mujoco 3.5.0__tar.gz → 3.6.0__tar.gz

{mujoco-3.5.0/mujoco.egg-info → mujoco-3.6.0}/PKG-INFO

@@ -1,24 +1,24 @@
 Metadata-Version: 2.4
 Name: mujoco
-Version: 3.5.0
+Version: 3.6.0
 Summary: MuJoCo Physics Simulator
 Author-email: Google DeepMind <mujoco@deepmind.com>
 License-Expression: Apache-2.0
 Project-URL: Homepage, https://github.com/google-deepmind/mujoco
-Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.5.0
+Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.6.0
 Project-URL: Repository, https://github.com/google-deepmind/mujoco
-Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.5.0/changelog.html
+Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.6.0/changelog.html
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
 Classifier: Intended Audience :: Science/Research
 Classifier: Natural Language :: English
 Classifier: Programming Language :: Python :: 3
-Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Topic :: Scientific/Engineering
-Requires-Python: >=3.9
+Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 License-File: LICENSES_THIRD_PARTY.md

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/CMakeLists.txt

@@ -51,6 +51,8 @@ endif()
 
 include(MujocoLinkOptions)
 get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
+list(FILTER EXTRA_LINK_OPTIONS EXCLUDE REGEX "STACK")
+list(FILTER EXTRA_LINK_OPTIONS EXCLUDE REGEX "stack")
 add_link_options(${EXTRA_LINK_OPTIONS})
 
 include(MujocoMacOS)
@@ -84,7 +86,7 @@ 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.3.5.0.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.6.0.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +94,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.5.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.6.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/__init__.py

@@ -56,11 +56,23 @@ from mujoco._constants import *
 from mujoco._enums import *
 from mujoco._errors import *
 from mujoco._functions import *
-from mujoco._render import *
 from mujoco._specs import *
 from mujoco._structs import *
-from mujoco.gl_context import *
-from mujoco.renderer import Renderer
+
+try:
+  from mujoco._render import *  # pytype: disable=import-error
+except ImportError:
+  pass
+
+try:
+  from mujoco.rendering.classic.renderer import Renderer  # pytype: disable=import-error
+except ImportError:
+  pass
+
+try:
+  from mujoco.rendering.classic.gl_context import *  # pytype: disable=import-error
+except ImportError:
+  pass
 
 MjStruct: TypeAlias = Union[
     _specs.MjsBody,

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/cmake/MujocoDependencies.cmake

@@ -54,15 +54,10 @@ set(MUJOCO_DEP_VERSION_gtest
 )
 
 set(MUJOCO_DEP_VERSION_benchmark
-    5f7d66929fb66869d96dfcbacf0d8a586b33766d
+    5c55f5d4f45a1b09c5d98aa63a671993ebd42c69
     CACHE STRING "Version of `benchmark` to be fetched."
 )
 
-set(MUJOCO_DEP_VERSION_TriangleMeshDistance
-    2cb643de1436e1ba8e2be49b07ec5491ac604457
-    CACHE STRING "Version of `TriangleMeshDistance` to be fetched."
-)
-
 mark_as_advanced(MUJOCO_DEP_VERSION_lodepng)
 mark_as_advanced(MUJOCO_DEP_VERSION_MarchingCubeCpp)
 mark_as_advanced(MUJOCO_DEP_VERSION_tinyxml2)
@@ -73,7 +68,6 @@ 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_TriangleMeshDistance)
 
 include(FetchContent)
 include(FindOrFetch)
@@ -202,30 +196,6 @@ if(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
   unset(CMAKE_POLICY_VERSION_MINIMUM_LOCALLY_DEFINED)
 endif()
 
-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)
-    # Patch the source code to silence a warning/error related to a loop variable creating a copy.
-    # Since this is a header only library this fix is less intrusive than disabling the warning for
-    # any target including the header.
-    set(TMD_HEADER ${trianglemeshdistance_SOURCE_DIR}/TriangleMeshDistance/include/tmd/TriangleMeshDistance.h)
-    file(READ ${TMD_HEADER} TMD_CONTENT)
-    string(REPLACE
-      "for (const auto edge_count : edges_count) {"
-      "for (const auto& edge_count : edges_count) {"
-      TMD_CONTENT "${TMD_CONTENT}")
-    file(WRITE ${TMD_HEADER} "${TMD_CONTENT}")
-    include_directories(${trianglemeshdistance_SOURCE_DIR})
-  endif()
-endif()
-
 set(ENABLE_DOUBLE_PRECISION ON)
 set(CCD_HIDE_ALL_SYMBOLS ON)
 
