mujoco 3.8.0__tar.gz → 3.9.0__tar.gz

{mujoco-3.8.0 → mujoco-3.9.0}/LICENSES_THIRD_PARTY.md

@@ -841,12 +841,13 @@ must not be misrepresented as being the original software.
 distribution.
 ```
 
-### TriangleMeshDistance
+### miniz
 
 ```
-MIT License
+Copyright 2013-2014 RAD Game Tools and Valve Software
+Copyright 2010-2014 Rich Geldreich and Tenacious Software LLC
 
-Copyright (c) 2021 Jose Antonio Fernandez Fernandez
+All Rights Reserved.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -855,14 +856,14 @@ 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 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.
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
 ```

{mujoco-3.8.0/mujoco.egg-info → mujoco-3.9.0}/PKG-INFO

@@ -1,13 +1,13 @@
 Metadata-Version: 2.4
 Name: mujoco
-Version: 3.8.0
+Version: 3.9.0
 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/3.8.0
+Project-URL: Documentation, https://mujoco.readthedocs.io/en/3.9.0
 Project-URL: Repository, https://github.com/google-deepmind/mujoco
-Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.8.0/changelog.html
+Project-URL: Changelog, https://mujoco.readthedocs.io/en/3.9.0/changelog.html
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
 Classifier: Intended Audience :: Science/Research
@@ -963,12 +963,13 @@ must not be misrepresented as being the original software.
 distribution.
 ```
 
-### TriangleMeshDistance
+### miniz
 
 ```
-MIT License
+Copyright 2013-2014 RAD Game Tools and Valve Software
+Copyright 2010-2014 Rich Geldreich and Tenacious Software LLC
 
-Copyright (c) 2021 Jose Antonio Fernandez Fernandez
+All Rights Reserved.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -977,14 +978,14 @@ 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 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.
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
 ```

{mujoco-3.8.0 → mujoco-3.9.0}/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.3.8.0.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.9.0.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -94,7 +94,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.8.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.9.0 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

{mujoco-3.8.0 → mujoco-3.9.0}/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, 5)
+    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)

{mujoco-3.8.0 → mujoco-3.9.0}/mujoco/cmake/MujocoDependencies.cmake

@@ -38,8 +38,12 @@ set(MUJOCO_DEP_VERSION_qhull
     62ccc56af071eaa478bef6ed41fd7a55d3bb2d80
     CACHE STRING "Version of `qhull` to be fetched."
 )
+set(MUJOCO_DEP_VERSION_miniz
+    d10b03cc73475af673df40f06e5cefd1d5f940d9
+    CACHE STRING "Version of `miniz` to be fetched."
+)
 set(MUJOCO_DEP_VERSION_Eigen3
-    75bcd155c40cb48e647c87c3f29052360255bc9e
+    ea13a98decd497a8c5588fb5de71b57bcf10d864
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
@@ -54,7 +58,7 @@ set(MUJOCO_DEP_VERSION_gtest
 )
 
 set(MUJOCO_DEP_VERSION_benchmark
-    5c55f5d4f45a1b09c5d98aa63a671993ebd42c69
+    834a61fc65e8b7885fcf177f1230ae4b897118fa
     CACHE STRING "Version of `benchmark` to be fetched."
 )
 
@@ -243,6 +247,27 @@ if(WIN32)
   endif()
 endif()
 
+if(DEFINED BUILD_TESTS)
+  set(_OLD_BUILD_TESTS "${BUILD_TESTS}")
+  set(_BUILD_TESTS_WAS_DEFINED TRUE)
+else()
+  set(_BUILD_TESTS_WAS_DEFINED FALSE)
+endif()
+set(BUILD_TESTS OFF)
+fetchpackage(
+  PACKAGE_NAME  miniz
+  GIT_REPO      https://github.com/richgel999/miniz.git
+  GIT_TAG       ${MUJOCO_DEP_VERSION_miniz}
+  TARGETS       miniz
+)
+if(_BUILD_TESTS_WAS_DEFINED)
+  set(BUILD_TESTS "${_OLD_BUILD_TESTS}")
+else()
+  unset(BUILD_TESTS)
+endif()
+unset(_BUILD_TESTS_WAS_DEFINED)
+
+
 if(MUJOCO_BUILD_TESTS OR MUJOCO_BUILD_STUDIO OR MUJOCO_USE_FILAMENT)
   set(ABSL_PROPAGATE_CXX_STD ON)
 

{mujoco-3.8.0 → mujoco-3.9.0}/mujoco/constants.cc

@@ -83,7 +83,7 @@ PYBIND11_MODULE(_constants, pymodule) {
   // from mujoco.h
   X(mjVERSION_HEADER);
 
-  // from mjtnum.h
+  // from mjtype.h
   X(mjMINVAL);
 
