mujoco 3.3.4__tar.gz → 3.3.5__tar.gz

{mujoco-3.3.4 → mujoco-3.3.5}/LICENSES_THIRD_PARTY.md

@@ -841,62 +841,6 @@ must not be misrepresented as being the original software.
 distribution.
 ```
 
-### SdfLib
-
-```
-MIT License
-
-Copyright (c) 2023 Eduard Pujol
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-```
-
-### spdlog
-
-```
-The MIT License (MIT)
-
-Copyright (c) 2016 Gabi Melman.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
--- NOTE: Third party dependency used by this software --
-This software depends on the fmt lib (MIT License),
-and users must comply to its license: https://github.com/fmtlib/fmt/blob/master/LICENSE.rst
-```
-
 ### TriangleMeshDistance
 
 ```

{mujoco-3.3.4/mujoco.egg-info → mujoco-3.3.5}/PKG-INFO

@@ -1,17 +1,16 @@
 Metadata-Version: 2.4
 Name: mujoco
-Version: 3.3.4
+Version: 3.3.5
 Summary: MuJoCo Physics Simulator
 Author-email: Google DeepMind <mujoco@deepmind.com>
-License: Apache License 2.0
+License-Expression: Apache-2.0
 Project-URL: Homepage, https://github.com/google-deepmind/mujoco
-Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.3.4
+Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.3.5
 Project-URL: Repository, https://github.com/google-deepmind/mujoco
-Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.3.4/changelog.html
+Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.3.5/changelog.html
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
 Classifier: Intended Audience :: Science/Research
-Classifier: License :: OSI Approved :: Apache Software License
 Classifier: Natural Language :: English
 Classifier: Programming Language :: Python :: 3
 Classifier: Programming Language :: Python :: 3.9
@@ -952,62 +951,6 @@ must not be misrepresented as being the original software.
 distribution.
 ```
 
-### SdfLib
-
-```
-MIT License
-
-Copyright (c) 2023 Eduard Pujol
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-```
-
-### spdlog
-
-```
-The MIT License (MIT)
-
-Copyright (c) 2016 Gabi Melman.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
--- NOTE: Third party dependency used by this software --
-This software depends on the fmt lib (MIT License),
-and users must comply to its license: https://github.com/fmtlib/fmt/blob/master/LICENSE.rst
-```
-
 ### TriangleMeshDistance
 
 ```

{mujoco-3.3.4 → mujoco-3.3.5}/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.3.3.4.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.3.5.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.3.4 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.3.5 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  81044ec13df7608d0d9d86aff2ef9805fc69bed1
+  4be7e6b4e0a82853e853c0c7c4ef72f395e1f497
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL
@@ -191,7 +191,7 @@ findorfetch(
   GIT_REPO
   https://github.com/pybind/pybind11
   GIT_TAG
-  a2e59f0e7065404b44dfe92a28aca47ba1378dc4 # v2.13.6
+  f0ecf21301c0c24bc78b8b310347c7507d9f41d0 # v3.0.0
   TARGETS
   pybind11::pybind11_headers
   EXCLUDE_FROM_ALL

{mujoco-3.3.4 → mujoco-3.3.5}/mujoco/bindings_test.py

@@ -1395,7 +1395,7 @@ Euler integrator, semi-implicit in velocity.
     np.testing.assert_array_equal(d2, d3.flatten())
     np.testing.assert_array_equal(d1, d4.flatten())
 
-  def test_mjd_quat_intergrate(self):
+  def test_mjd_quat_integrate(self):
     scale = 0.1
     vel = np.array((0.2, 0.3, 0.3))
     d_quat = np.empty(9, np.float64)