@@ -339,9 +309,7 @@ if(MUJOCO_BUILD_TESTS)
         "sed"
         "-i"
         "-e"
-        "s/-std=c++11/-std=c++14/g"
-        "-e"
-        "s/HAVE_CXX_FLAG_STD_CXX11/HAVE_CXX_FLAG_STD_CXX14/g"
+        "s/-Wformat=2/-Wformat/g"
         "${CMAKE_BINARY_DIR}/_deps/benchmark-src/CMakeLists.txt"
     )
   endif()

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/cmake/MujocoLinkOptions.cmake

@@ -23,16 +23,12 @@ function(get_mujoco_extra_link_options OUTPUT_VAR)
     set(EXTRA_LINK_OPTIONS)
 
     if(WIN32)
-      set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,/STACK:16777216)
       set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld-link")
-      check_c_source_compiles("int main() {}" SUPPORTS_LLD)
-      if(SUPPORTS_LLD)
-        set(EXTRA_LINK_OPTIONS
-            ${EXTRA_LINK_OPTIONS}
-            -fuse-ld=lld-link
-            -Wl,/OPT:REF
-            -Wl,/OPT:ICF
-        )
+      check_c_source_compiles("int main() {}" SUPPORTS_LLD_LINK)
+      if(SUPPORTS_LLD_LINK)
+        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -fuse-ld=lld-link -Wl,/STACK:16777216 -Wl,/OPT:REF -Wl,/OPT:ICF)
+      else()
+        set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--stack,16777216)
       endif()
     else()
       set(CMAKE_REQUIRED_FLAGS "-fuse-ld=lld")

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/cmake/ShellTests.cmake

@@ -38,6 +38,7 @@ function(add_mujoco_shell_test TEST_NAME TARGET_BINARY)
                "CMAKE_SOURCE_DIR=${CMAKE_SOURCE_DIR}"
                "TARGET_BINARY=$<TARGET_FILE:${TARGET_BINARY}>"
                "TEST_TMPDIR=${TEST_TMPDIR}"
+               "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:obj_decoder>"
     )
     if(WIN32)
       # Define the directory containing the mujoco DLL library so that it can be added to the PATH.

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/enum_traits.h

@@ -208,6 +208,7 @@ struct mjtEq {
     std::make_pair("mjEQ_TENDON", ::mjtEq::mjEQ_TENDON),
     std::make_pair("mjEQ_FLEX", ::mjtEq::mjEQ_FLEX),
     std::make_pair("mjEQ_FLEXVERT", ::mjtEq::mjEQ_FLEXVERT),
+    std::make_pair("mjEQ_FLEXSTRAIN", ::mjtEq::mjEQ_FLEXSTRAIN),
     std::make_pair("mjEQ_DISTANCE", ::mjtEq::mjEQ_DISTANCE)};
 };
 

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/function_traits.h

@@ -4642,6 +4642,17 @@ struct mjs_getSpec {
   }
 };
 
+struct mjs_getCompiler {
+  static constexpr char name[] = "mjs_getCompiler";
+  static constexpr char doc[] = "Get compiler associated with element's origin spec.";
+  using type = mjsCompiler * (mjsElement *);
+  static constexpr auto param_names = std::make_tuple("element");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_getCompiler;
+  }
+};
+
 struct mjs_findSpec {
   static constexpr char name[] = "mjs_findSpec";
   static constexpr char doc[] = "Find spec (model asset) by name.";

mujoco-3.6.0/mujoco/gl_context.py

@@ -0,0 +1,21 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Wrapper around mujoco.rendering.classic.gl_context for backwards compatibility."""
+
+
+try:
+  from mujoco.rendering.classic.gl_context import *  # pytype: disable=import-error
+except ImportError:
+  pass

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/indexer_xmacro.h

@@ -259,7 +259,10 @@
   X( mjtNum,  tendon, _length0,      ntendon, 1                  ) \
   X( mjtNum,  tendon, _invweight0,   ntendon, 1                  ) \
   X( mjtNum,  tendon, _user,         ntendon, MJ_M(nuser_tendon) ) \
-  X( float,   tendon, _rgba,         ntendon, 4                  )
+  X( float,   tendon, _rgba,         ntendon, 4                  ) \
+  X( int,     ten_,   J_rownnz,      ntendon, 1                  ) \
+  X( int,     ten_,   J_rowadr,      ntendon, 1                  ) \
+  X( int,     ten_,   J_colind,      ntendon, MJ_M(nv)           )
 