   #undef X

{mujoco-3.8.0 → mujoco-3.9.0}/mujoco/enum_traits.h

@@ -59,6 +59,7 @@ struct mjtEnableBit {
     std::make_pair("mjENBL_FWDINV", ::mjtEnableBit::mjENBL_FWDINV),
     std::make_pair("mjENBL_INVDISCRETE", ::mjtEnableBit::mjENBL_INVDISCRETE),
     std::make_pair("mjENBL_SLEEP", ::mjtEnableBit::mjENBL_SLEEP),
+    std::make_pair("mjENBL_DIAGEXACT", ::mjtEnableBit::mjENBL_DIAGEXACT),
     std::make_pair("mjNENABLE", ::mjtEnableBit::mjNENABLE)};
 };
 
@@ -476,15 +477,6 @@ struct mjtSDFType {
     std::make_pair("mjSDFTYPE_COLLISION", ::mjtSDFType::mjSDFTYPE_COLLISION)};
 };
 
-struct mjtTaskStatus {
-  static constexpr char name[] = "mjtTaskStatus";
-  using type = ::mjtTaskStatus;
-  static constexpr auto values = std::array{
-    std::make_pair("mjTASK_NEW", ::mjtTaskStatus::mjTASK_NEW),
-    std::make_pair("mjTASK_QUEUED", ::mjtTaskStatus::mjTASK_QUEUED),
-    std::make_pair("mjTASK_COMPLETED", ::mjtTaskStatus::mjTASK_COMPLETED)};
-};
-
 struct mjtState {
   static constexpr char name[] = "mjtState";
   using type = ::mjtState;
@@ -580,6 +572,15 @@ struct mjtSleepState {
     std::make_pair("mjS_AWAKE", ::mjtSleepState::mjS_AWAKE)};
 };
 
+struct mjtTaskStatus {
+  static constexpr char name[] = "mjtTaskStatus";
+  using type = ::mjtTaskStatus;
+  static constexpr auto values = std::array{
+    std::make_pair("mjTASK_NEW", ::mjtTaskStatus::mjTASK_NEW),
+    std::make_pair("mjTASK_QUEUED", ::mjtTaskStatus::mjTASK_QUEUED),
+    std::make_pair("mjTASK_COMPLETED", ::mjtTaskStatus::mjTASK_COMPLETED)};
+};
+
 struct mjtGeomInertia {
   static constexpr char name[] = "mjtGeomInertia";
   using type = ::mjtGeomInertia;
@@ -670,6 +671,22 @@ struct mjtOrientation {
     std::make_pair("mjORIENTATION_EULER", ::mjtOrientation::mjORIENTATION_EULER)};
 };
 
+struct mjtCTimer {
+  static constexpr char name[] = "mjtCTimer";
+  using type = ::mjtCTimer;
+  static constexpr auto values = std::array{
+    std::make_pair("mjCTIMER_TOTAL", ::mjtCTimer::mjCTIMER_TOTAL),
+    std::make_pair("mjCTIMER_ASSETS", ::mjtCTimer::mjCTIMER_ASSETS),
+    std::make_pair("mjCTIMER_TEXTURE", ::mjtCTimer::mjCTIMER_TEXTURE),
+    std::make_pair("mjCTIMER_MESH_LOAD", ::mjtCTimer::mjCTIMER_MESH_LOAD),
+    std::make_pair("mjCTIMER_MESH_HULL", ::mjtCTimer::mjCTIMER_MESH_HULL),
+    std::make_pair("mjCTIMER_MESH_POLYGON", ::mjtCTimer::mjCTIMER_MESH_POLYGON),
+    std::make_pair("mjCTIMER_MESH_INERTIA", ::mjtCTimer::mjCTIMER_MESH_INERTIA),
+    std::make_pair("mjCTIMER_MESH_BVH", ::mjtCTimer::mjCTIMER_MESH_BVH),
+    std::make_pair("mjCTIMER_MESH_OCTREE", ::mjtCTimer::mjCTIMER_MESH_OCTREE),
+    std::make_pair("mjNCTIMER", ::mjtCTimer::mjNCTIMER)};
+};
+
 struct mjtCatBit {
   static constexpr char name[] = "mjtCatBit";
   using type = ::mjtCatBit;
@@ -967,13 +984,13 @@ static constexpr auto kAllEnums = std::make_tuple(
     mjtLRMode{},
     mjtFlexSelf{},
     mjtSDFType{},
-    mjtTaskStatus{},
     mjtState{},
     mjtConstraint{},
     mjtConstraintState{},
     mjtWarning{},
     mjtTimer{},
     mjtSleepState{},
+    mjtTaskStatus{},
     mjtGeomInertia{},
     mjtMeshInertia{},
     mjtMeshBuiltin{},
@@ -983,6 +1000,7 @@ static constexpr auto kAllEnums = std::make_tuple(
     mjtAlignFree{},
     mjtInertiaFromGeom{},
     mjtOrientation{},
+    mjtCTimer{},
     mjtCatBit{},
     mjtMouse{},
     mjtPertBit{},