{mujoco-3.3.4 → mujoco-3.3.5}/mujoco/cmake/MujocoDependencies.cmake

@@ -35,11 +35,11 @@ set(MUJOCO_DEP_VERSION_ccd
     CACHE STRING "Version of `ccd` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_qhull
-    c7bee59d068a69f427b1273e71cdc5bc455a5bdd
+    62ccc56af071eaa478bef6ed41fd7a55d3bb2d80
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    81044ec13df7608d0d9d86aff2ef9805fc69bed1
+    4be7e6b4e0a82853e853c0c7c4ef72f395e1f497
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
@@ -58,9 +58,9 @@ set(MUJOCO_DEP_VERSION_benchmark
     CACHE STRING "Version of `benchmark` to be fetched."
 )
 
-set(MUJOCO_DEP_VERSION_sdflib
-    1927bee6bb8225258a39c8cbf14e18a4d50409ae
-    CACHE STRING "Version of `SdfLib` to be fetched."
+set(MUJOCO_DEP_VERSION_TriangleMeshDistance
+    2cb643de1436e1ba8e2be49b07ec5491ac604457
+    CACHE STRING "Version of `TriangleMeshDistance` to be fetched."
 )
 
 mark_as_advanced(MUJOCO_DEP_VERSION_lodepng)
@@ -73,7 +73,7 @@ mark_as_advanced(MUJOCO_DEP_VERSION_Eigen3)
 mark_as_advanced(MUJOCO_DEP_VERSION_abseil)
 mark_as_advanced(MUJOCO_DEP_VERSION_gtest)
 mark_as_advanced(MUJOCO_DEP_VERSION_benchmark)
-mark_as_advanced(MUJOCO_DEP_VERSION_sdflib)
+mark_as_advanced(MUJOCO_DEP_VERSION_TriangleMeshDistance)
 
 include(FetchContent)
 include(FindOrFetch)
@@ -184,26 +184,19 @@ findorfetch(
   EXCLUDE_FROM_ALL
 )
 
-option(SDFLIB_USE_ASSIMP OFF)
-option(SDFLIB_USE_OPENMP OFF)
-option(SDFLIB_USE_ENOKI OFF)
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  OFF
-  PACKAGE_NAME
-  sdflib
-  LIBRARY_NAME
-  sdflib
-  GIT_REPO
-  https://github.com/UPC-ViRVIG/SdfLib.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_sdflib}
-  TARGETS
-  SdfLib
-  EXCLUDE_FROM_ALL
-)
-target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+if(NOT TARGET trianglemeshdistance)
+  FetchContent_Declare(
+    trianglemeshdistance
+    GIT_REPOSITORY https://github.com/InteractiveComputerGraphics/TriangleMeshDistance.git
+    GIT_TAG ${MUJOCO_DEP_VERSION_TriangleMeshDistance}
+  )
+
+  FetchContent_GetProperties(trianglemeshdistance)
+  if(NOT trianglemeshdistance_POPULATED)
+    FetchContent_Populate(trianglemeshdistance)
+    include_directories(${trianglemeshdistance_SOURCE_DIR})
+  endif()
+endif()
 
 set(ENABLE_DOUBLE_PRECISION ON)
 set(CCD_HIDE_ALL_SYMBOLS ON)

