mujoco 3.7.0__tar.gz → 3.8.0__tar.gz

{mujoco-3.7.0/mujoco.egg-info → mujoco-3.8.0}/PKG-INFO

@@ -1,13 +1,13 @@
 Metadata-Version: 2.4
 Name: mujoco
-Version: 3.7.0
+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/3.7.0
+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/3.7.0/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-3.7.0 → 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.3.7.0.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.3.7.0 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
-  d0f1a2168f3335426f544171a3463c36edbd5cc3 # v3.0.3
+  c7fb32eea8c92bebeea9f0735041a72aa20c75f5 # v3.0.4
   TARGETS
   pybind11::pybind11_headers
   EXCLUDE_FROM_ALL

{mujoco-3.7.0 → 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)

{mujoco-3.7.0 → 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-3.7.0 → 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)};
 };

{mujoco-3.7.0 → 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.";
@@ -1210,6 +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.";

{mujoco-3.7.0 → 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);

{mujoco-3.7.0 → 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',

{mujoco-3.7.0 → 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

{mujoco-3.7.0 → mujoco-3.8.0}/mujoco/introspect/functions.py

@@ -162,6 +162,52 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Delete file from VFS; return 0: success, -1: not found in VFS.',
      )),
+    ('mj_containsBufferVFS',
+     FunctionDecl(
+         name='mj_containsBufferVFS',
+         return_type=ValueType(name='int'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='vfs',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjVFS'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='name',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Check if buffer exists in VFS; return 1: exists, 0: not found.',
+     )),
+    ('mj_containsFileVFS',
+     FunctionDecl(
+         name='mj_containsFileVFS',
+         return_type=ValueType(name='int'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='vfs',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjVFS'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='directory',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='filename',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Check if file exists in VFS; return 1: exists, 0: not found.',
+     )),
     ('mj_deleteVFS',
      FunctionDecl(
          name='mj_deleteVFS',
@@ -2407,6 +2453,32 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='RNE with complete data: compute cacc, cfrc_ext, cfrc_int.',
      )),
+    ('mj_maxContact',
+     FunctionDecl(
+         name='mj_maxContact',
+         return_type=ValueType(name='int'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='g1',
+                 type=ValueType(name='int'),
+             ),
+             FunctionParameterDecl(
+                 name='g2',
+                 type=ValueType(name='int'),
+             ),
+             FunctionParameterDecl(
+                 name='has_margin',
+                 type=ValueType(name='int'),
+             ),
+         ),
+         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.',  # pylint: disable=line-too-long
+     )),
     ('mj_collision',
      FunctionDecl(
          name='mj_collision',

{mujoco-3.7.0 → mujoco-3.8.0}/mujoco/introspect/structs.py

@@ -972,6 +972,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtSize'),
                  doc='number of element vertex ids in all flexes',
              ),
+             StructFieldDecl(
+                 name='nflexstiffness',
+                 type=ValueType(name='mjtSize'),
+                 doc='number of stiffness parameters in all flexes',
+             ),
              StructFieldDecl(
                  name='nflexelemedge',
                  type=ValueType(name='mjtSize'),
@@ -2663,6 +2668,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='interpolation (0: vertex, 1: nodes)',
                  array_extent=('nflex',),
              ),
+             StructFieldDecl(
+                 name='flex_bandwidth',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='precomputed solver bandwidth',
+                 array_extent=('nflex',),
+             ),
+             StructFieldDecl(
+                 name='flex_cellnum',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='finite cell num per dimension',
+                 array_extent=('nflex', 3),
+             ),
              StructFieldDecl(
                  name='flex_nodeadr',
                  type=PointerType(
@@ -2735,6 +2756,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='first element vertex id address',
                  array_extent=('nflex',),
              ),
+             StructFieldDecl(
+                 name='flex_stiffnessadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='stiffness matrix address',
+                 array_extent=('nflex',),
+             ),
              StructFieldDecl(
                  name='flex_elemedgeadr',
                  type=PointerType(
@@ -2965,7 +2994,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                      inner_type=ValueType(name='mjtNum'),
                  ),
                  doc='finite element stiffness matrix',
-                 array_extent=('nflexelem', 21),
+                 array_extent=('nflexstiffness',),
              ),
              StructFieldDecl(
                  name='flex_bending',
@@ -8224,6 +8253,19 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='2D passive forces; 0: none, 1: bending, 2: stretching, 3: both',  # pylint: disable=line-too-long
              ),
+             StructFieldDecl(
+                 name='cellcount',
+                 type=ArrayType(
+                     inner_type=ValueType(name='int'),
+                     extents=(3,),
+                 ),
+                 doc='grid cell count for finite cell method',
+             ),
+             StructFieldDecl(
+                 name='order',
+                 type=ValueType(name='int'),
+                 doc='interpolation order (1: trilinear, 2: quadratic)',
+             ),
              StructFieldDecl(
                  name='nodebody',
                  type=PointerType(

{mujoco-3.7.0 → mujoco-3.8.0}/mujoco/mjpython/Info.plist

@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.7.0</string>
+    <string>3.8.0</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.7.0</string>
+    <string>3.8.0</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.7.0</string>
+    <string>3.8.0</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.7.0</string>
+    <string>3.8.0</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>

{mujoco-3.7.0 → mujoco-3.8.0}/mujoco/simulate/CMakeLists.txt

@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.7.0
+  VERSION 3.8.0
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )

{mujoco-3.7.0 → mujoco-3.8.0}/mujoco/simulate/cmake/SimulateOptions.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-3.7.0 → mujoco-3.8.0}/mujoco/simulate/simulate.cc

@@ -1192,7 +1192,7 @@ void MakeJointSection(mj::Simulate* sim) {
 
       // set range
       if (sim->jnt_range_[i].has_value())
-        mju::sprintf_arr(defSlider[0].other, "%.4g %.4g",
+        mju::sprintf_arr(defSlider[0].other, "%.17g %.17g",
                          sim->jnt_range_[i]->first, sim->jnt_range_[i]->second);
       else if (sim->jnt_type_[i]==mjJNT_SLIDE) {
         mju::strcpy_arr(defSlider[0].other, "-1 1");
@@ -1251,7 +1251,7 @@ void MakeControlSection(mj::Simulate* sim) {
 
     // set range
     if (sim->actuator_ctrlrange_[i].has_value())
-      mju::sprintf_arr(defSlider[0].other, "%.4g %.4g",
+      mju::sprintf_arr(defSlider[0].other, "%.17g %.17g",
                        sim->actuator_ctrlrange_[i]->first, sim->actuator_ctrlrange_[i]->second);
     else {
       mju::strcpy_arr(defSlider[0].other, "-1 1");