{mujoco-3.8.0 → mujoco-3.9.0}/mujoco/function_traits.h

@@ -1829,7 +1829,7 @@ struct mj_versionString {
 struct mj_ray {
   static constexpr char name[] = "mj_ray";
   static constexpr char doc[] = "Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. Return distance (x) to nearest surface, or -1 if no intersection. geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.";
-  using type = mjtNum (const mjModel *, const mjData *, const mjtNum (*)[3], const mjtNum (*)[3], const mjtByte *, mjtByte, int, int (*)[1], mjtNum (*)[3]);
+  using type = mjtNum (const mjModel *, const mjData *, const mjtNum (*)[3], const mjtNum (*)[3], const mjtByte *, mjtBool, int, int (*)[1], mjtNum (*)[3]);
   static constexpr auto param_names = std::make_tuple("m", "d", "pnt", "vec", "geomgroup", "flg_static", "bodyexclude", "geomid", "normal");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -1840,7 +1840,7 @@ struct mj_ray {
 struct mj_multiRay {
   static constexpr char name[] = "mj_multiRay";
   static constexpr char doc[] = "Intersect multiple rays emanating from a single point, compute normals if given. Similar semantics to mj_ray, but vec, normal and dist are arrays. Geoms further than cutoff are ignored.";
-  using type = void (const mjModel *, mjData *, const mjtNum (*)[3], const mjtNum *, const mjtByte *, mjtByte, int, int *, mjtNum *, mjtNum *, int, mjtNum);
+  using type = void (const mjModel *, mjData *, const mjtNum (*)[3], const mjtNum *, const mjtByte *, mjtBool, int, int *, mjtNum *, mjtNum *, int, mjtNum);
   static constexpr auto param_names = std::make_tuple("m", "d", "pnt", "vec", "geomgroup", "flg_static", "bodyexclude", "geomid", "dist", "normal", "nray", "cutoff");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -1884,7 +1884,7 @@ struct mju_rayGeom {
 struct mj_rayFlex {
   static constexpr char name[] = "mj_rayFlex";
   static constexpr char doc[] = "Intersect ray with flex; return nearest distance or -1 if no intersection, and also output nearest vertex id and surface normal.";
-  using type = mjtNum (const mjModel *, const mjData *, int, mjtByte, mjtByte, mjtByte, mjtByte, int, const mjtNum (*)[3], const mjtNum (*)[3], int (*)[1], mjtNum (*)[3]);
+  using type = mjtNum (const mjModel *, const mjData *, int, mjtBool, mjtBool, mjtBool, mjtBool, int, const mjtNum (*)[3], const mjtNum (*)[3], int (*)[1], mjtNum (*)[3]);
   static constexpr auto param_names = std::make_tuple("m", "d", "flex_layer", "flg_vert", "flg_edge", "flg_face", "flg_skin", "flexid", "pnt", "vec", "vertid", "normal");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -2717,6 +2717,17 @@ struct mjs_getError {
   }
 };
 
