mujoco 3.7.0__tar.gz → 3.8.1__tar.gz

{mujoco-3.7.0/mujoco.egg-info → mujoco-3.8.1}/PKG-INFO

@@ -1,13 +1,13 @@
 Metadata-Version: 2.4
 Name: mujoco
-Version: 3.7.0
+Version: 3.8.1
 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/3.8.1
 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/3.8.1/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-3.8.1}/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
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.8.1.dylib
       )
       target_compile_options(mujoco INTERFACE -F${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.3.8.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -175,7 +175,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  75bcd155c40cb48e647c87c3f29052360255bc9e
+  ea13a98decd497a8c5588fb5de71b57bcf10d864
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL
@@ -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-3.8.1}/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-3.8.1}/mujoco/cmake/MujocoDependencies.cmake

@@ -39,7 +39,7 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    75bcd155c40cb48e647c87c3f29052360255bc9e
+    ea13a98decd497a8c5588fb5de71b57bcf10d864
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 

{mujoco-3.7.0 → mujoco-3.8.1}/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-3.8.1}/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-3.8.1}/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.";
@@ -3223,6 +3256,17 @@ struct mju_sparse2dense {
   }
 };
 
+struct mju_sym2dense {
+  static constexpr char name[] = "mju_sym2dense";
+  static constexpr char doc[] = "Convert lower-triangular symmetric CSR matrix to full dense matrix.";
+  using type = void (mjtNum *, const mjtNum *, int, const int *, const int *, const int *);
+  static constexpr auto param_names = std::make_tuple("res", "mat", "n", "rownnz", "rowadr", "colind");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mju_sym2dense;
+  }
+};
+
 struct mju_rotVecQuat {
   static constexpr char name[] = "mju_rotVecQuat";
   static constexpr char doc[] = "Rotate vector by quaternion.";
@@ -4689,7 +4733,7 @@ struct mjs_makeMesh {
 struct mjs_getSpec {
   static constexpr char name[] = "mjs_getSpec";
   static constexpr char doc[] = "Get spec from body.";
-  using type = mjSpec * (mjsElement *);
+  using type = mjSpec * (const mjsElement *);
   static constexpr auto param_names = std::make_tuple("element");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4697,10 +4741,21 @@ struct mjs_getSpec {
   }
 };
 
