mujoco 3.6.0__tar.gz → 3.8.0__tar.gz

{mujoco-3.6.0/mujoco.egg-info → mujoco-3.8.0}/PKG-INFO

@@ -1,13 +1,13 @@
 Metadata-Version: 2.4
 Name: mujoco
-Version: 3.6.0
+Version: 3.8.0
 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/3.6.0
+Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.8.0
 Project-URL: Repository, https://github.com/google-deepmind/mujoco
-Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.6.0/changelog.html
+Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.8.0/changelog.html
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
 Classifier: Intended Audience :: Science/Research
@@ -17,6 +17,7 @@ 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: Programming Language :: Python :: 3.14
 Classifier: Topic :: Scientific/Engineering
 Requires-Python: >=3.10
 Description-Content-Type: text/markdown

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/CMakeLists.txt

@@ -86,7 +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.3.6.0.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.8.0.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -94,7 +94,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.6.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.8.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -193,7 +193,7 @@ findorfetch(
   GIT_REPO
   https://github.com/pybind/pybind11
   GIT_TAG
-  e86205cb2ba070755d582856430c0f83c0af6694 # v3.0.1
+  c7fb32eea8c92bebeea9f0735041a72aa20c75f5 # v3.0.4
   TARGETS
   pybind11::pybind11_headers
   EXCLUDE_FROM_ALL

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/bindings_test.py

@@ -966,7 +966,7 @@ Euler integrator, semi-implicit in velocity.
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1 << 0)
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1 << 1)
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1 << 2)
-    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
+    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 5)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
@@ -1216,13 +1216,15 @@ Euler integrator, semi-implicit in velocity.
       mujoco.set_mjcb_control(lambda m, d: None)
       mujoco.mj_step(model_instances[-1], data_instances[-1])
     mujoco.set_mjcb_control(None)
+    # Reference counting changed in Python 3.14.
+    expected_refcount = 2 if sys.version_info < (3, 14) else 1
     while data_instances:
       d = data_instances.pop()
-      self.assertEqual(sys.getrefcount(d), 2)
+      self.assertEqual(sys.getrefcount(d), expected_refcount)
       del d
     while model_instances:
       m = model_instances.pop()
-      self.assertEqual(sys.getrefcount(m), 2)
+      self.assertEqual(sys.getrefcount(m), expected_refcount)
 
   # This test is disabled on PyPy as it uses sys.getrefcount
   # However PyPy is not officially supported by MuJoCo
@@ -1236,7 +1238,9 @@ Euler integrator, semi-implicit in velocity.
     # passed to getrefcount.
     self.assertEqual(sys.getrefcount(data.model), 3)
     del data
-    self.assertEqual(sys.getrefcount(model), 2)
+    # Reference counting changed in Python 3.14.
+    expected_refcount = 2 if sys.version_info < (3, 14) else 1
+    self.assertEqual(sys.getrefcount(model), expected_refcount)
 
   def test_can_initialize_mjv_structs(self):
     self.assertIsInstance(mujoco.MjvScene(), mujoco.MjvScene)
@@ -1881,6 +1885,29 @@ Euler integrator, semi-implicit in velocity.
     mujoco.mj_readSensor(model, data, 0, delay, result, interp=0)
     np.testing.assert_array_equal(result, [1, 0, 0, 0])
 
+  def test_poly_stiffness(self):
+    xml = r"""
+<mujoco>
+  <worldbody>
+    <body>
+      <geom type="sphere" size="0.1"/>
+      <joint name="slide" type="slide" stiffness="1 2 3"/>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+    model = mujoco.MjModel.from_xml_string(xml)
+    data = mujoco.MjData(model)
+    self.assertEqual(model.jnt_stiffness[0], 1)
+    np.testing.assert_array_equal(
+        model.jnt_stiffnesspoly[0], [2, 3])
+
+    x = 0.5
+    data.qpos[0] = x
+    mujoco.mj_forward(model, data)
+    expected = -(1*x + 2*x*abs(x) + 3*x**3)
+    np.testing.assert_allclose(data.qfrc_spring[0], expected)
+
   def _assert_attributes_equal(self, actual_obj, expected_obj, attr_to_compare):
     for name in attr_to_compare:
       actual_value = getattr(actual_obj, name)