{mujoco-3.3.4 → mujoco-3.3.5}/mujoco/enum_traits.h

@@ -360,12 +360,15 @@ struct mjtSensor {
     std::make_pair("mjSENS_SUBTREECOM", ::mjtSensor::mjSENS_SUBTREECOM),
     std::make_pair("mjSENS_SUBTREELINVEL", ::mjtSensor::mjSENS_SUBTREELINVEL),
     std::make_pair("mjSENS_SUBTREEANGMOM", ::mjtSensor::mjSENS_SUBTREEANGMOM),
+    std::make_pair("mjSENS_INSIDESITE", ::mjtSensor::mjSENS_INSIDESITE),
     std::make_pair("mjSENS_GEOMDIST", ::mjtSensor::mjSENS_GEOMDIST),
     std::make_pair("mjSENS_GEOMNORMAL", ::mjtSensor::mjSENS_GEOMNORMAL),
     std::make_pair("mjSENS_GEOMFROMTO", ::mjtSensor::mjSENS_GEOMFROMTO),
+    std::make_pair("mjSENS_CONTACT", ::mjtSensor::mjSENS_CONTACT),
     std::make_pair("mjSENS_E_POTENTIAL", ::mjtSensor::mjSENS_E_POTENTIAL),
     std::make_pair("mjSENS_E_KINETIC", ::mjtSensor::mjSENS_E_KINETIC),
     std::make_pair("mjSENS_CLOCK", ::mjtSensor::mjSENS_CLOCK),
+    std::make_pair("mjSENS_TACTILE", ::mjtSensor::mjSENS_TACTILE),
     std::make_pair("mjSENS_PLUGIN", ::mjtSensor::mjSENS_PLUGIN),
     std::make_pair("mjSENS_USER", ::mjtSensor::mjSENS_USER)};
 };
@@ -390,6 +393,20 @@ struct mjtDataType {
     std::make_pair("mjDATATYPE_QUATERNION", ::mjtDataType::mjDATATYPE_QUATERNION)};
 };
 
+struct mjtConDataField {
+  static constexpr char name[] = "mjtConDataField";
+  using type = ::mjtConDataField;
+  static constexpr auto values = std::array{
+    std::make_pair("mjCONDATA_FOUND", ::mjtConDataField::mjCONDATA_FOUND),
+    std::make_pair("mjCONDATA_FORCE", ::mjtConDataField::mjCONDATA_FORCE),
+    std::make_pair("mjCONDATA_TORQUE", ::mjtConDataField::mjCONDATA_TORQUE),
+    std::make_pair("mjCONDATA_DIST", ::mjtConDataField::mjCONDATA_DIST),
+    std::make_pair("mjCONDATA_POS", ::mjtConDataField::mjCONDATA_POS),
+    std::make_pair("mjCONDATA_NORMAL", ::mjtConDataField::mjCONDATA_NORMAL),
+    std::make_pair("mjCONDATA_TANGENT", ::mjtConDataField::mjCONDATA_TANGENT),
+    std::make_pair("mjNCONDATA", ::mjtConDataField::mjNCONDATA)};
+};
+
 struct mjtSameFrame {
   static constexpr char name[] = "mjtSameFrame";
   using type = ::mjtSameFrame;
@@ -615,7 +632,6 @@ struct mjtVisFlag {
     std::make_pair("mjVIS_FLEXFACE", ::mjtVisFlag::mjVIS_FLEXFACE),
     std::make_pair("mjVIS_FLEXSKIN", ::mjtVisFlag::mjVIS_FLEXSKIN),
     std::make_pair("mjVIS_BODYBVH", ::mjtVisFlag::mjVIS_BODYBVH),
-    std::make_pair("mjVIS_FLEXBVH", ::mjtVisFlag::mjVIS_FLEXBVH),
     std::make_pair("mjVIS_MESHBVH", ::mjtVisFlag::mjVIS_MESHBVH),
     std::make_pair("mjVIS_SDFITER", ::mjtVisFlag::mjVIS_SDFITER),
     std::make_pair("mjNVISFLAG", ::mjtVisFlag::mjNVISFLAG)};
@@ -726,6 +742,20 @@ struct mjtMeshInertia {
     std::make_pair("mjMESH_INERTIA_SHELL", ::mjtMeshInertia::mjMESH_INERTIA_SHELL)};
 };
 
