Merge branch 'google-deepmind:main' into unity/passive-resubmit

.github/workflows/build_steps.sh

@@ -222,7 +222,7 @@ package_wasm() {
     cp wasm/package.npm.json wasm/dist/package.json
     cp wasm/README.md wasm/dist/README.md
 
-    VERSION=${GITHUB_REF#refs/tags/}
+    VERSION="${VERSION:-${GITHUB_REF#refs/tags/}}"
     npm --prefix wasm/dist version "${VERSION}" --no-git-tag-version
 
     echo '//registry.npmjs.org/:_authToken=${NPM_TOKEN}' > ~/.npmrc

.github/workflows/publish-wasm.yml

@@ -5,10 +5,25 @@ on:
     tags:
       - '[0-9]*.[0-9]*.[0-9]*'
 
+  workflow_dispatch:
+    inputs:
+      tag_version:
+        description: 'Release tag version to deploy'
+        required: true
+        default: '0.0.0'
+
+permissions:
+  id-token: write
+  contents: read
+
 jobs:
   publish:
     name: Publish MuJoCo WASM package
     runs-on: ubuntu-24.04
+
+    env:
+      VERSION: ${{ github.event_name == 'workflow_dispatch' && inputs.tag_version || github.ref_name }}
+
     steps:
     - uses: actions/checkout@v3
 
@@ -32,5 +47,5 @@ jobs:
     - name: Package WASM bindings
       env:
         NPM_TOKEN: ${{ secrets.NPM_ACCESS_TOKEN }}
-        GITHUB_REF: ${{ github.ref }}
+        VERSION: ${{ env.VERSION }}
       run: bash ./.github/workflows/build_steps.sh package_wasm

CMakeLists.txt

@@ -29,7 +29,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.6.0
+  VERSION 3.7.0
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )

dist/mujoco.rc

@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,6,0,0
+FILEVERSION 3,7,0,0
-PRODUCTVERSION 3,6,0,0
+PRODUCTVERSION 3,7,0,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.6.0"
+      VALUE "ProductVersion", "3.7.0"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.6.0"
+      VALUE "FileVersion", "3.7.0"
       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 3,6,0,0
+FILEVERSION 3,7,0,0
-PRODUCTVERSION 3,6,0,0
+PRODUCTVERSION 3,7,0,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.6.0"
+      VALUE "ProductVersion", "3.7.0"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.6.0"
+      VALUE "FileVersion", "3.7.0"
       VALUE "InternalName", "simulate.exe"
       VALUE "OriginalFilename", "simulate.exe"
       VALUE "CompanyName", "Google DeepMind"

doc/APIreference/APIglobals.rst

@@ -388,7 +388,7 @@ Defined in `mujoco.h <https://github.com/google-deepmind/mujoco/blob/main/includ
      - value
      - description
    * - ``mjVERSION_HEADER``
-     - 3006000
+     - 3007000
      - The version of the MuJoCo headers. This is an integer calculated from the version string "S.M.P"
        using the formula ``(S * 1e6) + (M * 1e3) + P``. For example, version 4.2.1 is represented as 4002001.
        The API function :ref:`mj_version` returns a number with the same meaning

doc/includes/references.h

@@ -3293,8 +3293,8 @@ void mj_objectVelocity(const mjModel* m, const mjData* d,
                        int objtype, int objid, mjtNum res[6], int flg_local);
 void mj_objectAcceleration(const mjModel* m, const mjData* d,
                            int objtype, int objid, mjtNum res[6], int flg_local);
-mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
+mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
-                       mjtNum distmax, mjtNum fromto[6]);
+                       mjtNum fromto[6]);
 void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
 void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,
                          const mjtNum* qpos1, const mjtNum* qpos2);

doc/mjwarp/index.rst

@@ -216,6 +216,8 @@ Benchmark an environment with _`testspeed`
 
     mjwarp-testspeed benchmark/humanoid/humanoid.xml
 
+.. _mjwViewer:
+
 Interactive environment simulation with MJWarp
 
 .. code-block:: shell
@@ -489,7 +491,7 @@ Key features:
   `Warp's BVHs <https://nvidia.github.io/warp/api_reference/_generated/warp.Bvh.html#warp.Bvh>`__.
 
 Basic Usage
-----------
+-----------
 
 Rendering or raycasting requires a :class:`mjw.RenderContext <mujoco_warp.RenderContext>` which contains BVH structures,
 rendering specific fields, and output buffers.

doc/mjx.rst

@@ -119,7 +119,7 @@ Notice that we pass two extra arguments to ``mjx.make_data``:
 
 * ``naconmax`` defines the maximum number of contacts for all worlds combined.
 * ``njmax`` defines the maximum number of constraints per world. If you are developing a new scene, these parameters
-  should be tuned by loading them in the :ref:`viewer <MJW_Cli>` and increasing the values accordingly as overflows
+  should be tuned by loading them in the :ref:`viewer <mjwViewer>` and increasing the values accordingly as overflows
   occur. Scale ``naconmax`` by the number of environments you'll eventually need in a ``jax.vmap``!
 
 Contacts

doc/unity.rst

@@ -37,14 +37,14 @@ _____
 
 The MuJoCo app needs to be run at least once before the native library can be used, in order to register the library as
 a trusted binary. Then, copy the dynamic library file from
-``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.6.0.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.7.0.dylib`` (it can be
 found by browsing the contents of ``MuJoCo.app``) and rename it as ``mujoco.dylib``.
 
 Linux
 _____
 
 Expand the ``tar.gz`` archive to ``~/.mujoco``. Then copy the dynamic library from
-``~/.mujoco/mujoco-3.6.0/lib/libmujoco.so.3.6.0`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-3.7.0/lib/libmujoco.so.3.7.0`` and rename it as ``libmujoco.so``.
 
 Windows
 _______

include/mujoco/mujoco.h

@@ -16,7 +16,7 @@
 #define MUJOCO_MUJOCO_H_
 
 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 3006000
+#define mjVERSION_HEADER 3007000
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>
@@ -609,8 +609,8 @@ MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
 
 // Return smallest signed distance between two geoms and optionally segment from geom1 to geom2.
 // Nullable: fromto
-MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
+MJAPI mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
-                             mjtNum distmax, mjtNum fromto[6]);
+                             mjtNum fromto[6]);
 
 // Extract 6D force:torque given contact id, in the contact frame.
 MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);

mjx/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name="mujoco-mjx"
-version = "3.6.0"
+version = "3.7.0"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -29,7 +29,7 @@ dependencies = [
     "etils[epath]",
     "jax",
     "jaxlib",
-    "mujoco>=3.6.0.dev0",
+    "mujoco>=3.7.0.dev0",
     "scipy",
     "trimesh",
 ]
@@ -45,9 +45,9 @@ mjx-viewer = "mujoco.mjx.viewer:main"
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.6.0"
+Documentation = "https://mujoco.readthedocs.io/en/3.7.0"
 Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.6.0/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.7.0/changelog.html"
 
 [tool.isort]
 force_single_line = true

python/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
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.7.0.dylib
       )
       target_compile_options(mujoco INTERFACE -F${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.3.7.0 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")

python/mujoco/functions.cc

@@ -663,7 +663,7 @@ 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) {

python/mujoco/introspect/functions.py

@@ -3626,7 +3626,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
              FunctionParameterDecl(
                  name='d',
                  type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
+                     inner_type=ValueType(name='mjData'),
                  ),
              ),
              FunctionParameterDecl(

python/mujoco/mjpython/Info.plist

@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.6.0</string>
+    <string>3.7.0</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.6.0</string>
+    <string>3.7.0</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.6.0</string>
+    <string>3.7.0</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.6.0</string>
+    <string>3.7.0</string>
     <key>CFBundleExecutable</key>
     <string>mjpython</string>
     <key>CFBundleIconFile</key>

python/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mujoco"
-version = "3.6.0"
+version = "3.7.0"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -34,9 +34,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.6.0"
+Documentation = "https://mujoco.readthedocs.io/en/3.7.0"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.6.0/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.7.0/changelog.html"
 
 [tool.setuptools]
 include-package-data = false

sample/CMakeLists.txt

@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 3.6.0
+  VERSION 3.7.0
   DESCRIPTION "MuJoCo samples binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )

simulate/CMakeLists.txt

@@ -29,7 +29,7 @@ set(MUJOCO_DEP_VERSION_lodepng
 
 project(
   mujoco_simulate
-  VERSION 3.6.0
+  VERSION 3.7.0
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )

src/engine/engine_support.c

@@ -43,8 +43,8 @@
 
 //-------------------------- Constants -------------------------------------------------------------
 
- #define mjVERSION 3006000
+ #define mjVERSION 3007000
-#define mjVERSIONSTRING "3.6.0"
+#define mjVERSIONSTRING "3.7.0"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {
@@ -524,7 +524,7 @@ void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc) {
 //-------------------------- miscellaneous ---------------------------------------------------------
 
 // returns the smallest distance between two geoms (using nativeccd)
-static mjtNum mj_geomDistanceCCD(const mjModel* m, const mjData* d, int g1, int g2,
+static mjtNum mj_geomDistanceCCD(const mjModel* m, mjData* d, int g1, int g2,
                                  mjtNum distmax, mjtNum fromto[6]) {
   mjCCDConfig config;
   mjCCDStatus status;
@@ -553,7 +553,7 @@ static mjtNum mj_geomDistanceCCD(const mjModel* m, const mjData* d, int g1, int
 
 
 // returns the smallest distance between two geoms
-mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2, mjtNum distmax,
+mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
                        mjtNum fromto[6]) {
   mjContact con[mjMAXCONPAIR];
   mjtNum dist = distmax;

src/engine/engine_support.h

@@ -86,8 +86,8 @@ void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc);
 //-------------------------- miscellaneous ---------------------------------------------------------
 
 // returns the smallest distance between two geoms
-MJAPI mjtNum mj_geomDistance(const mjModel* m, const mjData* d, int geom1, int geom2,
+MJAPI mjtNum mj_geomDistance(const mjModel* m, mjData* d, int geom1, int geom2, mjtNum distmax,
-                             mjtNum distmax, mjtNum fromto[6]);
+                             mjtNum fromto[6]);
 
 // compute velocity by finite-differencing two positions
 MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt,

src/experimental/filament/filament/filament_context.cc

@@ -140,6 +140,19 @@ void FilamentContext::Render(const mjrRect& viewport, const mjvScene* scene,
     mju_error("Unexpected context.");
   }
 
+  // If we're rendering to the window, and the window size has changed, we need
+  // to reacquire the swap chain.
+  if (scene_swap_chain_target_ == kWindowSwapChain &&
+      (viewport.width != window_width_ || viewport.height != window_height_)) {
+    if (window_width_ != 0 && window_height_ != 0) {
+      engine_->flushAndWait();
+      engine_->destroy(window_swap_chain_);
+      window_swap_chain_ = engine_->createSwapChain(config_.native_window);
+    }
+    window_width_ = viewport.width;
+    window_height_ = viewport.height;
+  }
+
   scene_view_->SetViewport(viewport);
   scene_view_->UpdateScene(con, scene);
   // Update the UX renderable entity after processing the scene in case there

src/experimental/filament/filament/filament_context.h

@@ -89,6 +89,8 @@ class FilamentContext {
   std::unique_ptr<ObjectManager> object_manager_;
   std::unique_ptr<SceneView> scene_view_;
   std::unique_ptr<GuiView> gui_view_;
+  int window_width_ = 0;
+  int window_height_ = 0;
 };
 