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/callbacks.cc

@@ -91,8 +91,7 @@ static enable_if_not_const_t<Raw, py::handle> MjWrapperLookup(Raw* ptr) {
   // TODO(stunya): Figure out a way to do this without invoking py::detail.
   {
     py::gil_scoped_acquire gil;
-    const auto [src, type] =
-        py::detail::type_caster_base<MjWrapper<Raw>>::src_and_type(wrapper);
+    auto* type = py::detail::get_type_info(typeid(MjWrapper<Raw>));
     if (type) {
       py::object instance = py::reinterpret_steal<py::object>(
           py::detail::find_registered_python_instance(wrapper, type));

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/cmake/MujocoLinkOptions.cmake

@@ -43,12 +43,12 @@ function(get_mujoco_extra_link_options OUTPUT_VAR)
         endif()
       endif()
 
-      set(CMAKE_REQUIRED_FLAGS ${EXTRA_LINK_OPTIONS} "-Wl,--gc-sections")
+      set(CMAKE_REQUIRED_FLAGS "${EXTRA_LINK_OPTIONS} -Wl,--gc-sections")
       check_c_source_compiles("int main() {}" SUPPORTS_GC_SECTIONS)
       if(SUPPORTS_GC_SECTIONS)
         set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,--gc-sections)
       else()
-        set(CMAKE_REQUIRED_FLAGS ${EXTRA_LINK_OPTIONS} "-Wl,-dead_strip")
+        set(CMAKE_REQUIRED_FLAGS "${EXTRA_LINK_OPTIONS} -Wl,-dead_strip")
         check_c_source_compiles("int main() {}" SUPPORTS_DEAD_STRIP)
         if(SUPPORTS_DEAD_STRIP)
           set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} -Wl,-dead_strip)

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/cmake/MujocoOptions.cmake

@@ -18,7 +18,11 @@ set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_C_EXTENSIONS OFF)
+if(EMSCRIPTEN)
+  set(CMAKE_C_EXTENSIONS ON)
+else()
+  set(CMAKE_C_EXTENSIONS OFF)
+endif()
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # For LLVM tooling
 
 if(NOT CMAKE_CONFIGURATION_TYPES)

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/cmake/ShellTests.cmake

@@ -38,7 +38,6 @@ 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-3.6.0 → mujoco-3.8.0}/mujoco/constants.cc

@@ -70,6 +70,7 @@ PYBIND11_MODULE(_constants, pymodule) {
   X(mjNSENS);
   X(mjNSOLVER);
   X(mjNISLAND);
+  X(mjNPOLY);
 
   // from mjvisualize.h
   X(mjNGROUP);

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/enum_traits.h

@@ -46,6 +46,7 @@ struct mjtDisableBit {
     std::make_pair("mjDSBL_AUTORESET", ::mjtDisableBit::mjDSBL_AUTORESET),
     std::make_pair("mjDSBL_NATIVECCD", ::mjtDisableBit::mjDSBL_NATIVECCD),
     std::make_pair("mjDSBL_ISLAND", ::mjtDisableBit::mjDSBL_ISLAND),
+    std::make_pair("mjDSBL_MULTICCD", ::mjtDisableBit::mjDSBL_MULTICCD),
     std::make_pair("mjNDISABLE", ::mjtDisableBit::mjNDISABLE)};
 };
 
