mujoco 3.3.2__tar.gz → 3.3.3__tar.gz

{mujoco-3.3.2/mujoco.egg-info → mujoco-3.3.3}/PKG-INFO

@@ -1,13 +1,13 @@
 Metadata-Version: 2.4
 Name: mujoco
-Version: 3.3.2
+Version: 3.3.3
 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/3.3.2
+Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.3.3
 Project-URL: Repository, https://github.com/google-deepmind/mujoco
-Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.3.2/changelog.html
+Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.3.3/changelog.html
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
 Classifier: Intended Audience :: Science/Research

{mujoco-3.3.2 → mujoco-3.3.3}/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.3.3.2.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.3.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.3.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.3.3 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
-  d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
+  bc257a88f7c1939f24e0379f14a3589e926c950c # LTS 20250512.0
   TARGETS
   ${MUJOCO_PYTHON_ABSL_TARGETS}
   EXCLUDE_FROM_ALL
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  464c1d097891a1462ab28bf8bb763c1683883892
+  d0b490ee091629068e0c11953419eb089f9e6bb2
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL

{mujoco-3.3.2 → mujoco-3.3.3}/mujoco/bindings_test.py

@@ -623,10 +623,12 @@ class MuJoCoBindingsTest(parameterized.TestCase):
 
     ncon = 13
     nefc = 17
-    mujoco._functions._realloc_con_efc(self.data, ncon=ncon, nefc=nefc)
+    nj = 21
+    mujoco._functions._realloc_con_efc(self.data, ncon=ncon, nefc=nefc, nJ=nj)
 
     self.assertLen(self.data.contact, ncon)
     self.assertEqual(self.data.efc_id.shape, (nefc,))
+    self.assertEqual(self.data.efc_J.shape, (nj,))
     self.assertEqual(self.data.efc_KBIP.shape, (nefc, 4))
 
     expected_error = 'insufficient arena memory available'

{mujoco-3.3.2 → mujoco-3.3.3}/mujoco/cmake/MujocoDependencies.cmake

@@ -15,7 +15,7 @@
 # Build configuration for third party libraries used in MuJoCo.
 
 set(MUJOCO_DEP_VERSION_lodepng
-    b4ed2cd7ecf61d29076169b49199371456d4f90b
+    17d08dd26cac4d63f43af217ebd70318bfb8189c
     CACHE STRING "Version of `lodepng` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_tinyxml2
@@ -35,21 +35,21 @@ set(MUJOCO_DEP_VERSION_ccd
     CACHE STRING "Version of `ccd` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_qhull
-    0c8fc90d2037588024d9964515c1e684f6007ecc
+    c7bee59d068a69f427b1273e71cdc5bc455a5bdd
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    464c1d097891a1462ab28bf8bb763c1683883892
+    d0b490ee091629068e0c11953419eb089f9e6bb2
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_abseil
-    d9e4955c65cd4367dd6bf46f4ccb8cd3d100540b # LTS 20250127.1
+    bc257a88f7c1939f24e0379f14a3589e926c950c # LTS 20250512.0
     CACHE STRING "Version of `abseil` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_gtest
-    6910c9d9165801d8827d628cb72eb7ea9dd538c5 # v1.16.0
+    52eb8108c5bdec04579160ae17225d66034bd723 # v1.17.0
     CACHE STRING "Version of `gtest` to be fetched."
 )
 

{mujoco-3.3.2 → mujoco-3.3.3}/mujoco/enum_traits.h

@@ -107,6 +107,16 @@ struct mjtCamLight {
     std::make_pair("mjCAMLIGHT_TARGETBODYCOM", ::mjtCamLight::mjCAMLIGHT_TARGETBODYCOM)};
 };
 
+struct mjtLightType {
+  static constexpr char name[] = "mjtLightType";
+  using type = ::mjtLightType;
+  static constexpr auto values = std::array{
+    std::make_pair("mjLIGHT_SPOT", ::mjtLightType::mjLIGHT_SPOT),
+    std::make_pair("mjLIGHT_DIRECTIONAL", ::mjtLightType::mjLIGHT_DIRECTIONAL),
+    std::make_pair("mjLIGHT_POINT", ::mjtLightType::mjLIGHT_POINT),
+    std::make_pair("mjLIGHT_IMAGE", ::mjtLightType::mjLIGHT_IMAGE)};
+};
+
 struct mjtTexture {
   static constexpr char name[] = "mjtTexture";
   using type = ::mjtTexture;
@@ -133,6 +143,15 @@ struct mjtTextureRole {
     std::make_pair("mjNTEXROLE", ::mjtTextureRole::mjNTEXROLE)};
 };
 