 }  // namespace mujoco

src/experimental/mjz/mjz_decoder.cc

@@ -74,11 +74,11 @@ class ZipArchiveProvider : public mjpResourceProvider {
 
     // Look for the root XML model in the archive. First look for an XML file
     // with the same name as the archive itself. Failing that, look for an XML
-    // file with the same name including the parent directory.
+    // file within a subdirectory with the same name as the archive.
     const std::filesystem::path path(name_);
     root_model_ = (path / path.stem()).string() + ".xml";
     if (!Contains(root_model_)) {
-      root_model_ = (path / path.parent_path() / path.stem()).string() + ".xml";
+      root_model_ = (path / path.stem() / path.stem()).string() + ".xml";
       if (!Contains(root_model_)) {
         SetError(error, error_sz, "Zip error: no root XML file found.");
         return;

src/experimental/platform/gui.cc

@@ -26,6 +26,7 @@
 #include <implot.h>
 #include <mujoco/mujoco.h>
 #include "experimental/platform/helpers.h"
+#include "experimental/platform/interaction.h"
 #include "experimental/platform/imgui_widgets.h"
 
 namespace mujoco::platform {
@@ -41,70 +42,70 @@ void SetupTheme(GuiTheme theme) {
   ImVec4* c = s.Colors;
   if (theme == GuiTheme::kDark) {
     ImGui::StyleColorsDark(&s);
-    c[ImGuiCol_Text]                   = ImVec4(1.00, 1.00, 1.00, 1.00);
+    c[ImGuiCol_Text] = ImVec4(1.00, 1.00, 1.00, 1.00);
-    c[ImGuiCol_TextDisabled]           = ImVec4(0.40, 0.40, 0.40, 1.00);
+    c[ImGuiCol_TextDisabled] = ImVec4(0.40, 0.40, 0.40, 1.00);
-    c[ImGuiCol_ChildBg]                = ImVec4(0.25, 0.25, 0.25, 1.00);
+    c[ImGuiCol_ChildBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
-    c[ImGuiCol_WindowBg]               = ImVec4(0.25, 0.25, 0.25, 1.00);
+    c[ImGuiCol_WindowBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
-    c[ImGuiCol_PopupBg]                = ImVec4(0.25, 0.25, 0.25, 1.00);
+    c[ImGuiCol_PopupBg] = ImVec4(0.25, 0.25, 0.25, 1.00);
-    c[ImGuiCol_Border]                 = ImVec4(0.12, 0.12, 0.12, 0.71);
+    c[ImGuiCol_Border] = ImVec4(0.12, 0.12, 0.12, 0.71);
-    c[ImGuiCol_BorderShadow]           = ImVec4(1.00, 1.00, 1.00, 0.06);
+    c[ImGuiCol_BorderShadow] = ImVec4(1.00, 1.00, 1.00, 0.06);
-    c[ImGuiCol_FrameBg]                = ImVec4(0.42, 0.42, 0.42, 0.54);
+    c[ImGuiCol_FrameBg] = ImVec4(0.42, 0.42, 0.42, 0.54);
-    c[ImGuiCol_FrameBgHovered]         = ImVec4(0.42, 0.42, 0.42, 0.40);
+    c[ImGuiCol_FrameBgHovered] = ImVec4(0.42, 0.42, 0.42, 0.40);
-    c[ImGuiCol_FrameBgActive]          = ImVec4(0.56, 0.56, 0.56, 0.67);
+    c[ImGuiCol_FrameBgActive] = ImVec4(0.56, 0.56, 0.56, 0.67);
-    c[ImGuiCol_TitleBg]                = ImVec4(0.19, 0.19, 0.19, 1.00);
+    c[ImGuiCol_TitleBg] = ImVec4(0.19, 0.19, 0.19, 1.00);
-    c[ImGuiCol_TitleBgActive]          = ImVec4(0.22, 0.22, 0.22, 1.00);
+    c[ImGuiCol_TitleBgActive] = ImVec4(0.22, 0.22, 0.22, 1.00);
-    c[ImGuiCol_TitleBgCollapsed]       = ImVec4(0.17, 0.17, 0.17, 0.90);
+    c[ImGuiCol_TitleBgCollapsed] = ImVec4(0.17, 0.17, 0.17, 0.90);
-    c[ImGuiCol_MenuBarBg]              = ImVec4(0.34, 0.34, 0.34, 1.00);
+    c[ImGuiCol_MenuBarBg] = ImVec4(0.34, 0.34, 0.34, 1.00);
-    c[ImGuiCol_ScrollbarBg]            = ImVec4(0.24, 0.24, 0.24, 0.53);
+    c[ImGuiCol_ScrollbarBg] = ImVec4(0.24, 0.24, 0.24, 0.53);
-    c[ImGuiCol_ScrollbarGrab]          = ImVec4(0.41, 0.41, 0.41, 1.00);
+    c[ImGuiCol_ScrollbarGrab] = ImVec4(0.41, 0.41, 0.41, 1.00);
-    c[ImGuiCol_ScrollbarGrabHovered]   = ImVec4(0.52, 0.52, 0.52, 1.00);
+    c[ImGuiCol_ScrollbarGrabHovered] = ImVec4(0.52, 0.52, 0.52, 1.00);
-    c[ImGuiCol_ScrollbarGrabActive]    = ImVec4(0.76, 0.76, 0.76, 1.00);
+    c[ImGuiCol_ScrollbarGrabActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
-    c[ImGuiCol_CheckMark]              = ImVec4(0.65, 0.65, 0.65, 1.00);
+    c[ImGuiCol_CheckMark] = ImVec4(0.65, 0.65, 0.65, 1.00);
-    c[ImGuiCol_SliderGrab]             = ImVec4(0.52, 0.52, 0.52, 1.00);
+    c[ImGuiCol_SliderGrab] = ImVec4(0.52, 0.52, 0.52, 1.00);
-    c[ImGuiCol_SliderGrabActive]       = ImVec4(0.64, 0.64, 0.64, 1.00);
+    c[ImGuiCol_SliderGrabActive] = ImVec4(0.64, 0.64, 0.64, 1.00);
-    c[ImGuiCol_Button]                 = ImVec4(0.54, 0.54, 0.54, 0.35);
+    c[ImGuiCol_Button] = ImVec4(0.54, 0.54, 0.54, 0.35);
-    c[ImGuiCol_ButtonHovered]          = ImVec4(0.52, 0.52, 0.52, 0.59);
+    c[ImGuiCol_ButtonHovered] = ImVec4(0.52, 0.52, 0.52, 0.59);
-    c[ImGuiCol_ButtonActive]           = ImVec4(0.76, 0.76, 0.76, 1.00);
+    c[ImGuiCol_ButtonActive] = ImVec4(0.76, 0.76, 0.76, 1.00);
-    c[ImGuiCol_Header]                 = ImVec4(0.38, 0.38, 0.38, 1.00);
+    c[ImGuiCol_Header] = ImVec4(0.38, 0.38, 0.38, 1.00);
-    c[ImGuiCol_HeaderHovered]          = ImVec4(0.47, 0.47, 0.47, 1.00);
+    c[ImGuiCol_HeaderHovered] = ImVec4(0.47, 0.47, 0.47, 1.00);
-    c[ImGuiCol_HeaderActive]           = ImVec4(0.76, 0.76, 0.76, 0.77);
+    c[ImGuiCol_HeaderActive] = ImVec4(0.76, 0.76, 0.76, 0.77);
-    c[ImGuiCol_Separator]              = ImVec4(0.00, 0.00, 0.00, 0.18);
+    c[ImGuiCol_Separator] = ImVec4(0.00, 0.00, 0.00, 0.18);
-    c[ImGuiCol_SeparatorHovered]       = ImVec4(0.70, 0.67, 0.60, 0.29);
+    c[ImGuiCol_SeparatorHovered] = ImVec4(0.70, 0.67, 0.60, 0.29);
-    c[ImGuiCol_SeparatorActive]        = ImVec4(0.70, 0.67, 0.60, 0.67);
+    c[ImGuiCol_SeparatorActive] = ImVec4(0.70, 0.67, 0.60, 0.67);
-    c[ImGuiCol_ResizeGrip]             = ImVec4(0.26, 0.59, 0.98, 0.25);
+    c[ImGuiCol_ResizeGrip] = ImVec4(0.26, 0.59, 0.98, 0.25);
-    c[ImGuiCol_ResizeGripHovered]      = ImVec4(0.26, 0.59, 0.98, 0.67);
+    c[ImGuiCol_ResizeGripHovered] = ImVec4(0.26, 0.59, 0.98, 0.67);
-    c[ImGuiCol_ResizeGripActive]       = ImVec4(0.26, 0.59, 0.98, 0.95);
+    c[ImGuiCol_ResizeGripActive] = ImVec4(0.26, 0.59, 0.98, 0.95);
-    c[ImGuiCol_PlotLines]              = ImVec4(0.61, 0.61, 0.61, 1.00);
+    c[ImGuiCol_PlotLines] = ImVec4(0.61, 0.61, 0.61, 1.00);
-    c[ImGuiCol_PlotLinesHovered]       = ImVec4(1.00, 0.43, 0.35, 1.00);
+    c[ImGuiCol_PlotLinesHovered] = ImVec4(1.00, 0.43, 0.35, 1.00);
-    c[ImGuiCol_PlotHistogram]          = ImVec4(0.90, 0.70, 0.00, 1.00);
+    c[ImGuiCol_PlotHistogram] = ImVec4(0.90, 0.70, 0.00, 1.00);
-    c[ImGuiCol_PlotHistogramHovered]   = ImVec4(1.00, 0.60, 0.00, 1.00);
+    c[ImGuiCol_PlotHistogramHovered] = ImVec4(1.00, 0.60, 0.00, 1.00);
-    c[ImGuiCol_TextSelectedBg]         = ImVec4(0.73, 0.73, 0.73, 0.35);
+    c[ImGuiCol_TextSelectedBg] = ImVec4(0.73, 0.73, 0.73, 0.35);
-    c[ImGuiCol_ModalWindowDimBg]       = ImVec4(0.80, 0.80, 0.80, 0.35);
+    c[ImGuiCol_ModalWindowDimBg] = ImVec4(0.80, 0.80, 0.80, 0.35);
-    c[ImGuiCol_DragDropTarget]         = ImVec4(1.00, 1.00, 0.00, 0.90);
+    c[ImGuiCol_DragDropTarget] = ImVec4(1.00, 1.00, 0.00, 0.90);
-    c[ImGuiCol_NavHighlight]           = ImVec4(0.26, 0.59, 0.98, 1.00);
+    c[ImGuiCol_NavHighlight] = ImVec4(0.26, 0.59, 0.98, 1.00);
-    c[ImGuiCol_NavWindowingHighlight]  = ImVec4(1.00, 1.00, 1.00, 0.70);
+    c[ImGuiCol_NavWindowingHighlight] = ImVec4(1.00, 1.00, 1.00, 0.70);
-    c[ImGuiCol_NavWindowingDimBg]      = ImVec4(0.80, 0.80, 0.80, 0.20);
+    c[ImGuiCol_NavWindowingDimBg] = ImVec4(0.80, 0.80, 0.80, 0.20);
-    c[ImGuiCol_DockingEmptyBg]         = ImVec4(0.38, 0.38, 0.38, 1.00);
+    c[ImGuiCol_DockingEmptyBg] = ImVec4(0.38, 0.38, 0.38, 1.00);
-    c[ImGuiCol_Tab]                    = ImVec4(0.25, 0.25, 0.25, 1.00);
+    c[ImGuiCol_Tab] = ImVec4(0.25, 0.25, 0.25, 1.00);
-    c[ImGuiCol_TabHovered]             = ImVec4(0.40, 0.40, 0.40, 1.00);
+    c[ImGuiCol_TabHovered] = ImVec4(0.40, 0.40, 0.40, 1.00);
-    c[ImGuiCol_TabActive]              = ImVec4(0.33, 0.33, 0.33, 1.00);
+    c[ImGuiCol_TabActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
-    c[ImGuiCol_TabUnfocused]           = ImVec4(0.25, 0.25, 0.25, 1.00);
+    c[ImGuiCol_TabUnfocused] = ImVec4(0.25, 0.25, 0.25, 1.00);
-    c[ImGuiCol_TabUnfocusedActive]     = ImVec4(0.33, 0.33, 0.33, 1.00);
+    c[ImGuiCol_TabUnfocusedActive] = ImVec4(0.33, 0.33, 0.33, 1.00);
-    c[ImGuiCol_DockingPreview]         = ImVec4(0.85, 0.85, 0.85, 0.28);
+    c[ImGuiCol_DockingPreview] = ImVec4(0.85, 0.85, 0.85, 0.28);
     c[ImGuiCol_WindowBg].w = 1.0f;
   } else if (theme == GuiTheme::kLight) {
     ImGui::StyleColorsLight(&s);
-    ImVec4 white       = ImVec4(1.00, 1.00, 1.00, 1.00);
+    ImVec4 white = ImVec4(1.00, 1.00, 1.00, 1.00);
     ImVec4 transparent = ImVec4(0.00, 0.00, 0.00, 0.00);
-    ImVec4 dark        = ImVec4(0.00, 0.00, 0.00, 0.20);
+    ImVec4 dark = ImVec4(0.00, 0.00, 0.00, 0.20);
-    ImVec4 darker      = ImVec4(0.00, 0.00, 0.00, 0.50);
+    ImVec4 darker = ImVec4(0.00, 0.00, 0.00, 0.50);
-    ImVec4 background  = ImVec4(0.95, 0.95, 0.95, 1.00);
+    ImVec4 background = ImVec4(0.95, 0.95, 0.95, 1.00);
-    ImVec4 text        = ImVec4(0.10, 0.10, 0.10, 1.00);
+    ImVec4 text = ImVec4(0.10, 0.10, 0.10, 1.00);
-    ImVec4 border      = ImVec4(0.60, 0.60, 0.60, 1.00);
+    ImVec4 border = ImVec4(0.60, 0.60, 0.60, 1.00);
-    ImVec4 grab        = ImVec4(0.69, 0.69, 0.69, 1.00);
+    ImVec4 grab = ImVec4(0.69, 0.69, 0.69, 1.00);
-    ImVec4 header      = ImVec4(0.86, 0.86, 0.86, 1.00);
+    ImVec4 header = ImVec4(0.86, 0.86, 0.86, 1.00);
-    ImVec4 active      = ImVec4(0.00, 0.47, 0.84, 1.00);
+    ImVec4 active = ImVec4(0.00, 0.47, 0.84, 1.00);
-    ImVec4 hover       = ImVec4(0.00, 0.47, 0.84, 0.20);
+    ImVec4 hover = ImVec4(0.00, 0.47, 0.84, 0.20);
 