+struct mjs_getTimer {
+  static constexpr char name[] = "mjs_getTimer";
+  static constexpr char doc[] = "Get compiler timing diagnostics from spec, returns pointer to array of size mjNCTIMER.";
+  using type = const double * (mjSpec *);
+  static constexpr auto param_names = std::make_tuple("s");
+
+  MUJOCO_ALWAYS_INLINE static type& GetFunc() {
+    return ::mjs_getTimer;
+  }
+};
+
 struct mjs_isWarning {
   static constexpr char name[] = "mjs_isWarning";
   static constexpr char doc[] = "Return 1 if compiler error is a warning.";
@@ -3256,6 +3267,17 @@ 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.";
@@ -3501,7 +3523,7 @@ struct mju_cholSolveBand {
 struct mju_band2Dense {
   static constexpr char name[] = "mju_band2Dense";
   static constexpr char doc[] = "Convert banded matrix to dense matrix, fill upper triangle if flg_sym>0.";
-  using type = void (mjtNum *, const mjtNum *, int, int, int, mjtByte);
+  using type = void (mjtNum *, const mjtNum *, int, int, int, mjtBool);
   static constexpr auto param_names = std::make_tuple("res", "mat", "ntotal", "nband", "ndense", "flg_sym");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -3523,7 +3545,7 @@ struct mju_dense2Band {
 struct mju_bandMulMatVec {
   static constexpr char name[] = "mju_bandMulMatVec";
   static constexpr char doc[] = "Multiply band-diagonal matrix with nvec vectors, include upper triangle if flg_sym>0.";
-  using type = void (mjtNum *, const mjtNum *, const mjtNum *, int, int, int, int, mjtByte);
+  using type = void (mjtNum *, const mjtNum *, const mjtNum *, int, int, int, int, mjtBool);
   static constexpr auto param_names = std::make_tuple("res", "mat", "vec", "ntotal", "nband", "ndense", "nvec", "flg_sym");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -3908,7 +3930,7 @@ struct mjc_gradient {
 struct mjd_transitionFD {
   static constexpr char name[] = "mjd_transitionFD";
   static constexpr char doc[] = "Finite differenced transition matrices (control theory notation)   d(x_next) = A*dx + B*du   d(sensor) = C*dx + D*du   required output matrix dimensions:      A: (2*nv+na x 2*nv+na)      B: (2*nv+na x nu)      D: (nsensordata x 2*nv+na)      C: (nsensordata x nu)";
-  using type = void (const mjModel *, mjData *, mjtNum, mjtByte, mjtNum *, mjtNum *, mjtNum *, mjtNum *);
+  using type = void (const mjModel *, mjData *, mjtNum, mjtBool, mjtNum *, mjtNum *, mjtNum *, mjtNum *);
   static constexpr auto param_names = std::make_tuple("m", "d", "eps", "flg_centered", "A", "B", "C", "D");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -3919,7 +3941,7 @@ struct mjd_transitionFD {
 struct mjd_inverseFD {
   static constexpr char name[] = "mjd_inverseFD";
   static constexpr char doc[] = "Finite differenced Jacobians of (force, sensors) = mj_inverse(state, acceleration)   All outputs are optional. Output dimensions (transposed w.r.t Control Theory convention):     DfDq: (nv x nv)     DfDv: (nv x nv)     DfDa: (nv x nv)     DsDq: (nv x nsensordata)     DsDv: (nv x nsensordata)     DsDa: (nv x nsensordata)     DmDq: (nv x nM)   single-letter shortcuts:     inputs: q=qpos, v=qvel, a=qacc     outputs: f=qfrc_inverse, s=sensordata, m=qM   notes:     optionally computes mass matrix Jacobian DmDq     flg_actuation specifies whether to subtract qfrc_actuator from qfrc_inverse";
-  using type = void (const mjModel *, mjData *, mjtNum, mjtByte, mjtNum *, mjtNum *, mjtNum *, mjtNum *, mjtNum *, mjtNum *, mjtNum *);
+  using type = void (const mjModel *, mjData *, mjtNum, mjtBool, mjtNum *, mjtNum *, mjtNum *, mjtNum *, mjtNum *, mjtNum *, mjtNum *);
   static constexpr auto param_names = std::make_tuple("m", "d", "eps", "flg_actuation", "DfDq", "DfDv", "DfDa", "DsDq", "DsDv", "DsDa", "DmDq");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {
@@ -4722,7 +4744,7 @@ 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() {
@@ -4730,10 +4752,21 @@ 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() {
@@ -4744,7 +4777,7 @@ 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() {
@@ -4755,7 +4788,7 @@ 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() {
@@ -4766,7 +4799,7 @@ 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() {
@@ -4777,7 +4810,7 @@ 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() {
@@ -4788,7 +4821,7 @@ 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() {
@@ -4799,7 +4832,7 @@ 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() {
@@ -4810,7 +4843,7 @@ 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() {
@@ -4821,7 +4854,7 @@ 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() {
@@ -4832,7 +4865,7 @@ 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() {
@@ -4843,7 +4876,7 @@ 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() {
@@ -4854,7 +4887,7 @@ 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() {
@@ -4865,7 +4898,7 @@ 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() {
@@ -4876,7 +4909,7 @@ 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() {
@@ -4887,7 +4920,7 @@ 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() {
@@ -4898,7 +4931,7 @@ 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() {
@@ -4909,7 +4942,7 @@ 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() {
@@ -4920,7 +4953,7 @@ 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() {
@@ -4931,7 +4964,7 @@ 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() {
@@ -4942,7 +4975,7 @@ 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() {
@@ -4997,7 +5030,7 @@ struct mjs_setStringVec {
 struct mjs_setInStringVec {
   static constexpr char name[] = "mjs_setInStringVec";
   static constexpr char doc[] = "Set entry in string vector.";
-  using type = mjtByte (mjStringVec *, int, const char *);
+  using type = mjtBool (mjStringVec *, int, const char *);
   static constexpr auto param_names = std::make_tuple("dest", "i", "text");
 
   MUJOCO_ALWAYS_INLINE static type& GetFunc() {