+struct mjtColorSpace {
+  static constexpr char name[] = "mjtColorSpace";
+  using type = ::mjtColorSpace;
+  static constexpr auto values = std::array{
+    std::make_pair("mjCOLORSPACE_AUTO", ::mjtColorSpace::mjCOLORSPACE_AUTO),
+    std::make_pair("mjCOLORSPACE_LINEAR", ::mjtColorSpace::mjCOLORSPACE_LINEAR),
+    std::make_pair("mjCOLORSPACE_SRGB", ::mjtColorSpace::mjCOLORSPACE_SRGB)};
+};
+
 struct mjtIntegrator {
   static constexpr char name[] = "mjtIntegrator";
   using type = ::mjtIntegrator;
@@ -403,6 +422,16 @@ struct mjtFlexSelf {
     std::make_pair("mjFLEXSELF_AUTO", ::mjtFlexSelf::mjFLEXSELF_AUTO)};
 };
 
+struct mjtSDFType {
+  static constexpr char name[] = "mjtSDFType";
+  using type = ::mjtSDFType;
+  static constexpr auto values = std::array{
+    std::make_pair("mjSDFTYPE_SINGLE", ::mjtSDFType::mjSDFTYPE_SINGLE),
+    std::make_pair("mjSDFTYPE_INTERSECTION", ::mjtSDFType::mjSDFTYPE_INTERSECTION),
+    std::make_pair("mjSDFTYPE_MIDSURFACE", ::mjtSDFType::mjSDFTYPE_MIDSURFACE),
+    std::make_pair("mjSDFTYPE_COLLISION", ::mjtSDFType::mjSDFTYPE_COLLISION)};
+};
+
 struct mjtTaskStatus {
   static constexpr char name[] = "mjtTaskStatus";
   using type = ::mjtTaskStatus;
@@ -818,8 +847,10 @@ static constexpr auto kAllEnums = std::make_tuple(
     mjtJoint{},
     mjtGeom{},
     mjtCamLight{},
+    mjtLightType{},
     mjtTexture{},
     mjtTextureRole{},
+    mjtColorSpace{},
     mjtIntegrator{},
     mjtCone{},
     mjtJacobian{},
@@ -839,6 +870,7 @@ static constexpr auto kAllEnums = std::make_tuple(
     mjtSameFrame{},
     mjtLRMode{},
     mjtFlexSelf{},
+    mjtSDFType{},
     mjtTaskStatus{},
     mjtState{},
     mjtWarning{},

{mujoco-3.3.2 → mujoco-3.3.3}/mujoco/function_traits.h

@@ -121,6 +121,17 @@ struct mj_compile {
   }
 };
 
+struct mj_copyBack {
+  static constexpr char name[] = "mj_copyBack";
+  static constexpr char doc[] = "Copy real-valued arrays from model to spec, returns 1 on success.";
+  using type = int (mjSpec *, const mjModel *);
+  static constexpr auto param_names = std::make_tuple("s", "m");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mj_copyBack;
+  }
+};
+
 struct mj_recompile {
   static constexpr char name[] = "mj_recompile";
   static constexpr char doc[] = "Recompile spec to model, preserving the state, return 0 on success.";
@@ -374,6 +385,17 @@ struct mj_copyData {
   }
 };
 
+struct mjv_copyData {
+  static constexpr char name[] = "mjv_copyData";
+  static constexpr char doc[] = "Copy mjData, skip large arrays not required for visualization.";
+  using type = mjData * (mjData *, const mjModel *, const mjData *);
+  static constexpr auto param_names = std::make_tuple("dest", "m", "src");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjv_copyData;
+  }
+};
+
 struct mj_resetData {
   static constexpr char name[] = "mj_resetData";
   static constexpr char doc[] = "Reset data to defaults.";
@@ -935,6 +957,17 @@ struct mj_crb {
   }
 };
 