     c[ImGuiCol_Text] = text;
     c[ImGuiCol_WindowBg] = background;
@@ -129,46 +130,46 @@ void SetupTheme(GuiTheme theme) {
     c[ImGuiCol_ScrollbarGrab] = grab;
     c[ImGuiCol_ScrollbarGrabHovered] = dark;
     c[ImGuiCol_ScrollbarGrabActive] = darker;
-  } else  {
+  } else {
     ImGui::StyleColorsDark(&s);
-    ImVec4 black         = ImVec4(0.00, 0.00, 0.00, 1.0);
+    ImVec4 black = ImVec4(0.00, 0.00, 0.00, 1.0);
-    ImVec4 window        = ImVec4(0.25, 0.25, 0.25, 1.0);
+    ImVec4 window = ImVec4(0.25, 0.25, 0.25, 1.0);
-    ImVec4 font_active   = ImVec4(1.00, 1.00, 1.00, 1.0);
+    ImVec4 font_active = ImVec4(1.00, 1.00, 1.00, 1.0);
     ImVec4 font_inactive = ImVec4(0.50, 0.50, 0.50, 1.0);
-    ImVec4 thumb         = ImVec4(0.12, 0.12, 0.12, 1.0);
+    ImVec4 thumb = ImVec4(0.12, 0.12, 0.12, 1.0);
-    ImVec4 section       = ImVec4(0.40, 0.15, 0.15, 1.0);
+    ImVec4 section = ImVec4(0.40, 0.15, 0.15, 1.0);
-    ImVec4 button        = ImVec4(0.60, 0.40, 0.40, 1.0);
+    ImVec4 button = ImVec4(0.60, 0.40, 0.40, 1.0);
-    ImVec4 check         = ImVec4(0.40, 0.40, 0.70, 1.0);
+    ImVec4 check = ImVec4(0.40, 0.40, 0.70, 1.0);
-    ImVec4 frame         = ImVec4(0.40, 0.30, 0.40, 1.0);
+    ImVec4 frame = ImVec4(0.40, 0.30, 0.40, 1.0);
-    ImVec4 slider        = ImVec4(0.60, 0.40, 0.60, 1.0);
+    ImVec4 slider = ImVec4(0.60, 0.40, 0.60, 1.0);
 
-    c[ImGuiCol_WindowBg]               = window;
+    c[ImGuiCol_WindowBg] = window;
-    c[ImGuiCol_ChildBg]                = black;
+    c[ImGuiCol_ChildBg] = black;
-    c[ImGuiCol_PopupBg]                = window;
+    c[ImGuiCol_PopupBg] = window;
-    c[ImGuiCol_Text]                   = font_active;
+    c[ImGuiCol_Text] = font_active;
-    c[ImGuiCol_TextDisabled]           = font_inactive;
+    c[ImGuiCol_TextDisabled] = font_inactive;
-    c[ImGuiCol_CheckMark]              = font_active;
+    c[ImGuiCol_CheckMark] = font_active;
-    c[ImGuiCol_Header]                 = section;
+    c[ImGuiCol_Header] = section;
-    c[ImGuiCol_HeaderHovered]          = section;
+    c[ImGuiCol_HeaderHovered] = section;
-    c[ImGuiCol_HeaderActive]           = section;
+    c[ImGuiCol_HeaderActive] = section;
-    c[ImGuiCol_TitleBgActive]          = window;
+    c[ImGuiCol_TitleBgActive] = window;
-    c[ImGuiCol_ScrollbarBg]            = window;
+    c[ImGuiCol_ScrollbarBg] = window;
-    c[ImGuiCol_ScrollbarGrab]          = thumb;
+    c[ImGuiCol_ScrollbarGrab] = thumb;
-    c[ImGuiCol_ScrollbarGrabHovered]   = thumb;
+    c[ImGuiCol_ScrollbarGrabHovered] = thumb;
-    c[ImGuiCol_ScrollbarGrabActive]    = thumb;
+    c[ImGuiCol_ScrollbarGrabActive] = thumb;
-    c[ImGuiCol_FrameBg]                = frame;
+    c[ImGuiCol_FrameBg] = frame;
-    c[ImGuiCol_FrameBgHovered]         = frame;
+    c[ImGuiCol_FrameBgHovered] = frame;
-    c[ImGuiCol_FrameBgActive]          = frame;
+    c[ImGuiCol_FrameBgActive] = frame;
-    c[ImGuiCol_SliderGrab]             = slider;
+    c[ImGuiCol_SliderGrab] = slider;
-    c[ImGuiCol_SliderGrabActive]       = slider;
+    c[ImGuiCol_SliderGrabActive] = slider;
-    c[ImGuiCol_Button]                 = window;
+    c[ImGuiCol_Button] = window;
-    c[ImGuiCol_ButtonHovered]          = button;
+    c[ImGuiCol_ButtonHovered] = button;
-    c[ImGuiCol_ButtonActive]           = button;
+    c[ImGuiCol_ButtonActive] = button;
-    c[ImGuiCol_Tab]                    = window;
+    c[ImGuiCol_Tab] = window;
-    c[ImGuiCol_TabHovered]             = check;
+    c[ImGuiCol_TabHovered] = check;
-    c[ImGuiCol_TabSelected]            = check;
+    c[ImGuiCol_TabSelected] = check;
-    c[ImGuiCol_TabDimmed]              = window;
+    c[ImGuiCol_TabDimmed] = window;
-    c[ImGuiCol_TabDimmedSelected]      = check;
+    c[ImGuiCol_TabDimmedSelected] = check;
   }
 
   int hspacing = 4;
@@ -207,14 +208,11 @@ ImVec4 ConfigureDockingLayout() {
   const float kToolsBarHeight = 48.f * scale;
   const float kStatusBarHeight = 32.f * scale;
 
-  const ImVec2 dockspace_pos{
+  const ImVec2 dockspace_pos{viewport->WorkPos.x,
-      viewport->WorkPos.x,
+                             viewport->WorkPos.y + kToolsBarHeight};
-      viewport->WorkPos.y + kToolsBarHeight
-  };
   const ImVec2 dockspace_size{
       viewport->WorkSize.x,
-      viewport->WorkSize.y - kToolsBarHeight - kStatusBarHeight
+      viewport->WorkSize.y - kToolsBarHeight - kStatusBarHeight};
-  };
 
   ImGuiID root = ImGui::GetID("Root");
   const bool first_time = (ImGui::DockBuilderGetNode(root) == nullptr);
@@ -228,16 +226,16 @@ ImVec4 ConfigureDockingLayout() {
     ImGuiID main = root;
 
     ImGuiID options = 0;
-    ImGui::DockBuilderSplitNode(main, ImGuiDir_Left, kOptionsRelWidth,
+    ImGui::DockBuilderSplitNode(main, ImGuiDir_Left, kOptionsRelWidth, &options,
-                                &options, &main);
+                                &main);
 
     ImGuiID inspector = 0;
     ImGui::DockBuilderSplitNode(main, ImGuiDir_Right, kInspectorRelWidth,
                                 &inspector, &main);
 
     ImGuiID stats = 0;
-    ImGui::DockBuilderSplitNode(options, ImGuiDir_Down, kStatsRelHeight,
+    ImGui::DockBuilderSplitNode(options, ImGuiDir_Down, kStatsRelHeight, &stats,
-                                &stats, &options);
+                                &options);
 
     ImGuiID properties = 0;
     ImGui::DockBuilderSplitNode(inspector, ImGuiDir_Down, kStatsRelHeight,
@@ -265,11 +263,10 @@ ImVec4 ConfigureDockingLayout() {
       ImGuiWindowFlags_NoDocking | ImGuiWindowFlags_NoBringToFrontOnFocus |
       ImGuiWindowFlags_NoNavFocus | ImGuiWindowFlags_NoBackground;
 
-  const ImGuiWindowFlags kFixedFlags = ImGuiWindowFlags_NoTitleBar |
+  const ImGuiWindowFlags kFixedFlags =
-                                       ImGuiWindowFlags_NoMove |
+      ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoMove |
-                                       ImGuiWindowFlags_NoResize |
+      ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoScrollbar |
-                                       ImGuiWindowFlags_NoScrollbar |
+      ImGuiWindowFlags_NoDocking;
-                                       ImGuiWindowFlags_NoDocking;
 
   // Main workspace area in which we can dock other windows.
   {
@@ -292,7 +289,8 @@ ImVec4 ConfigureDockingLayout() {
     style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
     style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
     ImGui::SetNextWindowPos(viewport->WorkPos, ImGuiCond_Always);
-    ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kToolsBarHeight), ImGuiCond_Always);
+    ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kToolsBarHeight),
+                             ImGuiCond_Always);
     ImGui::Begin("ToolBar", nullptr, kFixedFlags);
     ImGui::End();
   }
@@ -302,8 +300,10 @@ ImVec4 ConfigureDockingLayout() {
     platform::ScopedStyle style;
     style.Var(ImGuiStyleVar_WindowBorderSize, 1.0f);
     style.Var(ImGuiStyleVar_WindowRounding, 0.0f);
-    ImGui::SetNextWindowPos(ImVec2(0, viewport->Size.y - kStatusBarHeight), ImGuiCond_Always);
+    ImGui::SetNextWindowPos(ImVec2(0, viewport->Size.y - kStatusBarHeight),
-    ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kStatusBarHeight), ImGuiCond_Always);
+                            ImGuiCond_Always);
+    ImGui::SetNextWindowSize(ImVec2(viewport->Size.x, kStatusBarHeight),
+                             ImGuiCond_Always);
     ImGui::Begin("StatusBar", nullptr, kFixedFlags);
     ImGui::End();
   }
@@ -317,6 +317,148 @@ ImVec4 ConfigureDockingLayout() {
   return ImVec4(workspace_x, workspace_y, workspace_w, workspace_h);
 }
 