+struct mjtMeshBuiltin {
+  static constexpr char name[] = "mjtMeshBuiltin";
+  using type = ::mjtMeshBuiltin;
+  static constexpr auto values = std::array{
+    std::make_pair("mjMESH_BUILTIN_NONE", ::mjtMeshBuiltin::mjMESH_BUILTIN_NONE),
+    std::make_pair("mjMESH_BUILTIN_SPHERE", ::mjtMeshBuiltin::mjMESH_BUILTIN_SPHERE),
+    std::make_pair("mjMESH_BUILTIN_HEMISPHERE", ::mjtMeshBuiltin::mjMESH_BUILTIN_HEMISPHERE),
+    std::make_pair("mjMESH_BUILTIN_CONE", ::mjtMeshBuiltin::mjMESH_BUILTIN_CONE),
+    std::make_pair("mjMESH_BUILTIN_SUPERSPHERE", ::mjtMeshBuiltin::mjMESH_BUILTIN_SUPERSPHERE),
+    std::make_pair("mjMESH_BUILTIN_SUPERTORUS", ::mjtMeshBuiltin::mjMESH_BUILTIN_SUPERTORUS),
+    std::make_pair("mjMESH_BUILTIN_WEDGE", ::mjtMeshBuiltin::mjMESH_BUILTIN_WEDGE),
+    std::make_pair("mjMESH_BUILTIN_PLATE", ::mjtMeshBuiltin::mjMESH_BUILTIN_PLATE)};
+};
+
 struct mjtBuiltin {
   static constexpr char name[] = "mjtBuiltin";
   using type = ::mjtBuiltin;
@@ -867,6 +897,7 @@ static constexpr auto kAllEnums = std::make_tuple(
     mjtSensor{},
     mjtStage{},
     mjtDataType{},
+    mjtConDataField{},
     mjtSameFrame{},
     mjtLRMode{},
     mjtFlexSelf{},
@@ -892,6 +923,7 @@ static constexpr auto kAllEnums = std::make_tuple(
     mjtFont{},
     mjtGeomInertia{},
     mjtMeshInertia{},
+    mjtMeshBuiltin{},
     mjtBuiltin{},
     mjtMark{},
     mjtLimited{},

{mujoco-3.3.4 → mujoco-3.3.5}/mujoco/function_traits.h

@@ -4290,6 +4290,17 @@ struct mjs_addMaterial {
   }
 };
 
+struct mjs_makeMesh {
+  static constexpr char name[] = "mjs_makeMesh";
+  static constexpr char doc[] = "Sets the vertices and normals of a mesh.";
+  using type = int (mjsMesh *, mjtMeshBuiltin, double *, int);
+  static constexpr auto param_names = std::make_tuple("mesh", "builtin", "params", "nparams");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_makeMesh;
+  }
+};
+
 struct mjs_getSpec {
   static constexpr char name[] = "mjs_getSpec";
   static constexpr char doc[] = "Get spec from body.";
@@ -4719,6 +4730,17 @@ struct mjs_deleteUserValue {
   }
 };
 
+struct mjs_sensorDim {
+  static constexpr char name[] = "mjs_sensorDim";
+  static constexpr char doc[] = "Return sensor dimension.";
+  using type = int (const mjsSensor *);
+  static constexpr auto param_names = std::make_tuple("sensor");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_sensorDim;
+  }
+};
+
 struct mjs_defaultSpec {
   static constexpr char name[] = "mjs_defaultSpec";
   static constexpr char doc[] = "Default spec attributes.";

{mujoco-3.3.4 → mujoco-3.3.5}/mujoco/introspect/codegen/generate_functions.py

@@ -95,7 +95,11 @@ class MjFunctionVisitor:
     else:
       strings = []
       for child in node['inner']:
-        strings.append(self._make_comment(child))
+        comment = self._make_comment(child)
+        nullable_index = comment.find('Nullable:')
+        if nullable_index != -1:
+          comment = comment[:nullable_index]
+        strings.append(comment)
       return ''.join(strings)
 
   def visit(self, node: ClangJsonNode) -> None:

{mujoco-3.3.4 → mujoco-3.3.5}/mujoco/introspect/enums.py

@@ -382,14 +382,17 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('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),
+             ('mjSENS_INSIDESITE', 38),
+             ('mjSENS_GEOMDIST', 39),
+             ('mjSENS_GEOMNORMAL', 40),
+             ('mjSENS_GEOMFROMTO', 41),
+             ('mjSENS_CONTACT', 42),
+             ('mjSENS_E_POTENTIAL', 43),
+             ('mjSENS_E_KINETIC', 44),
+             ('mjSENS_CLOCK', 45),
+             ('mjSENS_TACTILE', 46),
+             ('mjSENS_PLUGIN', 47),
+             ('mjSENS_USER', 48),
          ]),
      )),
     ('mjtStage',
@@ -414,6 +417,21 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjDATATYPE_QUATERNION', 3),
          ]),
      )),
+    ('mjtConDataField',
+     EnumDecl(
+         name='mjtConDataField',
+         declname='enum mjtConDataField_',
+         values=dict([
+             ('mjCONDATA_FOUND', 0),
+             ('mjCONDATA_FORCE', 1),
+             ('mjCONDATA_TORQUE', 2),
+             ('mjCONDATA_DIST', 3),
+             ('mjCONDATA_POS', 4),
+             ('mjCONDATA_NORMAL', 5),
+             ('mjCONDATA_TANGENT', 6),
+             ('mjNCONDATA', 7),
+         ]),
+     )),
     ('mjtSameFrame',
      EnumDecl(
          name='mjtSameFrame',
@@ -654,10 +672,9 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjVIS_FLEXFACE', 26),
              ('mjVIS_FLEXSKIN', 27),
              ('mjVIS_BODYBVH', 28),
-             ('mjVIS_FLEXBVH', 29),
-             ('mjVIS_MESHBVH', 30),
-             ('mjVIS_SDFITER', 31),
-             ('mjNVISFLAG', 32),
+             ('mjVIS_MESHBVH', 29),
+             ('mjVIS_SDFITER', 30),
+             ('mjNVISFLAG', 31),
          ]),
      )),
     ('mjtRndFlag',
@@ -775,6 +792,21 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjMESH_INERTIA_SHELL', 3),
          ]),
      )),
+    ('mjtMeshBuiltin',
+     EnumDecl(
+         name='mjtMeshBuiltin',
+         declname='enum mjtMeshBuiltin_',
+         values=dict([
+             ('mjMESH_BUILTIN_NONE', 0),
+             ('mjMESH_BUILTIN_SPHERE', 1),
+             ('mjMESH_BUILTIN_HEMISPHERE', 2),
+             ('mjMESH_BUILTIN_CONE', 3),
+             ('mjMESH_BUILTIN_SUPERSPHERE', 4),
+             ('mjMESH_BUILTIN_SUPERTORUS', 5),
+             ('mjMESH_BUILTIN_WEDGE', 6),
+             ('mjMESH_BUILTIN_PLATE', 7),
+         ]),
+     )),
     ('mjtBuiltin',
      EnumDecl(
          name='mjtBuiltin',

{mujoco-3.3.4 → mujoco-3.3.5}/mujoco/introspect/functions.py

@@ -9869,6 +9869,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Add material.',
      )),
+    ('mjs_makeMesh',
+     FunctionDecl(
+         name='mjs_makeMesh',
+         return_type=ValueType(name='int'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='mesh',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsMesh'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='builtin',
+                 type=ValueType(name='mjtMeshBuiltin'),
+             ),
+             FunctionParameterDecl(
+                 name='params',
+                 type=PointerType(
+                     inner_type=ValueType(name='double'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='nparams',
+                 type=ValueType(name='int'),
+             ),
+         ),
+         doc='Sets the vertices and normals of a mesh.',
+     )),
     ('mjs_getSpec',
      FunctionDecl(
          name='mjs_getSpec',
@@ -10688,6 +10716,20 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Delete user payload.',
      )),
+    ('mjs_sensorDim',
+     FunctionDecl(
+         name='mjs_sensorDim',
+         return_type=ValueType(name='int'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='sensor',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsSensor', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Return sensor dimension.',
+     )),
     ('mjs_defaultSpec',
      FunctionDecl(
          name='mjs_defaultSpec',