 #define MJMODEL_TEXTURE                   \
   X( int,     tex_, type,     ntex,     1 ) \
@@ -402,11 +405,7 @@
 #define MJDATA_TENDON                            \
   X( int, ten_,    wrapadr , ntendon, 1        ) \
   X( int, ten_,    wrapnum , ntendon, 1        ) \
-  X( int, ten_,    J_rownnz, ntendon, 1        ) \
-  X( int, ten_,    J_rowadr, ntendon, 1        ) \
-  X( int, ten_,    J_colind, ntendon, MJ_M(nv) ) \
   X( mjtNum, ten_, length  , ntendon, 1        ) \
-  X( mjtNum, ten_, J       , ntendon, MJ_M(nv) ) \
   X( mjtNum, ten_, velocity, ntendon, 1        )
 
 #define MJDATA_VIEW_GROUPS                                           \

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/introspect/enums.py

@@ -222,7 +222,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjEQ_TENDON', 3),
              ('mjEQ_FLEX', 4),
              ('mjEQ_FLEXVERT', 5),
-             ('mjEQ_DISTANCE', 6),
+             ('mjEQ_FLEXSTRAIN', 6),
+             ('mjEQ_DISTANCE', 7),
          ]),
      )),
     ('mjtWrap',

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/introspect/functions.py

@@ -10823,6 +10823,22 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Get spec from body.',
      )),
+    ('mjs_getCompiler',
+     FunctionDecl(
+         name='mjs_getCompiler',
+         return_type=PointerType(
+             inner_type=ValueType(name='mjsCompiler'),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='element',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsElement'),
+                 ),
+             ),
+         ),
+         doc="Get compiler associated with element's origin spec.",
+     )),
     ('mjs_findSpec',
      FunctionDecl(
          name='mjs_findSpec',

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/introspect/structs.py

@@ -1122,6 +1122,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtSize'),
                  doc='number of tendons',
              ),
+             StructFieldDecl(
+                 name='nJten',
+                 type=ValueType(name='mjtSize'),
+                 doc='number of non-zeros in sparse ten_J matrix',
+             ),
              StructFieldDecl(
                  name='nwrap',
                  type=ValueType(name='mjtSize'),
@@ -2975,7 +2980,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='0: none, 1: edges, 2: vertices',
+                 doc='0:none, 1:edges, 2:vertices, 3:strain',
                  array_extent=('nflex',),
              ),
              StructFieldDecl(
@@ -3922,6 +3927,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc="first two trees along tendon's path",
                  array_extent=('ntendon', 2),
              ),
+             StructFieldDecl(
+                 name='ten_J_rownnz',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of non-zeros in Jacobian row',
+                 array_extent=('ntendon',),
+             ),
+             StructFieldDecl(
+                 name='ten_J_rowadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='row start address in colind array',
+                 array_extent=('ntendon',),
+             ),
+             StructFieldDecl(
+                 name='ten_J_colind',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='column indices in sparse Jacobian',
+                 array_extent=('nJten',),
+             ),
              StructFieldDecl(
                  name='tendon_limited',
                  type=PointerType(
@@ -5807,37 +5836,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='number of wrap points in path',
                  array_extent=('ntendon',),
              ),
-             StructFieldDecl(
-                 name='ten_J_rownnz',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='number of non-zeros in Jacobian row',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='ten_J_rowadr',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='row start address in colind array',
-                 array_extent=('ntendon',),
-             ),
-             StructFieldDecl(
-                 name='ten_J_colind',
-                 type=PointerType(
-                     inner_type=ValueType(name='int'),
-                 ),
-                 doc='column indices in sparse Jacobian',
-                 array_extent=('ntendon', 'nv'),
-             ),
              StructFieldDecl(
                  name='ten_J',
                  type=PointerType(
                      inner_type=ValueType(name='mjtNum'),
                  ),
                  doc='tendon Jacobian',
-                 array_extent=('ntendon', 'nv'),
+                 array_extent=('nJten',),
              ),
              StructFieldDecl(
                  name='ten_length',

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/mjpython/Info.plist

@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.5.0</string>
+    <string>3.6.0</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.5.0</string>
+    <string>3.6.0</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.5.0</string>
+    <string>3.6.0</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.5.0</string>
+    <string>3.6.0</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/mjpython/mjpython.mm

@@ -36,6 +36,13 @@ extern char **environ;  // for execve
 // so that we can dlsym and call them from Python via ctypes.
 __attribute__((used)) void mjpython_hide_dock_icon() {
   [NSApp setActivationPolicy:NSApplicationActivationPolicyAccessory];
+
+  // Drain pending Cocoa events on the main thread. The activation policy
+  // change triggers an asynchronous dock/screen reconfiguration via
+  // SkyLight. If we return before it's processed, the notification lands
+  // on a GCD worker thread and hits NSScreen's main-thread assertion.
+  NSDate* soon = [NSDate dateWithTimeIntervalSinceNow:0.01];
+  [[NSRunLoop mainRunLoop] runUntilDate:soon];
 }
 __attribute__((used)) void mjpython_show_dock_icon() {
   [NSApp setActivationPolicy:NSApplicationActivationPolicyRegular];
@@ -50,6 +57,7 @@ constexpr rlim_t kThreadStackSize = 0x1000000;
 struct {
 #define CPYTHON_FN(fname) decltype(&::fname) fname
 