+bool ThemeSelectGui(GuiTheme* theme) {
+  static constexpr const char* ICON_DARKMODE = ICON_FA_CIRCLE;
+  static constexpr const char* ICON_LIGHTMODE = ICON_FA_CIRCLE_O;
+  static constexpr const char* ICON_CLASSICMODE = ICON_FA_ADJUST;
+  const char* theme_icons[] = {ICON_LIGHTMODE, ICON_DARKMODE, ICON_CLASSICMODE};
+  const char* theme_tooltips[] = {"Light Mode", "Dark Mode", "Classic Mode"};
+  const GuiTheme theme_values[] = {
+      GuiTheme::kLight,
+      GuiTheme::kDark,
+      GuiTheme::kClassic,
+  };
+
+  bool changed = false;
+
+  int theme_idx = static_cast<int>(*theme);
+  ImGui::SetNextItemWidth(ImGui::CalcTextSize(theme_icons[0]).x +
+                          ImGui::GetStyle().FramePadding.x * 2);
+  if (ImGui::BeginCombo("##Theme", theme_icons[theme_idx],
+                        ImGuiComboFlags_NoArrowButton)) {
+    for (int n = 0; n < IM_ARRAYSIZE(theme_icons); n++) {
+      if (ImGui::Selectable(theme_icons[n], (theme_idx == n))) {
+        *theme = theme_values[n];
+        changed = true;
+      }
+      if (ImGui::IsItemHovered()) {
+        ImGui::SetTooltip("%s", theme_tooltips[n]);
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SetItemTooltip("%s", "Theme");
+
+  return changed;
+}
+
+bool LabelSelectionGui(mjvOption* opts) {
+  static constexpr const char* ICON_LABEL = ICON_FA_COMMENT;
+  static constexpr const char* kLabelNames[] = {
+      "None",      "Body",    "Joint",    "Geom",       "Site",  "Camera",
+      "Light",     "Tendon",  "Actuator", "Constraint", "Flex",  "Skin",
+      "Selection", "Sel Pnt", "Contact",  "Force",      "Island"};
+
+  bool changed = false;
+  const std::string label_preview =
+      std::string(ICON_LABEL) + " " + kLabelNames[opts->label];
+  if (ImGui::BeginCombo("##Label", label_preview.c_str(),
+                        ImGuiComboFlags_NoArrowButton)) {
+    for (int n = 0; n < IM_ARRAYSIZE(kLabelNames); n++) {
+      if (ImGui::Selectable(kLabelNames[n], (opts->label == n))) {
+        changed = true;
+        opts->label = n;
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SetItemTooltip("%s", "Label");
+  return changed;
+}
+
+bool FrameSelectionGui(mjvOption* opts) {
+  static constexpr const char* ICON_FRAME = ICON_FA_ARROWS;
+  static constexpr const char* kFrameNames[] = {
+      "None", "Body", "Geom", "Site", "Camera", "Light", "Contact", "World"};
+
+  bool changed = false;
+  const std::string frame_preview =
+      std::string(ICON_FRAME) + " " + kFrameNames[opts->frame];
+  if (ImGui::BeginCombo("##Frame", frame_preview.c_str(),
+                        ImGuiComboFlags_NoArrowButton)) {
+    for (int n = 0; n < IM_ARRAYSIZE(kFrameNames); n++) {
+      if (ImGui::Selectable(kFrameNames[n], (opts->frame == n))) {
+        opts->frame = n;
+        changed = true;
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SetItemTooltip("%s", "Frame");
+  return changed;
+}
+
+static std::string GetCameraName(const mjModel* model, const mjvCamera& camera,
+                                 int index) {
+  static constexpr char kCameraTumbleName[] = "Free: tumble";
+  static constexpr char kCameraWasdName[] = "Free: wasd";
+  static constexpr char kCameraUnnamedName[] = "Unnamed";
+
+  if (index == kTumbleCameraIdx) {
+    return kCameraTumbleName;
+  } else if (index == kFreeCameraIdx) {
+    return kCameraWasdName;
+  } else if (index == kTrackingCameraIdx) {
+    return "Tracking (" + std::to_string(camera.trackbodyid) + ")";
+  } else if (model->names[model->name_camadr[index]]) {
+    return std::string(model->names + model->name_camadr[index]);
+  } else {
+    return kCameraUnnamedName;
+  }
+}
+
+bool CameraSelectionGui(const mjModel* model, mjData* data, mjvCamera& camera,
+                        int& index) {
+  static constexpr const char* ICON_CAMERA = ICON_FA_CAMERA;
+
+  auto select = [&](int type, int idx) {
+    if (ImGui::Selectable(GetCameraName(model, camera, type).c_str(),
+            (type == idx))) {
+      return true;
+    }
+    return false;
+  };
+
+  bool changed = false;
+
+  const std::string preview =
+      std::string(ICON_CAMERA) + " " + GetCameraName(model, camera, index);
+  if (ImGui::BeginCombo("##Camera", preview.c_str(),
+                        ImGuiComboFlags_NoArrowButton)) {
+    if (select(kTumbleCameraIdx, index)) {
+      index = SetCamera(model, &camera, kTumbleCameraIdx);
+      changed = true;
+    }
+    if (select(kFreeCameraIdx, index)) {
+      index = SetCamera(model, &camera, kFreeCameraIdx);
+      changed = true;
+    }
+    if (select(kTrackingCameraIdx, index)) {
+      index = SetCamera(model, &camera, kTrackingCameraIdx);
+      changed = true;
+    }
+    for (int cam = 0; cam < model->ncam; cam++) {
+      if (select(cam, index)) {
+        index = SetCamera(model, &camera, cam);
+        changed = true;
+      }
+    }
+    ImGui::EndCombo();
+  }
+  ImGui::SetItemTooltip("%s", "Camera");
+  return changed;
+}
+
 void SensorGui(const mjModel* model, const mjData* data) {
   if (model->nsensor == 0) {
     return;
@@ -392,11 +534,12 @@ void StateGui(const mjModel* model, mjData* data, std::vector<mjtNum>& state,
 
   ImGui::Unindent(0.5f * ImGui::GetTreeNodeToLabelSpacing());
   // State component names and tooltips.
-  static constexpr const char* name_and_tooltip[][2] = {
+  static constexpr const char* name_and_tooltip[mjNSTATE][2] = {
       {"TIME", "Time"},
       {"QPOS", "Position"},
       {"QVEL", "Velocity"},
       {"ACT", "Actuator activation"},
+      {"HISTORY", "History buffers (control, sensor)"},
       {"WARMSTART", "Acceleration used for warmstart"},
       {"CTRL", "Control"},
       {"QFRC_APPLIED", "Applied generalized force"},
@@ -935,36 +1078,49 @@ void ConvergenceGui(const mjModel* model, mjData* data) {
     ImPlot::SetupLegend(ImPlotLocation_NorthEast);
     ImPlot::SetupFinish();
 
-    const int nisland = data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
+    const int nisland =
+        data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
     for (int k = 0; k < nisland; k++) {
       mjSolverStat* stats = data->solver + k * mjNSOLVER;
       const int npoints =
           mjMIN(mjMIN(data->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
 
-      ImPlot::PlotLineG("improvement", +[](int i, void* user_data) {
+      ImPlot::PlotLineG(
-        const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
+          "improvement",
-        const float x = static_cast<float>(i);
+          +[](int i, void* user_data) {
-        const float y = mju_log10(mju_max(mjMINVAL, stats[i].improvement));
+            const mjSolverStat* stats =
-        return ImPlotPoint{x, y};
+                static_cast<const mjSolverStat*>(user_data);
-      }, stats, npoints);
+            const float x = static_cast<float>(i);
+            const float y = mju_log10(mju_max(mjMINVAL, stats[i].improvement));
+            return ImPlotPoint{x, y};
+          },
+          stats, npoints);
 
       if (model->opt.solver == mjSOL_PGS) {
         continue;
       }
 
-      ImPlot::PlotLineG("gradient", +[](int i, void* user_data) {
+      ImPlot::PlotLineG(
-        const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
+          "gradient",
-        const float x = static_cast<float>(i);
+          +[](int i, void* user_data) {
-        const float y = mju_log10(mju_max(mjMINVAL, stats[i].gradient));
+            const mjSolverStat* stats =
-        return ImPlotPoint{x, y};
+                static_cast<const mjSolverStat*>(user_data);
-      }, stats, npoints);
+            const float x = static_cast<float>(i);
+            const float y = mju_log10(mju_max(mjMINVAL, stats[i].gradient));
+            return ImPlotPoint{x, y};
+          },
+          stats, npoints);
 
-      ImPlot::PlotLineG("lineslope", +[](int i, void* user_data) {
+      ImPlot::PlotLineG(
-        const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
+          "lineslope",
-        const float x = static_cast<float>(i);
+          +[](int i, void* user_data) {
-        const float y = mju_log10(mju_max(mjMINVAL, stats[i].lineslope));
+            const mjSolverStat* stats =
-        return ImPlotPoint{x, y};
+                static_cast<const mjSolverStat*>(user_data);
-      }, stats, npoints);
+            const float x = static_cast<float>(i);
+            const float y = mju_log10(mju_max(mjMINVAL, stats[i].lineslope));
+            return ImPlotPoint{x, y};
+          },
+          stats, npoints);
     }
 
     ImPlot::PopStyleVar();
@@ -982,56 +1138,76 @@ void CountsGui(const mjModel* model, mjData* data) {
     ImPlot::SetupLegend(ImPlotLocation_NorthEast);
     ImPlot::SetupFinish();
 
-    const int nisland = data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
+    const int nisland =
+        data->nefc ? mjMAX(1, mjMIN(data->nisland, mjNISLAND)) : 0;
     for (int k = 0; k < nisland; k++) {
       const int npoints =
           mjMIN(mjMIN(data->solver_niter[k], mjNSOLVER), mjMAXLINEPNT);
 
-      mjSolverStat* stats = data->solver + k*mjNSOLVER;
+      mjSolverStat* stats = data->solver + k * mjNSOLVER;
 
       int nefc = nisland == 1 ? data->nefc : data->island_nefc[k];
 
-      ImPlot::PlotLineG("total", +[](int i, void* user_data) {
+      ImPlot::PlotLineG(
-        const float x = static_cast<float>(i);
+          "total",
-        const float y = *(static_cast<int*>(user_data));
+          +[](int i, void* user_data) {
-        return ImPlotPoint{x, y};
+            const float x = static_cast<float>(i);
-      }, &nefc, npoints);
+            const float y = *(static_cast<int*>(user_data));
+            return ImPlotPoint{x, y};
+          },
+          &nefc, npoints);
 
-      ImPlot::PlotLineG("active", +[](int i, void* user_data) {
+      ImPlot::PlotLineG(
-        const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
+          "active",
-        const float x = static_cast<float>(i);
+          +[](int i, void* user_data) {
-        const float y = stats[i].nactive;
+            const mjSolverStat* stats =
-        return ImPlotPoint{x, y};
+                static_cast<const mjSolverStat*>(user_data);
-      }, stats, npoints);
+            const float x = static_cast<float>(i);
+            const float y = stats[i].nactive;
+            return ImPlotPoint{x, y};
+          },
+          stats, npoints);
 
-      ImPlot::PlotLineG("changed", +[](int i, void* user_data) {
+      ImPlot::PlotLineG(
-        const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
+          "changed",
-        const float x = static_cast<float>(i);
+          +[](int i, void* user_data) {
-        const float y = stats[i].nchange;
+            const mjSolverStat* stats =
-        return ImPlotPoint{x, y};
+                static_cast<const mjSolverStat*>(user_data);
-      }, stats, npoints);
+            const float x = static_cast<float>(i);
+            const float y = stats[i].nchange;
+            return ImPlotPoint{x, y};
+          },
+          stats, npoints);
 
       if (model->opt.solver == mjSOL_PGS) {
         continue;
       }
 
-      ImPlot::PlotLineG("evals", +[](int i, void* user_data) {
+      ImPlot::PlotLineG(
-        const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
+          "evals",
-        const float x = static_cast<float>(i);
+          +[](int i, void* user_data) {
-        const float y = stats[i].neval;
+            const mjSolverStat* stats =
-        return ImPlotPoint{x, y};
+                static_cast<const mjSolverStat*>(user_data);
-      }, stats, npoints);
+            const float x = static_cast<float>(i);
+            const float y = stats[i].neval;
+            return ImPlotPoint{x, y};
+          },
+          stats, npoints);
 
       if (model->opt.solver == mjSOL_CG) {
         continue;
       }
 
-      ImPlot::PlotLineG("updates", +[](int i, void* user_data) {
+      ImPlot::PlotLineG(
-        const mjSolverStat* stats = static_cast<const mjSolverStat*>(user_data);
+          "updates",
-        const float x = static_cast<float>(i);
+          +[](int i, void* user_data) {
-        const float y = stats[i].nupdate;
+            const mjSolverStat* stats =
-        return ImPlotPoint{x, y};
+                static_cast<const mjSolverStat*>(user_data);
-      }, stats, npoints);
+            const float x = static_cast<float>(i);
+            const float y = stats[i].nupdate;
+            return ImPlotPoint{x, y};
+          },
+          stats, npoints);
     }
 