+struct mj_makeM {
+  static constexpr char name[] = "mj_makeM";
+  static constexpr char doc[] = "Make inertia matrix.";
+  using type = void (const mjModel *, mjData *);
+  static constexpr auto param_names = std::make_tuple("m", "d");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mj_makeM;
+  }
+};
+
 struct mj_factorM {
   static constexpr char name[] = "mj_factorM";
   static constexpr char doc[] = "Compute sparse L'*D*L factorizaton of inertia matrix.";
@@ -1355,7 +1388,7 @@ struct mj_mulM2 {
 
 struct mj_addM {
   static constexpr char name[] = "mj_addM";
-  static constexpr char doc[] = "Add inertia matrix to destination matrix. Destination can be sparse uncompressed, or dense when all int* are NULL";
+  static constexpr char doc[] = "Add inertia matrix to destination matrix. Destination can be sparse or dense when all int* are NULL.";
   using type = void (const mjModel *, mjData *, mjtNum *, int *, int *, int *);
   static constexpr auto param_names = std::make_tuple("m", "d", "dst", "rownnz", "rowadr", "colind");
 
@@ -1727,17 +1760,6 @@ struct mjv_moveCamera {
   }
 };
 
-struct mjv_moveCameraFromState {
-  static constexpr char name[] = "mjv_moveCameraFromState";
-  static constexpr char doc[] = "Move camera with mouse given a scene state; action is mjtMouse.";
-  using type = void (const mjvSceneState *, int, mjtNum, mjtNum, const mjvScene *, mjvCamera *);
-  static constexpr auto param_names = std::make_tuple("scnstate", "action", "reldx", "reldy", "scn", "cam");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjv_moveCameraFromState;
-  }
-};
-
 struct mjv_movePerturb {
   static constexpr char name[] = "mjv_movePerturb";
   static constexpr char doc[] = "Move perturb object with mouse; action is mjtMouse.";
@@ -1749,17 +1771,6 @@ struct mjv_movePerturb {
   }
 };
 
-struct mjv_movePerturbFromState {
-  static constexpr char name[] = "mjv_movePerturbFromState";
-  static constexpr char doc[] = "Move perturb object with mouse given a scene state; action is mjtMouse.";
-  using type = void (const mjvSceneState *, int, mjtNum, mjtNum, const mjvScene *, mjvPerturb *);
-  static constexpr auto param_names = std::make_tuple("scnstate", "action", "reldx", "reldy", "scn", "pert");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjv_movePerturbFromState;
-  }
-};
-
 struct mjv_moveModel {
   static constexpr char name[] = "mjv_moveModel";
   static constexpr char doc[] = "Move model with mouse; action is mjtMouse.";
@@ -1914,17 +1925,6 @@ struct mjv_updateScene {
   }
 };
 
-struct mjv_updateSceneFromState {
-  static constexpr char name[] = "mjv_updateSceneFromState";
-  static constexpr char doc[] = "Update entire scene from a scene state, return the number of new mjWARN_VGEOMFULL warnings.";
-  using type = int (const mjvSceneState *, const mjvOption *, const mjvPerturb *, mjvCamera *, int, mjvScene *);
-  static constexpr auto param_names = std::make_tuple("scnstate", "opt", "pert", "cam", "catmask", "scn");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjv_updateSceneFromState;
-  }
-};
-
 struct mjv_copyModel {
   static constexpr char name[] = "mjv_copyModel";
   static constexpr char doc[] = "Copy mjModel, skip large arrays not required for abstract visualization.";
@@ -1936,50 +1936,6 @@ struct mjv_copyModel {
   }
 };
 
-struct mjv_defaultSceneState {
-  static constexpr char name[] = "mjv_defaultSceneState";
-  static constexpr char doc[] = "Set default scene state.";
-  using type = void (mjvSceneState *);
-  static constexpr auto param_names = std::make_tuple("scnstate");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjv_defaultSceneState;
-  }
-};
-
-struct mjv_makeSceneState {
-  static constexpr char name[] = "mjv_makeSceneState";
-  static constexpr char doc[] = "Allocate resources and initialize a scene state object.";
-  using type = void (const mjModel *, const mjData *, mjvSceneState *, int);
-  static constexpr auto param_names = std::make_tuple("m", "d", "scnstate", "maxgeom");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjv_makeSceneState;
-  }
-};
-
-struct mjv_freeSceneState {
-  static constexpr char name[] = "mjv_freeSceneState";
-  static constexpr char doc[] = "Free scene state.";
-  using type = void (mjvSceneState *);
-  static constexpr auto param_names = std::make_tuple("scnstate");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjv_freeSceneState;
-  }
-};
-
-struct mjv_updateSceneState {
-  static constexpr char name[] = "mjv_updateSceneState";
-  static constexpr char doc[] = "Update a scene state from model and data.";
-  using type = void (const mjModel *, mjData *, const mjvOption *, mjvSceneState *);
-  static constexpr auto param_names = std::make_tuple("m", "d", "opt", "scnstate");
-
-  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
-    return ::mjv_updateSceneState;
-  }
-};
-
 struct mjv_addGeoms {
   static constexpr char name[] = "mjv_addGeoms";
   static constexpr char doc[] = "Add geoms from selected categories.";
@@ -3641,6 +3597,39 @@ struct mju_sigmoid {
   }
 };
 