@@ -57,7 +58,6 @@ struct mjtEnableBit {
     std::make_pair("mjENBL_ENERGY", ::mjtEnableBit::mjENBL_ENERGY),
     std::make_pair("mjENBL_FWDINV", ::mjtEnableBit::mjENBL_FWDINV),
     std::make_pair("mjENBL_INVDISCRETE", ::mjtEnableBit::mjENBL_INVDISCRETE),
-    std::make_pair("mjENBL_MULTICCD", ::mjtEnableBit::mjENBL_MULTICCD),
     std::make_pair("mjENBL_SLEEP", ::mjtEnableBit::mjENBL_SLEEP),
     std::make_pair("mjNENABLE", ::mjtEnableBit::mjNENABLE)};
 };
@@ -246,6 +246,7 @@ struct mjtDyn {
     std::make_pair("mjDYN_FILTER", ::mjtDyn::mjDYN_FILTER),
     std::make_pair("mjDYN_FILTEREXACT", ::mjtDyn::mjDYN_FILTEREXACT),
     std::make_pair("mjDYN_MUSCLE", ::mjtDyn::mjDYN_MUSCLE),
+    std::make_pair("mjDYN_DCMOTOR", ::mjtDyn::mjDYN_DCMOTOR),
     std::make_pair("mjDYN_USER", ::mjtDyn::mjDYN_USER)};
 };
 
@@ -256,6 +257,7 @@ struct mjtGain {
     std::make_pair("mjGAIN_FIXED", ::mjtGain::mjGAIN_FIXED),
     std::make_pair("mjGAIN_AFFINE", ::mjtGain::mjGAIN_AFFINE),
     std::make_pair("mjGAIN_MUSCLE", ::mjtGain::mjGAIN_MUSCLE),
+    std::make_pair("mjGAIN_DCMOTOR", ::mjtGain::mjGAIN_DCMOTOR),
     std::make_pair("mjGAIN_USER", ::mjtGain::mjGAIN_USER)};
 };
 
@@ -266,6 +268,7 @@ struct mjtBias {
     std::make_pair("mjBIAS_NONE", ::mjtBias::mjBIAS_NONE),
     std::make_pair("mjBIAS_AFFINE", ::mjtBias::mjBIAS_AFFINE),
     std::make_pair("mjBIAS_MUSCLE", ::mjtBias::mjBIAS_MUSCLE),
+    std::make_pair("mjBIAS_DCMOTOR", ::mjtBias::mjBIAS_DCMOTOR),
     std::make_pair("mjBIAS_USER", ::mjtBias::mjBIAS_USER)};
 };
 
@@ -539,7 +542,6 @@ struct mjtWarning {
     std::make_pair("mjWARN_INERTIA", ::mjtWarning::mjWARN_INERTIA),
     std::make_pair("mjWARN_CONTACTFULL", ::mjtWarning::mjWARN_CONTACTFULL),
     std::make_pair("mjWARN_CNSTRFULL", ::mjtWarning::mjWARN_CNSTRFULL),
-    std::make_pair("mjWARN_VGEOMFULL", ::mjtWarning::mjWARN_VGEOMFULL),
     std::make_pair("mjWARN_BADQPOS", ::mjtWarning::mjWARN_BADQPOS),
     std::make_pair("mjWARN_BADQVEL", ::mjtWarning::mjWARN_BADQVEL),
     std::make_pair("mjWARN_BADQACC", ::mjtWarning::mjWARN_BADQACC),

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/function_traits.h

@@ -88,6 +88,28 @@ struct mj_deleteFileVFS {
   }
 };
 
+struct mj_containsBufferVFS {
+  static constexpr char name[] = "mj_containsBufferVFS";
+  static constexpr char doc[] = "Check if buffer exists in VFS; return 1: exists, 0: not found.";
+  using type = int (mjVFS *, const char *);
+  static constexpr auto param_names = std::make_tuple("vfs", "name");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mj_containsBufferVFS;
+  }
+};
+
+struct mj_containsFileVFS {
+  static constexpr char name[] = "mj_containsFileVFS";
+  static constexpr char doc[] = "Check if file exists in VFS; return 1: exists, 0: not found.";
+  using type = int (mjVFS *, const char *, const char *);
+  static constexpr auto param_names = std::make_tuple("vfs", "directory", "filename");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mj_containsFileVFS;
+  }
+};
+
 struct mj_deleteVFS {
   static constexpr char name[] = "mj_deleteVFS";
   static constexpr char doc[] = "Delete all files from VFS and deallocates VFS internal memory.";
@@ -198,6 +220,17 @@ struct mj_parse {
   }
 };
 