     ImPlot::PopStyleVar();

src/experimental/platform/gui.h

@@ -62,6 +62,19 @@ void SetupTheme(GuiTheme theme);
 // be used to place additional elements (e.g. floating charts).
 ImVec4 ConfigureDockingLayout();
 
+// UX for selecting the GUI theme.
+bool ThemeSelectGui(GuiTheme* theme);
+
+// UX for selecting the visualization label option.
+bool LabelSelectionGui(mjvOption* opts);
+
+// UX for selecting the visualization frame option.
+bool FrameSelectionGui(mjvOption* opts);
+
+// UX for selecting the camera.
+bool CameraSelectionGui(const mjModel* model, mjData* data, mjvCamera& camera,
+                        int& index);
+
 // UX for controlling the physics simulation parameters (e.g. integrator,
 // solver, etc.) in mjModel.
 void PhysicsGui(mjModel* model, float min_width);

src/experimental/platform/gui_spec.cc

@@ -93,28 +93,29 @@ static void AddEditorButtons(mjsElement* element, mjsElement** selected_element,
     if (ImGui::SmallButton(ICON_FA_PLUS)) {
       ImGui::OpenPopupOnItemClick("BodyAddChild", 0);
     }
+
+    if (ImGui::BeginPopupContextItem("BodyAddChild")) {
+      mjsBody* body = mjs_asBody(element);
+      auto option = [&](const char* label, mjtObj type) {
+        if (ImGui::Selectable(label)) {
+          *selected_element = editor.AddBodyElement(body, type);
+        }
+      };
+      option("Camera", mjOBJ_CAMERA);
+      option("Frame", mjOBJ_FRAME);
+      option("Geom", mjOBJ_GEOM);
+      option("Joint", mjOBJ_JOINT);
+      option("Light", mjOBJ_LIGHT);
+      option("Site", mjOBJ_SITE);
+      ImGui::EndPopup();
+    }
+
     ImGui::SameLine();
   }
   if (ImGui::SmallButton(ICON_FA_TRASH_CAN)) {
     editor.DeleteActiveElement();
     *selected_element = nullptr;
   }
-
-  if (ImGui::BeginPopupContextItem("BodyAddChild")) {
-    mjsBody* body = mjs_asBody(element);
-    auto option = [&](const char* label, mjtObj type) {
-      if (ImGui::Selectable(label)) {
-        *selected_element = editor.AddBodyElement(body, type);
-      }
-    };
-    option("Camera", mjOBJ_CAMERA);
-    option("Frame", mjOBJ_FRAME);
-    option("Geom", mjOBJ_GEOM);
-    option("Joint", mjOBJ_JOINT);
-    option("Light", mjOBJ_LIGHT);
-    option("Site", mjOBJ_SITE);
-    ImGui::EndPopup();
-  }
 }
 
 static void SelectableElement(mjsElement* element,

src/experimental/platform/model_holder.cc

@@ -61,6 +61,10 @@ std::unique_ptr<ModelHolder> ModelHolder::FromBuffer(
   return mh;
 }
 
+ModelHolder::ModelHolder() {
+  mj_defaultVFS(&vfs_);
+}
+
 ModelHolder::~ModelHolder() {
   if (data_) {
     mj_deleteData(data_);
@@ -94,7 +98,6 @@ void ModelHolder::InitFromSpec(mjSpec* spec) {
 }
 
 void ModelHolder::InitFromFile(std::string_view filepath) {
-  mj_defaultVFS(&vfs_);
   if (filepath.ends_with(".mjb")) {
     model_ = mj_loadModel(filepath.data(), &vfs_);
   } else {
@@ -108,8 +111,6 @@ void ModelHolder::InitFromFile(std::string_view filepath) {
 void ModelHolder::InitFromBuffer(std::span<const std::byte> buffer,
                                  std::string_view content_type,
                                  std::string_view filename) {
-  mj_defaultVFS(&vfs_);
-
   if (content_type == "text/xml") {
     const char* ptr = reinterpret_cast<const char*>(buffer.data());
     spec_ = mj_parseXMLString(ptr, nullptr, error_, sizeof(error_));

src/experimental/platform/model_holder.h

@@ -64,7 +64,7 @@ class ModelHolder {
   mjModel* ReleaseModel();
 
  private:
-  ModelHolder() = default;
+  ModelHolder();
   void InitFromSpec(mjSpec* spec);
   void InitFromFile(std::string_view filepath);
   void InitFromBuffer(std::span<const std::byte> buffer,

src/experimental/studio/app.cc

@@ -78,13 +78,7 @@ static constexpr const char* ICON_VISCOUS_PAUSE = platform::ICON_FA_MAGIC;
 static constexpr const char* ICON_COPY_CAMERA = platform::ICON_FA_COPY;
 static constexpr const char* ICON_UNLOAD_MODEL = platform::ICON_FA_EJECT;
 static constexpr const char* ICON_RELOAD_MODEL = platform::ICON_FA_REFRESH;
-static constexpr const char* ICON_LABEL = platform::ICON_FA_COMMENT;
 static constexpr const char* ICON_RESET_MODEL = platform::ICON_FA_UNDO;
-static constexpr const char* ICON_FRAME = platform::ICON_FA_ARROWS;
-static constexpr const char* ICON_CAMERA = platform::ICON_FA_CAMERA;
-static constexpr const char* ICON_DARKMODE = platform::ICON_FA_CIRCLE;
-static constexpr const char* ICON_LIGHTMODE = platform::ICON_FA_CIRCLE_O;
-static constexpr const char* ICON_CLASSICMODE = platform::ICON_FA_ADJUST;
 static constexpr const char* ICON_PREV_FRAME = platform::ICON_FA_CARET_LEFT;
 static constexpr const char* ICON_NEXT_FRAME = platform::ICON_FA_CARET_RIGHT;
 static constexpr const char* ICON_CURR_FRAME = platform::ICON_FA_FAST_FORWARD;
@@ -93,16 +87,6 @@ static constexpr const char* ICON_RELOAD_SPEC = platform::ICON_FA_REFRESH;
 static constexpr const char* ICON_UNDO_SPEC = platform::ICON_FA_UNDO;
 static constexpr const char* ICON_REDO_SPEC = platform::ICON_FA_REPEAT;
 
-// UI labels for mjtLabel.
-static constexpr const char* kLabelNames[] = {
-    "None",      "Body",    "Joint",    "Geom",       "Site",  "Camera",
-    "Light",     "Tendon",  "Actuator", "Constraint", "Flex",  "Skin",
-    "Selection", "Sel Pnt", "Contact",  "Force",      "Island"};
-
-// UI labels for mjtFrame.
-static constexpr const char* kFrameNames[] = {
-    "None", "Body", "Geom", "Site", "Camera", "Light", "Contact", "World"};
-
 // logarithmically spaced real-time slow-down coefficients (percent)
 // clang-format off
 static constexpr std::array<const char*, 31> kPercentRealTime = {
@@ -846,7 +830,10 @@ void App::BuildGui() {
     return;
   }
 
-  SetupTheme(ui_.theme);
+  if (!tmp_.style_editor) {
+    platform::SetupTheme(ui_.theme);
+  }
+
   const ImVec4 workspace_rect = platform::ConfigureDockingLayout();
 
   // Place charts in bottom right corner of the workspace.
@@ -1024,14 +1011,6 @@ void App::BuildGui() {
   }
 }
 
-void App::SetupTheme(platform::GuiTheme theme) {
-  if (!tmp_.style_editor) {
-    platform::SetupTheme(theme);
-    ui_.theme = theme;
-    ImGui::GetIO().WantSaveIniSettings = true;
-  }
-}
-
 void App::ModelOptionsGui() {
   const float min_width = GetExpectedLabelWidth();
   const ImGuiChildFlags child_flags =
@@ -1449,7 +1428,7 @@ void App::ToolBarGui() {
     const float label_width = GetExpectedLabelWidth();
     const float copy_btn_width = ImGui::CalcTextSize(ICON_COPY_CAMERA).x +
                                  ImGui::GetStyle().FramePadding.x * 2;
-    const float theme_width = ImGui::CalcTextSize(ICON_LIGHTMODE).x +
+    const float theme_width = ImGui::CalcTextSize(platform::ICON_FA_CIRCLE_O).x +
                               ImGui::GetStyle().FramePadding.x * 2;
     const float sp = ImGui::GetStyle().ItemSpacing.x;
     const float right_width = label_width + sp + label_width + sp +
@@ -1576,84 +1555,30 @@ void App::ToolBarGui() {
     ImGui::SetCursorPosY(ImGui::GetCursorPosY() +
                          (button_size.y - ImGui::GetFrameHeight()) * 0.5f);
 
-    // Camera selection.
     if (ImGui::Button(ICON_COPY_CAMERA)) {
       std::string camera_string = platform::CameraToString(data(), &camera_);
       platform::MaybeSaveToClipboard(camera_string);
     }
     ImGui::SetItemTooltip("%s", "Copy Camera");
+
     ImGui::SameLine(0, 0);
     ImGui::SetNextItemWidth(GetExpectedLabelWidth());
-    int camera_idx = ui_.camera_idx - platform::kTumbleCameraIdx;
+    platform::CameraSelectionGui(model(), data(), camera_, ui_.camera_idx);
-    std::vector<const char*> cameras = GetCameraNames();
-    std::string camera_preview =
-        std::string(ICON_CAMERA) + " " + cameras[camera_idx];
-    if (ImGui::BeginCombo("##Camera", camera_preview.c_str(), combo_flags)) {
-      for (int n = 0; n < cameras.size(); n++) {
-        if (ImGui::Selectable(cameras[n], (camera_idx == n))) {
-          ui_.camera_idx = platform::SetCamera(model(), &camera_,
-                                               n + platform::kTumbleCameraIdx);
-        }
-      }
-      ImGui::EndCombo();
-    }
-    ImGui::SetItemTooltip("%s", "Camera");
 
-    // Label selection.
     ImGui::SameLine();
     ImGui::SetNextItemWidth(GetExpectedLabelWidth());
-    std::string label_preview =
+    platform::LabelSelectionGui(&vis_options_);
-        std::string(ICON_LABEL) + " " + kLabelNames[vis_options_.label];
-    if (ImGui::BeginCombo("##Label", label_preview.c_str(), combo_flags)) {
-      for (int n = 0; n < IM_ARRAYSIZE(kLabelNames); n++) {
-        if (ImGui::Selectable(kLabelNames[n], (vis_options_.label == n))) {
-          vis_options_.label = n;
-        }
-      }
-      ImGui::EndCombo();
-    }
-    ImGui::SetItemTooltip("%s", "Label");
 
-    // Frame selection.
     ImGui::SameLine();
     ImGui::SetNextItemWidth(GetExpectedLabelWidth());
-    std::string frame_preview =
+    platform::FrameSelectionGui(&vis_options_);
-        std::string(ICON_FRAME) + " " + kFrameNames[vis_options_.frame];
-    if (ImGui::BeginCombo("##Frame", frame_preview.c_str(), combo_flags)) {
-      for (int n = 0; n < IM_ARRAYSIZE(kFrameNames); n++) {
-        if (ImGui::Selectable(kFrameNames[n], (vis_options_.frame == n))) {
-          vis_options_.frame = n;
-        }
-      }
-      ImGui::EndCombo();
-    }
-    ImGui::SetItemTooltip("%s", "Frame");
 
