mjSENS_GEOMFROMTO', 39),
-             ('mjSENS_E_POTENTIAL', 40),
-             ('mjSENS_E_KINETIC', 41),
-             ('mjSENS_CLOCK', 42),
-             ('mjSENS_PLUGIN', 43),
-             ('mjSENS_USER', 44),
+             ('mjSENS_TENDONACTFRC', 17),
+             ('mjSENS_BALLQUAT', 18),
+             ('mjSENS_BALLANGVEL', 19),
+             ('mjSENS_JOINTLIMITPOS', 20),
+             ('mjSENS_JOINTLIMITVEL', 21),
+             ('mjSENS_JOINTLIMITFRC', 22),
+             ('mjSENS_TENDONLIMITPOS', 23),
+             ('mjSENS_TENDONLIMITVEL', 24),
+             ('mjSENS_TENDONLIMITFRC', 25),
+             ('mjSENS_FRAMEPOS', 26),
+             ('mjSENS_FRAMEQUAT', 27),
+             ('mjSENS_FRAMEXAXIS', 28),
+             ('mjSENS_FRAMEYAXIS', 29),
+             ('mjSENS_FRAMEZAXIS', 30),
+             ('mjSENS_FRAMELINVEL', 31),
+             ('mjSENS_FRAMEANGVEL', 32),
+             ('mjSENS_FRAMELINACC', 33),
+             ('mjSENS_FRAMEANGACC', 34),
+             ('mjSENS_SUBTREECOM', 35),
+             ('mjSENS_SUBTREELINVEL', 36),
+             ('mjSENS_SUBTREEANGMOM', 37),
+             ('mjSENS_GEOMDIST', 38),
+             ('mjSENS_GEOMNORMAL', 39),
+             ('mjSENS_GEOMFROMTO', 40),
+             ('mjSENS_E_POTENTIAL', 41),
+             ('mjSENS_E_KINETIC', 42),
+             ('mjSENS_CLOCK', 43),
+             ('mjSENS_PLUGIN', 44),
+             ('mjSENS_USER', 45),
          ]),
      )),
     ('mjtStage',