+struct mj_encode {
+  static constexpr char name[] = "mj_encode";
+  static constexpr char doc[] = "Encode spec/model to a file using a registered encoder. Returns the number of bytes written on success, -1 on failure.";
+  using type = int (const mjSpec *, const mjModel *, const char *, const char *, const mjVFS *, char *, int);
+  static constexpr auto param_names = std::make_tuple("s", "m", "filename", "content_type", "vfs", "error", "error_sz");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mj_encode;
+  }
+};
+
 struct mj_compile {
   static constexpr char name[] = "mj_compile";
   static constexpr char doc[] = "Compile spec to model.";
@@ -1199,6 +1232,17 @@ struct mj_rnePostConstraint {
   }
 };
 
+struct mj_maxContact {
+  static constexpr char name[] = "mj_maxContact";
+  static constexpr char doc[] = "Return the maximum number of contacts that can be generated between two geoms. If has_margin is -1, then the margin is pulled from the model, otherwise if has_margin > 0 indicates that the geoms have a positive margin.";
+  using type = int (const mjModel *, int, int, int);
+  static constexpr auto param_names = std::make_tuple("m", "g1", "g2", "has_margin");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mj_maxContact;
+  }
+};
+
 struct mj_collision {
   static constexpr char name[] = "mj_collision";
   static constexpr char doc[] = "Run collision detection.";
@@ -1642,7 +1686,7 @@ struct mj_objectAcceleration {
 struct mj_geomDistance {
   static constexpr char name[] = "mj_geomDistance";
   static constexpr char doc[] = "Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.";
-  using type = mjtNum (const mjModel *, const mjData *, int, int, mjtNum, mjtNum (*)[6]);
+  using type = mjtNum (const mjModel *, mjData *, int, int, mjtNum, mjtNum (*)[6]);
   static constexpr auto param_names = std::make_tuple("m", "d", "geom1", "geom2", "distmax", "fromto");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4048,6 +4092,39 @@ struct mjp_findDecoder {
   }
 };
 
+struct mjp_registerEncoder {
+  static constexpr char name[] = "mjp_registerEncoder";
+  static constexpr char doc[] = "Globally register an encoder. This function is thread-safe. If an identical mjpEncoder is already registered, this function does nothing. If a non-identical mjpEncoder with the same name is already registered, an mju_error is raised.";
+  using type = void (const mjpEncoder *);
+  static constexpr auto param_names = std::make_tuple("encoder");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjp_registerEncoder;
+  }
+};
+
+struct mjp_defaultEncoder {
+  static constexpr char name[] = "mjp_defaultEncoder";
+  static constexpr char doc[] = "Set default resource encoder definition.";
+  using type = void (mjpEncoder *);
+  static constexpr auto param_names = std::make_tuple("encoder");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjp_defaultEncoder;
+  }
+};
+
+struct mjp_findEncoder {
+  static constexpr char name[] = "mjp_findEncoder";
+  static constexpr char doc[] = "Return the encoder that matches against the content type or filename extension. If no match, return NULL.";
+  using type = const mjpEncoder * (const char *, const char *);
+  static constexpr auto param_names = std::make_tuple("filename", "content_type");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjp_findEncoder;
+  }
+};
+
 struct mju_openResource {
   static constexpr char name[] = "mju_openResource";
   static constexpr char doc[] = "Open a resource; if the name doesn't have a prefix matching a registered resource provider, then the OS filesystem is used.";
@@ -4565,6 +4642,17 @@ struct mjs_setToAdhesion {
   }
 };
 