-    // Theme selection.
     ImGui::SameLine();
-    const char* theme_icons[] = {ICON_LIGHTMODE, ICON_DARKMODE,
+    ImGui::SetNextItemWidth(GetExpectedLabelWidth());
-                                 ICON_CLASSICMODE};
+    if (platform::ThemeSelectGui(&ui_.theme)) {
-    const char* theme_tooltips[] = {"Light Mode", "Dark Mode", "Classic Mode"};
+      platform::SetupTheme(ui_.theme);
-    const platform::GuiTheme theme_values[] = {
+      ImGui::GetIO().WantSaveIniSettings = true;
-        platform::GuiTheme::kLight,
-        platform::GuiTheme::kDark,
-        platform::GuiTheme::kClassic,
-    };
-    int theme_idx = static_cast<int>(ui_.theme);
-    ImGui::SetNextItemWidth(ImGui::CalcTextSize(theme_icons[0]).x +
-                            ImGui::GetStyle().FramePadding.x * 2);
-    if (ImGui::BeginCombo("##Theme", theme_icons[theme_idx], combo_flags)) {
-      for (int n = 0; n < IM_ARRAYSIZE(theme_icons); n++) {
-        if (ImGui::Selectable(theme_icons[n], (theme_idx == n))) {
-          SetupTheme(theme_values[n]);
-        }
-        if (ImGui::IsItemHovered()) {
-          ImGui::SetTooltip("%s", theme_tooltips[n]);
-        }
-      }
-      ImGui::EndCombo();
     }
-    ImGui::SetItemTooltip("%s", "Theme");
 
     ImGui::EndTable();
   }
@@ -2011,34 +1936,6 @@ float App::GetExpectedLabelWidth() {
   return tmp_.expected_label_width;
 }
 
-std::vector<const char*> App::GetCameraNames() {
-  if (tmp_.camera_names.empty()) {
-    tmp_.camera_names.reserve(model()->ncam + 3);
-
-    tmp_.camera_names.push_back("Free: tumble");
-    tmp_.camera_names.push_back("Free: wasd");
-    tmp_.camera_names.push_back("Tracking (-1)");
-    for (int i = 0; i < model()->ncam; i++) {
-      if (model()->names[model()->name_camadr[i]]) {
-        tmp_.camera_names.push_back(model()->names + model()->name_camadr[i]);
-      } else {
-        tmp_.camera_names.push_back("Unnamed");
-      }
-    }
-  }
-
-  // Update tracking camera name as this can change over time.
-  tmp_.camera_names[2] =
-      "Tracking (" + std::to_string(camera_.trackbodyid) + ")";
-
-  std::vector<const char*> names;
-  names.reserve(tmp_.camera_names.size());
-  for (const auto& name : tmp_.camera_names) {
-    names.push_back(name.c_str());
-  }
-  return names;
-}
-
 App::UiState::Dict App::UiState::ToDict() const {
   return {
       {"theme", std::to_string(static_cast<int>(theme))},

src/experimental/studio/app.h

@@ -223,7 +223,6 @@ class App {
   void SpecEditorGui();
 
   float GetExpectedLabelWidth();
-  std::vector<const char*> GetCameraNames();
 
   mjSpec* spec() { return model_holder_->spec(); }
   mjModel* model() { return model_holder_->model(); }

src/user/user_flexcomp.cc

@@ -1185,7 +1185,7 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, mjsCompiler* compiler, char* error,
   }
 
   // copy vertices
-  point = mesh.Vert();
+  point.assign(mesh.Vert().begin(), mesh.Vert().end());
 
   if (mesh.HasTexcoord()) {
     texcoord = mesh.Texcoord();

src/user/user_mesh.cc

@@ -492,7 +492,7 @@ void mjCMesh::CacheMesh(mjCCache* cache, const mjResource* resource) {
 
   // calculate estimated size of mesh
   std::size_t size = sizeof(mjCMesh)
-                     + (sizeof(double) * vert_.size())
+                     + (sizeof(float) * vert_.size())
                      + (sizeof(float) * normal_.size())
                      + (sizeof(float) * texcoord_.size())
                      + (sizeof(int) * face_.size())
@@ -538,7 +538,7 @@ struct VertexKey {
 
 
 
-// convert vertices to double precision and remove repeated vertices if requested
+// process and remove repeated vertices if requested
 void mjCMesh::ProcessVertices(const std::vector<float>& vert, bool remove_repeated) {
   vert_.clear();
   int nvert = vert.size();
@@ -647,19 +647,6 @@ void mjCMesh::LoadFromDecoder(mjResource* resource, bool remove_repeated) {
       facenormal_.assign(src_mesh->userfacenormal->begin(), src_mesh->userfacenormal->end());
       facetexcoord_.assign(src_mesh->userfacetexcoord->begin(), src_mesh->userfacetexcoord->end());
 
-      // correct winding order for left-handed coordinate systems
-      bool righthand = scale[0] * scale[1] * scale[2] > 0;
-      if (!righthand) {
-        for (size_t i = 0; i < face_.size(); i += 3) {
-          std::swap(face_[i + 1], face_[i + 2]);
-        }
-        for (size_t i = 0; i < facenormal_.size(); i += 3) {
-          std::swap(facenormal_[i + 1], facenormal_[i + 2]);
-        }
-        for (size_t i = 0; i < facetexcoord_.size(); i += 3) {
-          std::swap(facetexcoord_[i + 1], facetexcoord_[i + 2]);
-        }
-      }
 
       std::vector<float> vert(src_mesh->uservert->begin(), src_mesh->uservert->end());
       mj_deleteSpec(mesh_spec);
@@ -788,24 +775,24 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
   // compute mesh properties
   if (!fromCache) {
     Process();
-  }
 
-  // make octree
+    if (!file_.empty()) {
-  if (!needsdf) {
+      CacheMesh(cache, resource_);
-    octree_.Clear();  // this occurs when a non-SDF mesh is loaded from a cached SDF mesh
+    }
-  } else if (octree_.NumNodes() == 0) {
+  } else {
-    octree_.SetFace(vert_, face_);
+    // When a mesh is loaded from the cache, has no octree but needs one,
-    octree_.CreateOctree(aamm_);
+    // we need to compute it here. If inversely it has an octree but we *do not*
-
+    // need one, we clear it.
-    // compute sdf coefficients
+    if (!needsdf) {
-    if (!plugin.active) {
+      octree_.Clear();
-      octree_.ComputeSdfCoeffs(vert_.data(), nvert(), face_.data(), nface(), tree_);
+    } else if (octree_.NumNodes() == 0) {
+      std::vector<double> dvert(vert_.begin(), vert_.end());
+      octree_.SetFace(dvert, face_);
+      octree_.CreateOctree(aamm_);
+      if (!plugin.active) {
+        octree_.ComputeSdfCoeffs(dvert.data(), nvert(), face_.data(), nface(), tree_);
+      }
     }
-  }
-
-  // cache mesh
-  if (!fromCache && !file_.empty()) {
-    CacheMesh(cache, resource_);
   }
 
   // close resource
@@ -818,18 +805,18 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
 
 
 // get bounding volume
-void mjCMesh::SetBoundingVolume(int faceid) {
+void mjCMesh::SetBoundingVolume(int faceid, const double* dvert) {
   constexpr double kMaxVal = std::numeric_limits<double>::max();
   double face_aamm[6] = {kMaxVal, kMaxVal, kMaxVal, -kMaxVal, -kMaxVal, -kMaxVal};
 
   for (int j = 0; j < 3; j++) {
     int vertid = face_[3*faceid + j];
-    face_aamm[0] = std::min(face_aamm[0], vert_[3*vertid + 0]);
+    face_aamm[0] = std::min(face_aamm[0], dvert[3*vertid + 0]);
-    face_aamm[1] = std::min(face_aamm[1], vert_[3*vertid + 1]);
+    face_aamm[1] = std::min(face_aamm[1], dvert[3*vertid + 1]);
-    face_aamm[2] = std::min(face_aamm[2], vert_[3*vertid + 2]);
+    face_aamm[2] = std::min(face_aamm[2], dvert[3*vertid + 2]);
-    face_aamm[3] = std::max(face_aamm[3], vert_[3*vertid + 0]);
+    face_aamm[3] = std::max(face_aamm[3], dvert[3*vertid + 0]);
-    face_aamm[4] = std::max(face_aamm[4], vert_[3*vertid + 1]);
+    face_aamm[4] = std::max(face_aamm[4], dvert[3*vertid + 1]);
-    face_aamm[5] = std::max(face_aamm[5], vert_[3*vertid + 2]);
+    face_aamm[5] = std::max(face_aamm[5], dvert[3*vertid + 2]);
   }
 
   face_aabb_.push_back(.5 * (face_aamm[0] + face_aamm[3]));
@@ -864,9 +851,7 @@ bool mjCMesh::HasTexcoord() const {
 
 
 void mjCMesh::CopyVert(float* arr) const {
-  for (int i = 0; i < vert_.size(); ++i) {
+  std::copy(vert_.begin(), vert_.end(), arr);
-    arr[i] = (float)vert_[i];
-  }
 }
 
 
@@ -1200,16 +1185,15 @@ void mjCMesh::LoadMSH(mjResource* resource, bool remove_repeated) {
 
 
 // compute the volume and center-of-mass of the mesh given the face centroid
-double mjCMesh::ComputeVolume(double CoM[3], const double facecen[3]) const {
+double mjCMesh::ComputeVolume(double CoM[3], const double facecen[3], const double* dvert) const {
   double normal[3], center[3], total_volume = 0;
   CoM[0] = CoM[1] = CoM[2] = 0;
   int nf = (inertia == mjMESH_INERTIA_CONVEX) ? graph_[1] : nface();
   const int* f = (inertia == mjMESH_INERTIA_CONVEX) ? GraphFaces() : face_.data();
 
   for (int i = 0; i < nf; i++) {
-    // get area, normal and center
+    double area = triangle(normal, center, &dvert[3*f[3*i]], &dvert[3*f[3*i + 1]],
-    double area = triangle(normal, center, &vert_[3*f[3*i]], &vert_[3*f[3*i + 1]],
+                           &dvert[3*f[3*i + 2]]);
-                           &vert_[3*f[3*i + 2]]);
 
     // compute and add volume
     double vec[3] = {center[0] - facecen[0], center[1] - facecen[1], center[2] - facecen[2]};
@@ -1239,14 +1223,13 @@ double mjCMesh::ComputeVolume(double CoM[3], const double facecen[3]) const {
 
 
 // compute the surface area and center-of-mass of the mesh given the face centroid
-double mjCMesh::ComputeSurfaceArea(double CoM[3], const double facecen[3]) const {
+double mjCMesh::ComputeSurfaceArea(double CoM[3], const double facecen[3], const double* dvert) const {
   double surface = 0;
   CoM[0] = CoM[1] = CoM[2] = 0;
   for (int i = 0; i < nface(); i++) {
-    // get area and center
     double area, center[3];
-    area = triangle(nullptr, center, &vert_[3*face_[3*i]],
+    area = triangle(nullptr, center, &dvert[3*face_[3*i]],
-                    &vert_[3*face_[3*i + 1]], &vert_[3*face_[3*i + 2]]);
+                    &dvert[3*face_[3*i + 1]], &dvert[3*face_[3*i + 2]]);
 
     // add pyramid com
     surface += area;
@@ -1267,28 +1250,24 @@ double mjCMesh::ComputeSurfaceArea(double CoM[3], const double facecen[3]) const
 
 
 // apply transformations
-void mjCMesh::ApplyTransformations() {
+void mjCMesh::ApplyTransformations(double* dvert) {
-  // translate
   if (refpos[0] != 0 || refpos[1] != 0 || refpos[2] != 0) {
     int nv = nvert();
     for (int i = 0; i < nv; i++) {
-      vert_[3*i + 0] -= refpos[0];
+      dvert[3*i + 0] -= refpos[0];
-      vert_[3*i + 1] -= refpos[1];
+      dvert[3*i + 1] -= refpos[1];
-      vert_[3*i + 2] -= refpos[2];
+      dvert[3*i + 2] -= refpos[2];
     }
   }
 
-  // rotate
   if (refquat[0] != 1 || refquat[1] != 0 || refquat[2] != 0 || refquat[3] != 0) {
-    // prepare rotation
     double quat[4] = {refquat[0], refquat[1], refquat[2], refquat[3]};
     double mat[9];
     mjuu_normvec(quat, 4);
     mjuu_quat2mat(mat, quat);
 