+  // LINT.IfChange(CPYTHON_FN)
   // go/keep-sorted start
   CPYTHON_FN(PyConfig_Clear);
   CPYTHON_FN(PyConfig_InitPythonConfig);
@@ -57,15 +65,18 @@ struct {
   CPYTHON_FN(PyGILState_Ensure);
   CPYTHON_FN(PyGILState_Release);
   CPYTHON_FN(PyRun_SimpleStringFlags);
+  CPYTHON_FN(PyStatus_Exception);
+  CPYTHON_FN(Py_ExitStatusException);
   CPYTHON_FN(Py_FinalizeEx);
   CPYTHON_FN(Py_InitializeFromConfig);
   CPYTHON_FN(Py_RunMain);
   // go/keep-sorted end
+  // LINT.ThenChange(:CPYTHON_INITFN)
 
 #undef CPYTHON_FN
 } cpython;
 
-std::atomic_bool py_initialized = false;
+std::atomic_bool py_initialized;
 
 struct Args {
   int argc;
@@ -80,8 +91,20 @@ void* mjpython_pymain(void* vargs) {
   // Initialize the Python interpreter.
   PyConfig config;
   cpython.PyConfig_InitPythonConfig(&config);
-  cpython.PyConfig_SetBytesArgv(&config, args->argc, args->argv);
-  cpython.Py_InitializeFromConfig(&config);
+  {
+    PyStatus status = cpython.PyConfig_SetBytesArgv(&config, args->argc, args->argv);
+    if (cpython.PyStatus_Exception(status)) {
+      // Calls exit() which aborts the entire process.
+      cpython.Py_ExitStatusException(status);
+    }
+  }
+  {
+    PyStatus status = cpython.Py_InitializeFromConfig(&config);
+    if (cpython.PyStatus_Exception(status)) {
+      // Calls exit() which aborts the entire process.
+      cpython.Py_ExitStatusException(status);
+    }
+  }
   cpython.PyConfig_Clear(&config);
 
   // Set up the condition variable to pass control back to the macOS main thread.
@@ -205,6 +228,7 @@ _mjpython_init()
 }  // namespace
 
 int main(int argc, char** argv) {
+  py_initialized.store(false);
   const char* libpython_path = getenv("MJPYTHON_LIBPYTHON");
   if (!libpython_path || !libpython_path[0]) {
     std::cerr << "This binary must be launched via the mjpython.py script.\n";
@@ -257,6 +281,7 @@ int main(int argc, char** argv) {
     }                                                                                    \
   }
 
+  // LINT.IfChange(CPYTHON_INITFN)
   // go/keep-sorted start
   CPYTHON_INITFN(PyConfig_Clear);
   CPYTHON_INITFN(PyConfig_InitPythonConfig);
@@ -264,10 +289,13 @@ int main(int argc, char** argv) {
   CPYTHON_INITFN(PyGILState_Ensure);
   CPYTHON_INITFN(PyGILState_Release);
   CPYTHON_INITFN(PyRun_SimpleStringFlags);
+  CPYTHON_INITFN(PyStatus_Exception);
+  CPYTHON_INITFN(Py_ExitStatusException);
   CPYTHON_INITFN(Py_FinalizeEx);
   CPYTHON_INITFN(Py_InitializeFromConfig);
   CPYTHON_INITFN(Py_RunMain);
   // go/keep-sorted end
+  // LINT.ThenChange(:CPYTHON_FN)
 
 #undef CPYTHON_INITFN
 

{mujoco-3.5.0 → mujoco-3.6.0}/mujoco/msh2obj_test.py

@@ -14,6 +14,7 @@
 # ==============================================================================
 """Tests for msh2obj.py."""
 
+
 from absl.testing import absltest
 from etils import epath
 import mujoco

mujoco-3.6.0/mujoco/renderer.py

@@ -0,0 +1,21 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Wrapper around mujoco.rendering.classic.renderer for backwards compatibility."""
+
+
+try:
+  from mujoco.rendering.classic.renderer import Renderer  # pytype: disable=import-error
+except ImportError:
+  pass

mujoco-3.6.0/mujoco/rendering/classic/__init__.py

@@ -0,0 +1,16 @@
+# Copyright 2026 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+
+# Empty.