+struct mjs_setToDCMotor {
+  static constexpr char name[] = "mjs_setToDCMotor";
+  static constexpr char doc[] = "Set actuator to DC motor; return error if any.";
+  using type = const char * (mjsActuator *, double (*)[2], double, double (*)[3], double (*)[3], double (*)[2], double (*)[3], double (*)[6], double (*)[6], double (*)[5], int);
+  static constexpr auto param_names = std::make_tuple("actuator", "motorconst", "resistance", "nominal", "saturation", "inductance", "cogging", "controller", "thermal", "lugre", "input_mode");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return *reinterpret_cast<type*>(&::mjs_setToDCMotor);
+  }
+};
+
 struct mjs_addMesh {
   static constexpr char name[] = "mjs_addMesh";
   static constexpr char doc[] = "Add mesh.";

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/functions.cc

@@ -304,6 +304,7 @@ PYBIND11_MODULE(_functions, pymodule) {
             m, d, flg_acc, result.data());
       });
   Def<traits::mj_rnePostConstraint>(pymodule);
+  Def<traits::mj_maxContact>(pymodule);
   Def<traits::mj_collision>(pymodule);
   Def<traits::mj_makeConstraint>(pymodule);
   Def<traits::mj_island>(pymodule);
@@ -663,7 +664,7 @@ PYBIND11_MODULE(_functions, pymodule) {
   Def<traits::mj_contactForce>(pymodule);
   Def<traits::mj_geomDistance>(
       pymodule,
-      [](const raw::MjModel* m, const raw::MjData* d,
+      [](const raw::MjModel* m, raw::MjData* d,
          int geom1, int geom2, mjtNum distmax,
          std::optional<Eigen::Ref<EigenArrayXX>> fromto) {
         if (fromto.has_value() && fromto->size() != 6) {

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/indexer_xmacro.h

@@ -15,7 +15,7 @@
 #ifndef MUJOCO_PYTHON_INDEXER_XMACRO_H_
 #define MUJOCO_PYTHON_INDEXER_XMACRO_H_
 
-#include <mujoco/mjxmacro.h>
+#include <mujoco/mjxmacro.h>  // IWYU pragma: keep
 
 #define MJMODEL_ACTUATOR                                          \
   X( int,     actuator_, trntype,      nu, 1                    ) \
@@ -132,6 +132,7 @@
   X( mjtNum,  jnt_, pos,          njnt, 3               ) \
   X( mjtNum,  jnt_, axis,         njnt, 3               ) \
   X( mjtNum,  jnt_, stiffness,    njnt, 1               ) \
+  X( mjtNum,  jnt_, stiffnesspoly, njnt, mjNPOLY        ) \
   X( mjtNum,  jnt_, range,        njnt, 2               ) \
   X( mjtNum,  jnt_, margin,       njnt, 1               ) \
   X( mjtNum,  jnt_, user,         njnt, MJ_M(nuser_jnt) ) \
@@ -145,6 +146,7 @@
   X( mjtNum,  dof_, frictionloss, nv,   1               ) \
   X( mjtNum,  dof_, armature,     nv,   1               ) \
   X( mjtNum,  dof_, damping,      nv,   1               ) \
+  X( mjtNum,  dof_, dampingpoly,  nv,   mjNPOLY         ) \
   X( mjtNum,  dof_, invweight0,   nv,   1               ) \
   X( mjtNum,  dof_, M0,           nv,   1               )
 
@@ -253,7 +255,9 @@
   X( mjtNum,  tendon, _range,        ntendon, 2                  ) \
   X( mjtNum,  tendon, _margin,       ntendon, 1                  ) \
   X( mjtNum,  tendon, _stiffness,    ntendon, 1                  ) \
+  X( mjtNum,  tendon, _stiffnesspoly, ntendon, mjNPOLY           ) \
   X( mjtNum,  tendon, _damping,      ntendon, 1                  ) \
+  X( mjtNum,  tendon, _dampingpoly,  ntendon, mjNPOLY            ) \
   X( mjtNum,  tendon, _frictionloss, ntendon, 1                  ) \
   X( mjtNum,  tendon, _lengthspring, ntendon, 1                  ) \
   X( mjtNum,  tendon, _length0,      ntendon, 1                  ) \