+struct mjc_getSDF {
+  static constexpr char name[] = "mjc_getSDF";
+  static constexpr char doc[] = "get sdf from geom id";
+  using type = const mjpPlugin * (const mjModel *, int);
+  static constexpr auto param_names = std::make_tuple("m", "id");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjc_getSDF;
+  }
+};
+
+struct mjc_distance {
+  static constexpr char name[] = "mjc_distance";
+  static constexpr char doc[] = "signed distance function";
+  using type = mjtNum (const mjModel *, const mjData *, const mjSDF *, const mjtNum (*)[3]);
+  static constexpr auto param_names = std::make_tuple("m", "d", "s", "x");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return *reinterpret_cast<type*>(&::mjc_distance);
+  }
+};
+
+struct mjc_gradient {
+  static constexpr char name[] = "mjc_gradient";
+  static constexpr char doc[] = "gradient of sdf";
+  using type = void (const mjModel *, const mjData *, const mjSDF *, mjtNum (*)[3], const mjtNum (*)[3]);
+  static constexpr auto param_names = std::make_tuple("m", "d", "s", "gradient", "x");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return *reinterpret_cast<type*>(&::mjc_gradient);
+  }
+};
+
 struct mjd_transitionFD {
   static constexpr char name[] = "mjd_transitionFD";
   static constexpr char doc[] = "Finite differenced transition matrices (control theory notation)   d(x_next) = A*dx + B*du   d(sensor) = C*dx + D*du   required output matrix dimensions:      A: (2*nv+na x 2*nv+na)      B: (2*nv+na x nu)      D: (nsensordata x 2*nv+na)      C: (nsensordata x nu)";
@@ -4180,6 +4169,94 @@ struct mjs_addDefault {
   }
 };
 
+struct mjs_setToMotor {
+  static constexpr char name[] = "mjs_setToMotor";
+  static constexpr char doc[] = "Set actuator to motor, return error if any.";
+  using type = const char * (mjsActuator *);
+  static constexpr auto param_names = std::make_tuple("actuator");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_setToMotor;
+  }
+};
+
+struct mjs_setToPosition {
+  static constexpr char name[] = "mjs_setToPosition";
+  static constexpr char doc[] = "Set actuator to position, return error if any.";
+  using type = const char * (mjsActuator *, double, double (*)[1], double (*)[1], double (*)[1], double);
+  static constexpr auto param_names = std::make_tuple("actuator", "kp", "kv", "dampratio", "timeconst", "inheritrange");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return *reinterpret_cast<type*>(&::mjs_setToPosition);
+  }
+};
+
+struct mjs_setToIntVelocity {
+  static constexpr char name[] = "mjs_setToIntVelocity";
+  static constexpr char doc[] = "Set actuator to integrated velocity, return error if any.";
+  using type = const char * (mjsActuator *, double, double (*)[1], double (*)[1], double (*)[1], double);
+  static constexpr auto param_names = std::make_tuple("actuator", "kp", "kv", "dampratio", "timeconst", "inheritrange");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return *reinterpret_cast<type*>(&::mjs_setToIntVelocity);
+  }
+};
+
+struct mjs_setToVelocity {
+  static constexpr char name[] = "mjs_setToVelocity";
+  static constexpr char doc[] = "Set actuator to velocity servo, return error if any.";
+  using type = const char * (mjsActuator *, double);
+  static constexpr auto param_names = std::make_tuple("actuator", "kv");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_setToVelocity;
+  }
+};
+
+struct mjs_setToDamper {
+  static constexpr char name[] = "mjs_setToDamper";
+  static constexpr char doc[] = "Set actuator to activate damper, return error if any.";
+  using type = const char * (mjsActuator *, double);
+  static constexpr auto param_names = std::make_tuple("actuator", "kv");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_setToDamper;
+  }
+};
+
+struct mjs_setToCylinder {
+  static constexpr char name[] = "mjs_setToCylinder";
+  static constexpr char doc[] = "Set actuator to hydraulic or pneumatic cylinder, return error if any.";
+  using type = const char * (mjsActuator *, double, double, double, double);
+  static constexpr auto param_names = std::make_tuple("actuator", "timeconst", "bias", "area", "diameter");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_setToCylinder;
+  }
+};
+
+struct mjs_setToMuscle {
+  static constexpr char name[] = "mjs_setToMuscle";
+  static constexpr char doc[] = "Set actuator to muscle, return error if any.a";
+  using type = const char * (mjsActuator *, double (*)[2], double, double (*)[2], double, double, double, double, double, double, double);
+  static constexpr auto param_names = std::make_tuple("actuator", "timeconst", "tausmooth", "range", "force", "scale", "lmin", "lmax", "vmax", "fpmax", "fvmax");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return *reinterpret_cast<type*>(&::mjs_setToMuscle);
+  }
+};
+
+struct mjs_setToAdhesion {
+  static constexpr char name[] = "mjs_setToAdhesion";
+  static constexpr char doc[] = "Set actuator to active adhesion, return error if any.";
+  using type = const char * (mjsActuator *, double);
+  static constexpr auto param_names = std::make_tuple("actuator", "gain");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_setToAdhesion;
+  }
+};
+
 struct mjs_addMesh {
   static constexpr char name[] = "mjs_addMesh";
   static constexpr char doc[] = "Add mesh.";
@@ -4554,6 +4631,17 @@ struct mjs_getDouble {
   }
 };
 