+struct mjs_getOriginSpec {
+  static constexpr char name[] = "mjs_getOriginSpec";
+  static constexpr char doc[] = "get spec that originally defined an element contrary to mjs_getSpec, this does not change after attachment";
+  using type = mjSpec * (const mjsElement *);
+  static constexpr auto param_names = std::make_tuple("element");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_getOriginSpec;
+  }
+};
+
 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 *);
+  using type = mjsCompiler * (const mjsElement *);
   static constexpr auto param_names = std::make_tuple("element");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4711,7 +4766,7 @@ struct mjs_getCompiler {
 struct mjs_findSpec {
   static constexpr char name[] = "mjs_findSpec";
   static constexpr char doc[] = "Find spec (model asset) by name.";
-  using type = mjSpec * (mjSpec *, const char *);
+  using type = mjSpec * (const mjSpec *, const char *);
   static constexpr auto param_names = std::make_tuple("spec", "name");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4722,7 +4777,7 @@ struct mjs_findSpec {
 struct mjs_findBody {
   static constexpr char name[] = "mjs_findBody";
   static constexpr char doc[] = "Find body in spec by name.";
-  using type = mjsBody * (mjSpec *, const char *);
+  using type = mjsBody * (const mjSpec *, const char *);
   static constexpr auto param_names = std::make_tuple("s", "name");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4733,7 +4788,7 @@ struct mjs_findBody {
 struct mjs_findElement {
   static constexpr char name[] = "mjs_findElement";
   static constexpr char doc[] = "Find element in spec by name.";
-  using type = mjsElement * (mjSpec *, mjtObj, const char *);
+  using type = mjsElement * (const mjSpec *, mjtObj, const char *);
   static constexpr auto param_names = std::make_tuple("s", "type", "name");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4744,7 +4799,7 @@ struct mjs_findElement {
 struct mjs_findChild {
   static constexpr char name[] = "mjs_findChild";
   static constexpr char doc[] = "Find child body by name.";
-  using type = mjsBody * (mjsBody *, const char *);
+  using type = mjsBody * (const mjsBody *, const char *);
   static constexpr auto param_names = std::make_tuple("body", "name");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4755,7 +4810,7 @@ struct mjs_findChild {
 struct mjs_getParent {
   static constexpr char name[] = "mjs_getParent";
   static constexpr char doc[] = "Get parent body.";
-  using type = mjsBody * (mjsElement *);
+  using type = mjsBody * (const mjsElement *);
   static constexpr auto param_names = std::make_tuple("element");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4766,7 +4821,7 @@ struct mjs_getParent {
 struct mjs_getFrame {
   static constexpr char name[] = "mjs_getFrame";
   static constexpr char doc[] = "Get parent frame.";
-  using type = mjsFrame * (mjsElement *);
+  using type = mjsFrame * (const mjsElement *);
   static constexpr auto param_names = std::make_tuple("element");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4777,7 +4832,7 @@ struct mjs_getFrame {
 struct mjs_findFrame {
   static constexpr char name[] = "mjs_findFrame";
   static constexpr char doc[] = "Find frame by name.";
-  using type = mjsFrame * (mjSpec *, const char *);
+  using type = mjsFrame * (const mjSpec *, const char *);
   static constexpr auto param_names = std::make_tuple("s", "name");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4788,7 +4843,7 @@ struct mjs_findFrame {
 struct mjs_getDefault {
   static constexpr char name[] = "mjs_getDefault";
   static constexpr char doc[] = "Get default corresponding to an element.";
-  using type = mjsDefault * (mjsElement *);
+  using type = mjsDefault * (const mjsElement *);
   static constexpr auto param_names = std::make_tuple("element");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4799,7 +4854,7 @@ struct mjs_getDefault {
 struct mjs_findDefault {
   static constexpr char name[] = "mjs_findDefault";
   static constexpr char doc[] = "Find default in model by class name.";
-  using type = mjsDefault * (mjSpec *, const char *);
+  using type = mjsDefault * (const mjSpec *, const char *);
   static constexpr auto param_names = std::make_tuple("s", "classname");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4810,7 +4865,7 @@ struct mjs_findDefault {
 struct mjs_getSpecDefault {
   static constexpr char name[] = "mjs_getSpecDefault";
   static constexpr char doc[] = "Get global default from model.";
-  using type = mjsDefault * (mjSpec *);
+  using type = mjsDefault * (const mjSpec *);
   static constexpr auto param_names = std::make_tuple("s");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4821,7 +4876,7 @@ struct mjs_getSpecDefault {
 struct mjs_getId {
   static constexpr char name[] = "mjs_getId";
   static constexpr char doc[] = "Get element id.";
-  using type = int (mjsElement *);
+  using type = int (const mjsElement *);
   static constexpr auto param_names = std::make_tuple("element");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4832,7 +4887,7 @@ struct mjs_getId {
 struct mjs_firstChild {
   static constexpr char name[] = "mjs_firstChild";
   static constexpr char doc[] = "Return body's first child of given type. If recurse is nonzero, also search the body's subtree.";
-  using type = mjsElement * (mjsBody *, mjtObj, int);
+  using type = mjsElement * (const mjsBody *, mjtObj, int);
   static constexpr auto param_names = std::make_tuple("body", "type", "recurse");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4843,7 +4898,7 @@ struct mjs_firstChild {
 struct mjs_nextChild {
   static constexpr char name[] = "mjs_nextChild";
   static constexpr char doc[] = "Return body's next child of the same type; return NULL if child is last. If recurse is nonzero, also search the body's subtree.";
-  using type = mjsElement * (mjsBody *, mjsElement *, int);
+  using type = mjsElement * (const mjsBody *, const mjsElement *, int);
   static constexpr auto param_names = std::make_tuple("body", "child", "recurse");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4854,7 +4909,7 @@ struct mjs_nextChild {
 struct mjs_firstElement {
   static constexpr char name[] = "mjs_firstElement";
   static constexpr char doc[] = "Return spec's first element of selected type.";
-  using type = mjsElement * (mjSpec *, mjtObj);
+  using type = mjsElement * (const mjSpec *, mjtObj);
   static constexpr auto param_names = std::make_tuple("s", "type");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4865,7 +4920,7 @@ struct mjs_firstElement {
 struct mjs_nextElement {
   static constexpr char name[] = "mjs_nextElement";
   static constexpr char doc[] = "Return spec's next element; return NULL if element is last.";
-  using type = mjsElement * (mjSpec *, mjsElement *);
+  using type = mjsElement * (const mjSpec *, const mjsElement *);
   static constexpr auto param_names = std::make_tuple("s", "element");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4876,7 +4931,7 @@ struct mjs_nextElement {
 struct mjs_getWrapTarget {
   static constexpr char name[] = "mjs_getWrapTarget";
   static constexpr char doc[] = "Get wrapped element in tendon path.";
-  using type = mjsElement * (mjsWrap *);
+  using type = mjsElement * (const mjsWrap *);
   static constexpr auto param_names = std::make_tuple("wrap");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4887,7 +4942,7 @@ struct mjs_getWrapTarget {
 struct mjs_getWrapSideSite {
   static constexpr char name[] = "mjs_getWrapSideSite";
   static constexpr char doc[] = "Get wrapped element side site in tendon path if it has one, nullptr otherwise.";
-  using type = mjsSite * (mjsWrap *);
+  using type = mjsSite * (const mjsWrap *);
   static constexpr auto param_names = std::make_tuple("wrap");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4898,7 +4953,7 @@ struct mjs_getWrapSideSite {
 struct mjs_getWrapDivisor {
   static constexpr char name[] = "mjs_getWrapDivisor";
   static constexpr char doc[] = "Get divisor of mjsWrap wrapping a puller.";
-  using type = double (mjsWrap *);
+  using type = double (const mjsWrap *);
   static constexpr auto param_names = std::make_tuple("wrap");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4909,7 +4964,7 @@ struct mjs_getWrapDivisor {
 struct mjs_getWrapCoef {
   static constexpr char name[] = "mjs_getWrapCoef";
   static constexpr char doc[] = "Get coefficient of mjsWrap wrapping a joint.";
-  using type = double (mjsWrap *);
+  using type = double (const mjsWrap *);
   static constexpr auto param_names = std::make_tuple("wrap");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {

{mujoco-3.7.0 → mujoco-3.8.1}/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);
@@ -1240,6 +1241,37 @@ PYBIND11_MODULE(_functions, pymodule) {
                                   colind.data());
       });
 
+  DEF_WITH_OMITTED_PY_ARGS(traits::mju_sym2dense, "n")(
+      pymodule,
+      [](Eigen::Ref<EigenArrayXX> res,
+         Eigen::Ref<const EigenVectorX> mat,
+         Eigen::Ref<const EigenVectorI> rownnz,
+         Eigen::Ref<const EigenVectorI> rowadr,
+         Eigen::Ref<const EigenVectorI> colind) {
+        if (res.rows() != res.cols()) {
+          throw py::type_error("res should be a square matrix");
+        }
+        if (res.rows() != rownnz.size()) {
+          throw py::type_error("#rows in res should equal size of rownnz");
+        }
+        if (res.rows() != rowadr.size()) {
+          throw py::type_error("#rows in res should equal size of rowadr");
+        }
+        if (res.rows() > 0) {
+          int nnz = rowadr.array().tail(1)[0] + rownnz.array().tail(1)[0];
+          if (mat.size() < nnz) {
+            throw py::type_error("mat size is too small for the given sparse "
+                                 "structure");
+          }
+          if (colind.size() < nnz) {
+            throw py::type_error("colind size is too small for the given "
+                                 "sparse structure");
+          }
+        }
+        return ::mju_sym2dense(res.data(), mat.data(), res.rows(),
+                               rownnz.data(), rowadr.data(), colind.data());
+      });
+
   // Quaternions
   Def<traits::mju_rotVecQuat>(pymodule);
   Def<traits::mju_negQuat>(pymodule);

{mujoco-3.7.0 → mujoco-3.8.1}/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-3.8.1}/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