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/introspect/codegen/generate_structs.py

@@ -41,6 +41,8 @@ _ANONYMOUS_KEY_PATTERN = re.compile(r'\d+:\d+(?=\))')
 _EXCLUDED = (
     'mjpDecoder',
     'mjpDecoder_',
+    'mjpEncoder',
+    'mjpEncoder_',
     'mjpPlugin',
     'mjpPlugin_',
     'mjpResourceProvider',

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/introspect/enums.py

@@ -46,7 +46,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjDSBL_AUTORESET', 65536),
              ('mjDSBL_NATIVECCD', 131072),
              ('mjDSBL_ISLAND', 262144),
-             ('mjNDISABLE', 19),
+             ('mjDSBL_MULTICCD', 524288),
+             ('mjNDISABLE', 20),
          ]),
      )),
     ('mjtEnableBit',
@@ -58,9 +59,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjENBL_ENERGY', 2),
              ('mjENBL_FWDINV', 4),
              ('mjENBL_INVDISCRETE', 8),
-             ('mjENBL_MULTICCD', 16),
-             ('mjENBL_SLEEP', 32),
-             ('mjNENABLE', 6),
+             ('mjENBL_SLEEP', 16),
+             ('mjNENABLE', 5),
          ]),
      )),
     ('mjtJoint',
@@ -263,7 +263,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjDYN_FILTER', 2),
              ('mjDYN_FILTEREXACT', 3),
              ('mjDYN_MUSCLE', 4),
-             ('mjDYN_USER', 5),
+             ('mjDYN_DCMOTOR', 5),
+             ('mjDYN_USER', 6),
          ]),
      )),
     ('mjtGain',
@@ -274,7 +275,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjGAIN_FIXED', 0),
              ('mjGAIN_AFFINE', 1),
              ('mjGAIN_MUSCLE', 2),
-             ('mjGAIN_USER', 3),
+             ('mjGAIN_DCMOTOR', 3),
+             ('mjGAIN_USER', 4),
          ]),
      )),
     ('mjtBias',
@@ -285,7 +287,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjBIAS_NONE', 0),
              ('mjBIAS_AFFINE', 1),
              ('mjBIAS_MUSCLE', 2),
-             ('mjBIAS_USER', 3),
+             ('mjBIAS_DCMOTOR', 3),
+             ('mjBIAS_USER', 4),
          ]),
      )),
     ('mjtObj',
@@ -575,12 +578,11 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjWARN_INERTIA', 0),
              ('mjWARN_CONTACTFULL', 1),
              ('mjWARN_CNSTRFULL', 2),
-             ('mjWARN_VGEOMFULL', 3),
-             ('mjWARN_BADQPOS', 4),
-             ('mjWARN_BADQVEL', 5),
-             ('mjWARN_BADQACC', 6),
-             ('mjWARN_BADCTRL', 7),
-             ('mjNWARNING', 8),
+             ('mjWARN_BADQPOS', 3),
+             ('mjWARN_BADQVEL', 4),
+             ('mjWARN_BADQACC', 5),
+             ('mjWARN_BADCTRL', 6),
+             ('mjNWARNING', 7),
          ]),
      )),
     ('mjtTimer',

{mujoco-3.6.0 → mujoco-3.8.0}/mujoco/introspect/enums_test.py

@@ -42,9 +42,8 @@ class EnumsTest(absltest.TestCase):
                                           ('mjENBL_ENERGY', 1<<1),
                                           ('mjENBL_FWDINV', 1<<2),
                                           ('mjENBL_INVDISCRETE', 1<<3),
-                                          ('mjENBL_MULTICCD', 1<<4),
-                                          ('mjENBL_SLEEP', 1<<5),
-                                          ('mjNENABLE', 6)))
+                                          ('mjENBL_SLEEP', 1<<4),
+                                          ('mjNENABLE', 5)))
 
   # values mostly increment by one with occasional overrides
   def test_mjtGeom(self):  # pylint: disable=invalid-name