+struct mjs_getPluginAttributes {
+  static constexpr char name[] = "mjs_getPluginAttributes";
+  static constexpr char doc[] = "Get plugin attributes.";
+  using type = const void * (const mjsPlugin *);
+  static constexpr auto param_names = std::make_tuple("plugin");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_getPluginAttributes;
+  }
+};
+
 struct mjs_setDefault {
   static constexpr char name[] = "mjs_setDefault";
   static constexpr char doc[] = "Set element's default.";

{mujoco-3.3.2 → mujoco-3.3.3}/mujoco/functions.cc

@@ -211,6 +211,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mj_tendon>(pymodule);
   Def<traits::mj_transmission>(pymodule);
   Def<traits::mj_crb>(pymodule);
+  Def<traits::mj_makeM>(pymodule);
   Def<traits::mj_factorM>(pymodule);
   DEF_WITH_OMITTED_PY_ARGS(traits::mj_solveM, "n")(
       pymodule,
@@ -1467,10 +1468,10 @@ PYBIND11_MODULE(_functions, pymodule) {
 
   pymodule.def(
       "_realloc_con_efc",
-      [](MjDataWrapper& d, int ncon, int nefc) {
+      [](MjDataWrapper& d, int ncon, int nefc, int nJ) {
         raw::MjData* data = d.get();
 
-        auto cleanup = [](raw::MjData* data) {
+        auto cleanup = [](raw::MjData* data, int nJ) {
 #ifdef ADDRESS_SANITIZER
         ASAN_POISON_MEMORY_REGION(
             static_cast<char*>(data->arena),
@@ -1479,6 +1480,7 @@ PYBIND11_MODULE(_functions, pymodule) {
           data->parena = 0;
           data->ncon = 0;
           data->nefc = 0;
+          if (nJ > -1) data->nJ = 0;
           data->contact = static_cast<raw::MjContact*>(data->arena);
 #define X(type, name, nr, nc) data->name = nullptr;
           MJDATA_ARENA_POINTERS_SOLVER
@@ -1486,14 +1488,15 @@ PYBIND11_MODULE(_functions, pymodule) {
 #undef X
         };
 
-        cleanup(data);
+        cleanup(data, nJ);
         data->ncon = ncon;
         data->nefc = nefc;
+        if (nJ > -1) data->nJ = nJ;
         data->contact =
             static_cast<raw::MjContact*>(InterceptMjErrors(::mj_arenaAllocByte)(
                 data, ncon * sizeof(raw::MjContact), alignof(raw::MjContact)));
         if (!data->contact) {
-          cleanup(data);
+          cleanup(data, nJ);
           throw FatalError("insufficient arena memory available");
         }
 