-    // process vertices
     for (int i = 0; i < nvert(); i++) {
-      mjuu_mulvecmatT(&vert_[3*i], &vert_[3*i], mat);
+      mjuu_mulvecmatT(&dvert[3*i], &dvert[3*i], mat);
     }
 
     // process normals
@@ -1304,9 +1283,9 @@ void mjCMesh::ApplyTransformations() {
   // scale
   if (scale[0] != 1 || scale[1] != 1 || scale[2] != 1) {
     for (int i = 0; i < nvert(); i++) {
-      vert_[3*i + 0] *= scale[0];
+      dvert[3*i + 0] *= scale[0];
-      vert_[3*i + 1] *= scale[1];
+      dvert[3*i + 1] *= scale[1];
-      vert_[3*i + 2] *= scale[2];
+      dvert[3*i + 2] *= scale[2];
     }
 
     for (int i = 0; i < nnormal(); i++) {
@@ -1338,14 +1317,13 @@ void mjCMesh::ApplyTransformations() {
 
 
 // find centroid of faces, return total area
-double mjCMesh::ComputeFaceCentroid(double facecen[3]) const {
+double mjCMesh::ComputeFaceCentroid(double facecen[3], const double* dvert) const {
   double total_area = 0;
 
   for (int i = 0; i < nface(); i++) {
-    // get area and center
     double area, center[3];
-    area = triangle(nullptr, center, &vert_[3*face_[3*i]],
+    area = triangle(nullptr, center, &dvert[3*face_[3*i]],
-                    &vert_[3*face_[3*i + 1]], &vert_[3*face_[3*i + 2]]);
+                    &dvert[3*face_[3*i + 1]], &dvert[3*face_[3*i + 2]]);
 
     // accumulate
     facecen[0] += area * center[0];
@@ -1366,13 +1344,15 @@ double mjCMesh::ComputeFaceCentroid(double facecen[3]) const {
 
 
 void mjCMesh::Process() {
+  std::vector<double> dvert(vert_.begin(), vert_.end());
+
   // create half-edge structure (if mesh was in XML)
   if (halfedge_.empty()) {
     for (int i = 0; i < nface(); i++) {
       int v0 = face_[3*i + 0];
       int v1 = face_[3*i + 1];
       int v2 = face_[3*i + 2];
-      if (triangle(nullptr, nullptr, &vert_[3*v0], &vert_[3*v1], &vert_[3*v2]) > sqrt(mjMINVAL)) {
+      if (triangle(nullptr, nullptr, &dvert[3*v0], &dvert[3*v1], &dvert[3*v2]) > sqrt(mjMINVAL)) {
         halfedge_.push_back({v0, v1});
         halfedge_.push_back({v1, v2});
         halfedge_.push_back({v2, v0});
@@ -1396,7 +1376,7 @@ void mjCMesh::Process() {
 
   // make graph describing convex hull
   if (needhull_ || face_.empty()) {
-    MakeGraph();
+    MakeGraph(dvert.data());
   }
 
   // no faces: copy from convex hull
@@ -1406,7 +1386,7 @@ void mjCMesh::Process() {
 
   // no normals: make
   if (normal_.empty()) {
-    MakeNormal();
+    MakeNormal(dvert.data());
   }
 
   // check facenormal size
@@ -1429,17 +1409,31 @@ void mjCMesh::Process() {
   }
 
   if (szgraph_) {
-    MakePolygons();
+    MakePolygons(dvert.data());
   } else {
     polygon_map_.resize(nvert());
   }
 
+  // correct winding order for left-handed coordinate systems
+  bool righthand = scale[0] * scale[1] * scale[2] > 0;
+  if (!righthand) {
+    for (size_t i = 0; i < face_.size(); i += 3) {
+      std::swap(face_[i + 1], face_[i + 2]);
+    }
+    for (size_t i = 0; i < facenormal_.size(); i += 3) {
+      std::swap(facenormal_[i + 1], facenormal_[i + 2]);
+    }
+    for (size_t i = 0; i < facetexcoord_.size(); i += 3) {
+      std::swap(facetexcoord_[i + 1], facetexcoord_[i + 2]);
+    }
+  }
+
   // user offset, rotation, scaling
-  ApplyTransformations();
+  ApplyTransformations(dvert.data());
 
   // find centroid of faces
   double facecen[3] = {0, 0, 0};
-  if (ComputeFaceCentroid(facecen) < mjMINVAL) {
+  if (ComputeFaceCentroid(facecen, dvert.data()) < mjMINVAL) {
     throw mjCError(this, "mesh surface area is too small: %s", name.c_str());
   }
 
@@ -1450,12 +1444,12 @@ void mjCMesh::Process() {
 
   // compute CoM and volume/area
   if (inertia == mjMESH_INERTIA_SHELL) {
-    surface_ = ComputeSurfaceArea(CoM, facecen);
+    surface_ = ComputeSurfaceArea(CoM, facecen, dvert.data());
     if (surface_ < mjMINVAL) {
       throw mjCError(this, "mesh surface area is too small: %s", name.c_str());
     }
   } else {
-    if ((volume_ = ComputeVolume(CoM, facecen)) < mjMINVAL) {
+    if ((volume_ = ComputeVolume(CoM, facecen, dvert.data())) < mjMINVAL) {
       if (volume_ < 0) {
         throw mjCError(this, "mesh volume is negative (misoriented triangles): %s", name.c_str());
       } else {
@@ -1466,7 +1460,7 @@ void mjCMesh::Process() {
   }
 
   // compute inertia
-  double total_volume = ComputeInertia(inert, CoM);
+  double total_volume = ComputeInertia(inert, CoM, dvert.data());
   if (inertia == mjMESH_INERTIA_SHELL) {
     surface_ = total_volume;
   } else {
@@ -1510,11 +1504,11 @@ void mjCMesh::Process() {
 
   // transform CoM to origin
   for (int i=0; i < nvert(); i++) {
-    vert_[3*i + 0] -= CoM[0];
+    dvert[3*i + 0] -= CoM[0];
-    vert_[3*i + 1] -= CoM[1];
+    dvert[3*i + 1] -= CoM[1];
-    vert_[3*i + 2] -= CoM[2];
+    dvert[3*i + 2] -= CoM[2];
   }
-  Rotate(quattmp);
+  Rotate(quattmp, dvert.data());
 
   // save the pos and quat that was used to transform the mesh
   mjuu_copyvec(pos_, CoM, 3);
@@ -1524,11 +1518,11 @@ void mjCMesh::Process() {
 
   // no radii: make
   if (!center_) {
-    MakeCenter();
+    MakeCenter(dvert.data());
   }
 
   // recompute polygon normals
-  MakePolygonNormals();
+  MakePolygonNormals(dvert.data());
 
   // make bounding volume hierarchy
   if (tree_.Bvh().empty()) {
@@ -1536,16 +1530,31 @@ void mjCMesh::Process() {
     face_aabb_.reserve(3*face_.size());
     tree_.AllocateBoundingVolumes(nface());
     for (int i = 0; i < nface(); i++) {
-      SetBoundingVolume(i);
+      SetBoundingVolume(i, dvert.data());
     }
     tree_.CreateBVH();
   }
+
+  // make octree
+  if (needsdf) {
+    octree_.SetFace(dvert, face_);
+    octree_.CreateOctree(aamm_);
+
+    if (!plugin.active) {
+      octree_.ComputeSdfCoeffs(dvert.data(), nvert(), face_.data(), nface(), tree_);
+    }
+  }
+
+  // narrow back to float
+  for (int i = 0; i < (int)dvert.size(); i++) {
+    vert_[i] = (float)dvert[i];
+  }
 }
 
 
 
 // compute abstract (unitless) inertia, recompute area / volume
-double mjCMesh::ComputeInertia(double inert[6], const double CoM[3]) const {
+double mjCMesh::ComputeInertia(double inert[6], const double CoM[3], const double* dvert) const {
   double total_volume = 0;
 
   // copy vertices to avoid modifying the original mesh
@@ -1554,9 +1563,9 @@ double mjCMesh::ComputeInertia(double inert[6], const double CoM[3]) const {
 
   // translate vertices to origin in order to compute inertia
   for (int i =  0; i < nvert(); i++) {
-    vert_centered.push_back(vert_[3*i + 0] - CoM[0]);
+    vert_centered.push_back(dvert[3*i + 0] - CoM[0]);
-    vert_centered.push_back(vert_[3*i + 1] - CoM[1]);
+    vert_centered.push_back(dvert[3*i + 1] - CoM[1]);
-    vert_centered.push_back(vert_[3*i + 2] - CoM[2]);
+    vert_centered.push_back(dvert[3*i + 2] - CoM[2]);
   }
 
   // accumulate products of inertia, recompute volume
@@ -1611,22 +1620,20 @@ double mjCMesh::ComputeInertia(double inert[6], const double CoM[3]) const {
 
 
 
-void mjCMesh::Rotate(double quat[4]) {
+void mjCMesh::Rotate(double quat[4], double* dvert) {
-  // rotate vertices and normals of mesh by quaternion
   double neg[4] = {quat[0], -quat[1], -quat[2], -quat[3]};
   double mat[9];
   mjuu_quat2mat(mat, neg);
   int nv = nvert();
   for (int i = 0; i < nv; i++) {
-    mjuu_mulvecmat(&vert_[3*i], &vert_[3*i], mat);
+    mjuu_mulvecmat(&dvert[3*i], &dvert[3*i], mat);
 
-    // axis-aligned bounding box
+    aamm_[0] = std::min(aamm_[0], dvert[3*i + 0]);
-    aamm_[0] = std::min(aamm_[0], vert_[3*i + 0]);
+    aamm_[3] = std::max(aamm_[3], dvert[3*i + 0]);
-    aamm_[3] = std::max(aamm_[3], vert_[3*i + 0]);
+    aamm_[1] = std::min(aamm_[1], dvert[3*i + 1]);
-    aamm_[1] = std::min(aamm_[1], vert_[3*i + 1]);
+    aamm_[4] = std::max(aamm_[4], dvert[3*i + 1]);
-    aamm_[4] = std::max(aamm_[4], vert_[3*i + 1]);
+    aamm_[2] = std::min(aamm_[2], dvert[3*i + 2]);
-    aamm_[2] = std::min(aamm_[2], vert_[3*i + 2]);
+    aamm_[5] = std::max(aamm_[5], dvert[3*i + 2]);
-    aamm_[5] = std::max(aamm_[5], vert_[3*i + 2]);
   }
 
   for (int i=0; i < nnormal(); i++) {
@@ -1698,7 +1705,7 @@ double mjCMesh::GetVolumeRef() const {
 
 
 // make graph describing convex hull
-void mjCMesh::MakeGraph() {
+void mjCMesh::MakeGraph(const double* dvert) {
   int adr, ok, curlong, totlong, exitcode;
   facetT* facet, **facetp;
   vertexT* vertex, *vertex1, **vertex1p;
@@ -1727,7 +1734,7 @@ void mjCMesh::MakeGraph() {
   if (!exitcode) {
     // actual init
     qh_initflags(qh, const_cast<char*>(qhopt.c_str()));
-    qh_init_B(qh, vert_.data(), nvert(), 3, qh_False);
+    qh_init_B(qh, const_cast<double*>(dvert), nvert(), 3, qh_False);
 
     // construct convex hull
     qh_qhull(qh);
@@ -2402,7 +2409,7 @@ void mjCMesh::MakeCone(int nedge, double radius) {
 
 
 // compute vertex normals
-void mjCMesh::MakeNormal() {
+void mjCMesh::MakeNormal(const double* dvert) {
   // only if normal data is missing
   if (!normal_.empty()) {
     return;
@@ -2426,8 +2433,8 @@ void mjCMesh::MakeNormal() {
     // get triangle edges
     double vec01[3], vec02[3];
     for (int j=0; j < 3; j++) {
-      vec01[j] = vert_[3*vertid[1]+j] - vert_[3*vertid[0]+j];
+      vec01[j] = dvert[3*vertid[1]+j] - dvert[3*vertid[0]+j];
-      vec02[j] = vert_[3*vertid[2]+j] - vert_[3*vertid[0]+j];
+      vec02[j] = dvert[3*vertid[2]+j] - dvert[3*vertid[0]+j];
     }
 
