Merge branch 'google-deepmind:main' into adds-mjthread-busywait-opt

Author: DavidPL1

.github/workflows/build.yml

@@ -286,6 +286,7 @@ jobs:
     - name: Test MJX
       if: ${{ runner.os != 'Windows' }}
       shell: bash
+      working-directory: mjx
       run:
         source ${{ matrix.tmpdir }}/venv/bin/activate &&
         pytest -n auto -v -k 'not IntegrationTest' --pyargs mujoco.mjx

CMakeLists.txt

@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.3.5
+  VERSION 3.3.6
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )

cmake/MujocoDependencies.cmake

@@ -35,11 +35,11 @@ set(MUJOCO_DEP_VERSION_ccd
     CACHE STRING "Version of `ccd` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_qhull
-    c7bee59d068a69f427b1273e71cdc5bc455a5bdd
+    62ccc56af071eaa478bef6ed41fd7a55d3bb2d80
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    81044ec13df7608d0d9d86aff2ef9805fc69bed1
+    4be7e6b4e0a82853e853c0c7c4ef72f395e1f497
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 

dist/mujoco.rc

@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,3,5,0
-PRODUCTVERSION 3,3,5,0
+FILEVERSION 3,3,6,0
+PRODUCTVERSION 3,3,6,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.3.5"
+      VALUE "ProductVersion", "3.3.6"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.3.5"
+      VALUE "FileVersion", "3.3.6"
       VALUE "InternalName", "mujoco.dll"
       VALUE "OriginalFilename", "mujoco.dll"
       VALUE "CompanyName", "Google DeepMind"

dist/simulate.rc

@@ -1,8 +1,8 @@
 MUJOCO ICON "mujoco.ico"
 
 1 VERSIONINFO
-FILEVERSION 3,3,5,0
-PRODUCTVERSION 3,3,5,0
+FILEVERSION 3,3,6,0
+PRODUCTVERSION 3,3,6,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.3.5"
+      VALUE "ProductVersion", "3.3.6"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.3.5"
+      VALUE "FileVersion", "3.3.6"
       VALUE "InternalName", "simulate.exe"
       VALUE "OriginalFilename", "simulate.exe"
       VALUE "CompanyName", "Google DeepMind"

doc/APIreference/APIglobals.rst

@@ -445,7 +445,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - The maximal number of real-valued parameters used to define the impedance of each scalar constraint.
        Determines the size of all ``mjModel.XXX_solimp`` fields.
    * - ``mjNSENS``
-     - 2
+     - 3
      - The number of sensor parameters.
        Determines the size of ``mjModel.sensor_intprm``.
    * - ``mjNSOLVER``
@@ -472,7 +472,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - The maximal number of lines per 2D figure (:ref:`mjvFigure`).
        Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
    * - ``mjMAXLINEPNT``
-     - 1000
+     - 1001
      - The maximal number of points in each line in a 2D figure. Note that the buffer ``mjvFigure.linepnt`` has length
        ``2*mjMAXLINEPNT`` because each point has X and Y coordinates.
        Defined in `mjvisualize.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjvisualize.h>`_.
@@ -521,7 +521,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - Maximum number of UI rectangles.
        Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
    * - ``mjVERSION_HEADER``
-     - 335
+     - 336
      - The version of the MuJoCo headers; changes with every release. This is an integer equal to 100x the software
        version, so 210 corresponds to version 2.1. Defined in  mujoco.h. The API function :ref:`mj_version` returns a
        number with the same meaning but for the compiled library.

doc/APIreference/APItypes.rst

@@ -91,6 +91,18 @@ Byte type used to represent boolean variables.
    typedef unsigned char mjtByte;
 
 
+.. _mjtSize:
+
+mjtSize
+^^^^^^^
+
+Size type used to represent buffer sizes.
+
+.. code-block:: C
+
+   typedef uint64_t mjtSize;
+
+
 .. _tyEnums:
 
 Enum types
@@ -367,6 +379,16 @@ These are the possible sensor data types, used in ``mjData.sensor_datatype``.
 .. mujoco-include:: mjtDataType
 
 
+.. _mjtConDataField:
+
+mjtConDataField
+~~~~~~~~~~~~~~~
+
+Types of data fields returned by contact sensors.
+
+.. mujoco-include:: mjtConDataField
+
+
 .. _mjtSameFrame:
 
 mjtSameFrame