@@ -1505,7 +1508,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   data->name = static_cast<type*>(InterceptMjErrors(::mj_arenaAllocByte)( \
       data, sizeof(type) * (nr) * (nc), alignof(type)));                  \
   if (!data->name) {                                                      \
-    cleanup(data);                                                        \
+    cleanup(data, nJ);                                                        \
     throw FatalError("insufficient arena memory available");              \
   }
 
@@ -1519,7 +1522,7 @@ PYBIND11_MODULE(_functions, pymodule) {
 #undef MJ_M
 #define MJ_M(x) x
       },
-      py::arg("d"), py::arg("ncon"), py::arg("nefc"),
+      py::arg("d"), py::arg("ncon"), py::arg("nefc"), py::arg("nJ") = -1,
       py::call_guard<py::gil_scoped_release>());
 }  // PYBIND11_MODULE NOLINT(readability/fn_size)
 }  // namespace

{mujoco-3.3.2 → mujoco-3.3.3}/mujoco/indexer_xmacro.h

@@ -152,7 +152,7 @@
   X( int,     light_, mode,          nlight,  1 ) \
   X( int,     light_, bodyid,        nlight,  1 ) \
   X( int,     light_, targetbodyid,  nlight,  1 ) \
-  X( mjtByte, light_, directional,   nlight,  1 ) \
+  X( int,     light_, type,          nlight,  1 ) \
   X( mjtByte, light_, castshadow,    nlight,  1 ) \
   X( mjtByte, light_, active,        nlight,  1 ) \
   X( mjtNum,  light_, pos,           nlight,  3 ) \

{mujoco-3.3.2 → mujoco-3.3.3}/mujoco/introspect/codegen/generate_functions.py

@@ -99,8 +99,13 @@ class MjFunctionVisitor:
       return ''.join(strings)
 
   def visit(self, node: ClangJsonNode) -> None:
-    if (node.get('kind') == 'FunctionDecl' and
-        node.get('name', '').startswith('mj')):
+    # Skip mjs_setUserValueWithCleanup as it's only useful for heap allocated
+    # objects and doesn't need a python wrapper.
+    if (
+        node.get('kind') == 'FunctionDecl'
+        and node.get('name', '').startswith('mj')
+        and node.get('name', '') != 'mjs_setUserValueWithCleanup'
+    ):
       func_decl = self._make_function(node)
       self._functions[func_decl.name] = func_decl
 

{mujoco-3.3.2 → mujoco-3.3.3}/mujoco/introspect/enums.py

@@ -111,6 +111,17 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjCAMLIGHT_TARGETBODYCOM', 4),
          ]),
      )),
+    ('mjtLightType',
+     EnumDecl(
+         name='mjtLightType',
+         declname='enum mjtLightType_',
+         values=dict([
+             ('mjLIGHT_SPOT', 0),
+             ('mjLIGHT_DIRECTIONAL', 1),
+             ('mjLIGHT_POINT', 2),
+             ('mjLIGHT_IMAGE', 3),
+         ]),
+     )),
     ('mjtTexture',
      EnumDecl(
          name='mjtTexture',
@@ -139,6 +150,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjNTEXROLE', 10),
          ]),
      )),
+    ('mjtColorSpace',
+     EnumDecl(
+         name='mjtColorSpace',
+         declname='enum mjtColorSpace_',
+         values=dict([
+             ('mjCOLORSPACE_AUTO', 0),
+             ('mjCOLORSPACE_LINEAR', 1),
+             ('mjCOLORSPACE_SRGB', 2),
+         ]),
+     )),
     ('mjtIntegrator',
      EnumDecl(
          name='mjtIntegrator',
@@ -428,6 +449,17 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjFLEXSELF_AUTO', 4),
          ]),
      )),
+    ('mjtSDFType',
+     EnumDecl(
+         name='mjtSDFType',
+         declname='enum mjtSDFType_',
+         values=dict([
+             ('mjSDFTYPE_SINGLE', 0),
+             ('mjSDFTYPE_INTERSECTION', 1),
+             ('mjSDFTYPE_MIDSURFACE', 2),
+             ('mjSDFTYPE_COLLISION', 3),
+         ]),
+     )),
     ('mjtTaskStatus',
      EnumDecl(
          name='mjtTaskStatus',