     // compute face normal
@@ -2461,8 +2468,8 @@ void mjCMesh::MakeNormal() {
       // get triangle edges
       double vec01[3], vec02[3];
       for (int j=0; j < 3; j++) {
-        vec01[j] = vert_[3*vertid[1]+j] - vert_[3*vertid[0]+j];
+        vec01[j] = dvert[3*vertid[1]+j] - dvert[3*vertid[0]+j];
-        vec02[j] = vert_[3*vertid[2]+j] - vert_[3*vertid[0]+j];
+        vec02[j] = dvert[3*vertid[2]+j] - dvert[3*vertid[0]+j];
       }
 
       // compute face normal
@@ -2514,7 +2521,7 @@ void mjCMesh::MakeNormal() {
 
 
 // compute face circumradii
-void mjCMesh::MakeCenter() {
+void mjCMesh::MakeCenter(const double* dvert) {
   if (center_) {
     return;
   }
@@ -2530,8 +2537,8 @@ void mjCMesh::MakeCenter() {
     // get triangle edges
     double a[3], b[3];
     for (int j=0; j < 3; j++) {
-      a[j] = vert_[3*vertid[0]+j] - vert_[3*vertid[2]+j];
+      a[j] = dvert[3*vertid[0]+j] - dvert[3*vertid[2]+j];
-      b[j] = vert_[3*vertid[1]+j] - vert_[3*vertid[2]+j];
+      b[j] = dvert[3*vertid[1]+j] - dvert[3*vertid[2]+j];
     }
 
     // compute face normal
@@ -2550,20 +2557,20 @@ void mjCMesh::MakeCenter() {
       norm_a_2 * b[2] - norm_b_2 * a[2]
     };
     mjuu_crossvec(res, vec, nrm);
-    center_[3*i+0] = res[0]/(2*area*area) + vert_[3*vertid[2]+0];
+    center_[3*i+0] = res[0]/(2*area*area) + dvert[3*vertid[2]+0];
-    center_[3*i+1] = res[1]/(2*area*area) + vert_[3*vertid[2]+1];
+    center_[3*i+1] = res[1]/(2*area*area) + dvert[3*vertid[2]+1];
-    center_[3*i+2] = res[2]/(2*area*area) + vert_[3*vertid[2]+2];
+    center_[3*i+2] = res[2]/(2*area*area) + dvert[3*vertid[2]+2];
   }
 }
 
 
 
 // compute the normals of the polygons
-void mjCMesh::MakePolygonNormals() {
+void mjCMesh::MakePolygonNormals(const double* dvert) {
   for (int i = 0; i < polygons_.size(); ++i) {
     double n[3];
-    mjuu_makenormal(n, &vert_[3*polygons_[i][0]], &vert_[3*polygons_[i][1]],
+    mjuu_makenormal(n, &dvert[3*polygons_[i][0]], &dvert[3*polygons_[i][1]],
-                    &vert_[3*polygons_[i][2]]);
+                    &dvert[3*polygons_[i][2]]);
     polygon_normals_[3*i + 0] = n[0];
     polygon_normals_[3*i + 1] = n[1];
     polygon_normals_[3*i + 2] = n[2];
@@ -2802,7 +2809,7 @@ struct PairHash {
 
 
 // merge coplanar mesh triangular faces into polygonal sides to represent the geometry of the mesh
-void mjCMesh::MakePolygons() {
+void mjCMesh::MakePolygons(const double* dvert) {
   constexpr double kAngleTol = 0.01;
   std::unordered_map<std::pair<double, double>, MeshPolygon, PairHash> mesh_polygons;
   polygons_.clear();
@@ -2819,9 +2826,9 @@ void mjCMesh::MakePolygons() {
     int vi1 = faces[3*i + 0];
     int vi2 = faces[3*i + 1];
     int vi3 = faces[3*i + 2];
-    double* v1 = &vert_[3*vi1];
+    const double* v1 = &dvert[3*vi1];
-    double* v2 = &vert_[3*vi2];
+    const double* v2 = &dvert[3*vi2];
-    double* v3 = &vert_[3*vi3];
+    const double* v3 = &dvert[3*vi3];
 
     std::pair<double, double> key;
     if (!MeshPolygonKey(key, v1, v2, v3, kAngleTol)) {

src/user/user_objects.cc

@@ -587,6 +587,7 @@ void mjCOctree::CopyCoeff(mjtNum* coeff) const {
 
 
 void mjCOctree::SetFace(const std::vector<double>& vert, const std::vector<int>& face) {
+  face_.reserve(face.size()/3);
   for (int i = 0; i < face.size(); i += 3) {
     std::array<double, 3> v0 = {vert[3*face[i+0]], vert[3*face[i+0]+1], vert[3*face[i+0]+2]};
     std::array<double, 3> v1 = {vert[3*face[i+1]], vert[3*face[i+1]+1], vert[3*face[i+1]+2]};
@@ -613,6 +614,8 @@ void mjCOctree::Make(std::vector<Triangle>& elements) {
 
 
 void mjCOctree::CreateOctree(const double aamm[6]) {
+  Clear();
+
   double aabb[6] = {(aamm[0] + aamm[3]) / 2, (aamm[1] + aamm[4]) / 2, (aamm[2] + aamm[5]) / 2,
                     (aamm[3] - aamm[0]) / 2, (aamm[4] - aamm[1]) / 2, (aamm[5] - aamm[2]) / 2};
   double box[6] = {aabb[0] - 1.1 * aabb[3], aabb[1] - 1.1 * aabb[4], aabb[2] - 1.1 * aabb[5],

src/user/user_objects.h

@@ -299,8 +299,11 @@ class mjCOctree : public mjCOctree_ {
            sizeof(Point) * vert_.size();
   }
   void Clear() {
+    nnode_ = 0;
+    nvert_ = 0;
     node_.clear();
-    face_.clear();
+    vert_.clear();
+    hang_.clear();
   }
   void AddCoeff(int n, int v, double coeff) { node_[n].coeff[v] = coeff; }
   double Coeff(int n, int v) const { return node_[n].coeff[v]; }
@@ -1071,7 +1074,7 @@ class mjCMesh_ : public mjCBase {
   std::string content_type_ = "";                // content type of file
   std::string file_;                             // mesh file
   mjResource* resource_ = nullptr;               // resource for mesh file
-  std::vector<double> vert_;                      // vertex data
+  std::vector<float> vert_;                      // vertex data
   std::vector<float> normal_;                    // normal data
   std::vector<float> texcoord_;                  // texcoord data
   std::vector<int> face_;                        // vertex indices
@@ -1156,8 +1159,8 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   const double* Refquat() const { return refquat; }
   const double* Scale() const { return scale; }
   bool SmoothNormal() const { return smoothnormal; }
-  const std::vector<double>& Vert() const { return vert_; }
+  const std::vector<float>& Vert() const { return vert_; }
-  double Vert(int i) const { return vert_[i]; }
+  float Vert(int i) const { return vert_[i]; }
   const std::vector<float>& UserVert() const { return spec_vert_; }
   const std::vector<float>& UserNormal() const { return spec_normal_; }
   const std::vector<float>& Texcoord() const { return texcoord_; }
@@ -1233,7 +1236,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   void CopyPolygonNormals(mjtNum* arr);
 
   // sets properties of a bounding volume given a face id
-  void SetBoundingVolume(int faceid);
+  void SetBoundingVolume(int faceid, const double* dvert);
 
   // load from OBJ, STL, or MSH file; throws mjCError on failure
   void LoadFromResource(mjResource* resource, bool remove_repeated = false);
@@ -1264,22 +1267,22 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   void LoadMSH(mjResource* resource, bool remove_repeated);  // load mesh in MSH BIN format
 
   void LoadSDF();                               // generate mesh using marching cubes
-  void MakeGraph();                             // make graph of convex hull
+  void MakeGraph(const double* dvert);          // make graph of convex hull
   void CopyGraph();                             // copy graph into face data
-  void MakeNormal();                            // compute vertex normals
+  void MakeNormal(const double* dvert);         // compute vertex normals
-  void MakeCenter();                            // compute face circumcircle data
+  void MakeCenter(const double* dvert);         // compute face circumcircle data
   void Process();                               // compute inertial properties
-  void ApplyTransformations();                  // apply user transformations
+  void ApplyTransformations(double* dvert);      // apply user transformations
-  double ComputeFaceCentroid(double[3]) const;  // compute centroid of all faces
+  double ComputeFaceCentroid(double[3], const double* dvert) const;
   void CheckInitialMesh() const;                // check if initial mesh is valid
   void CopyPlugin();
-  void Rotate(double quat[4]);                      // rotate mesh by quaternion
+  void Rotate(double quat[4], double* dvert);       // rotate mesh by quaternion
   void Transform(double pos[3], double quat[4]);    // transform mesh by position and quaternion
-  void MakePolygons();                              // compute the polygon sides of the mesh
+  void MakePolygons(const double* dvert);            // compute the polygon sides of the mesh
-  void MakePolygonNormals();                        // compute the normals of the polygons
+  void MakePolygonNormals(const double* dvert);     // compute the normals of the polygons
 
   // computes the inertia matrix of the mesh given the type of inertia
-  double ComputeInertia(double inert[6], const double CoM[3]) const;
+  double ComputeInertia(double inert[6], const double CoM[3], const double* dvert) const;
 
   int* GraphFaces() const {
     return graph_ + 2 + 3*(graph_[0] + graph_[1]);
@@ -1295,9 +1298,8 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   std::vector<std::vector<int>> polygon_map_;   // map from vertex to polygon
 
   // compute the volume and center-of-mass of the mesh given the face centroid
-  double ComputeVolume(double CoM[3], const double facecen[3]) const;
+  double ComputeVolume(double CoM[3], const double facecen[3], const double* dvert) const;
-  // compute the surface area and center-of-mass of the mesh given the face centroid
+  double ComputeSurfaceArea(double CoM[3], const double facecen[3], const double* dvert) const;
-  double ComputeSurfaceArea(double CoM[3], const double facecen[3]) const;
 };
 
 

src/user/user_resource.cc

@@ -44,9 +44,9 @@ mjResource* mju_openResource(const char* dir, const char* name,
   if (non_const_vfs == nullptr) {
     mjVFS* local_vfs = (mjVFS*)mju_malloc(sizeof(mjVFS));
     mj_defaultVFS(local_vfs);
-    mujoco::user::VFS::Upcast(local_vfs)->SetToSelfDestruct([](mjVFS* ptr) {
+    mujoco::user::VFS::Upcast(local_vfs)->SetToSelfDestruct([=]() {
-      mj_deleteVFS(ptr);
+      mj_deleteVFS(local_vfs);
-      mju_free(ptr);
+      mju_free(local_vfs);
     });
 
     non_const_vfs = local_vfs;

src/user/user_vfs.cc

@@ -105,7 +105,8 @@ std::string StripPathAndLower(std::string path) {
 
 namespace mujoco::user {
 
-VFS::VFS(mjVFS* vfs) : self_(vfs) {
+VFS::VFS(mjVFS* vfs) {
+  wrapped_vfs_.impl_ = this;
   mjp_defaultResourceProvider(&default_provider_);
   default_provider_.open = [](mjResource* res) {
     return OpenFile(res->name, res);
@@ -121,7 +122,7 @@ VFS::VFS(mjVFS* vfs) : self_(vfs) {
   };
 
   default_provider_.prefix = nullptr;
-  default_mount_.vfs = self_;
+  default_mount_.vfs = &wrapped_vfs_;
   default_mount_.provider = &default_provider_;
   default_mount_.data = nullptr;
   default_mount_.name = nullptr;
@@ -245,7 +246,7 @@ int VFS::Read(mjResource* resource, const void** buffer) {
 VFS::ResourcePtr VFS::CreateResource(std::string_view name,
                                      const mjpResourceProvider* provider) {
   mjResource* res = new mjResource();
-  res->vfs = self_;
+  res->vfs = &wrapped_vfs_;
   res->provider = provider;
   res->data = nullptr;
   res->name = new char[name.size() + 1];
@@ -312,11 +313,14 @@ mjResource* VFS::FindMount(const std::string& fullpath) {
 
 void VFS::MaybeSelfDestruct() {
   if (destructor_) {
-    destructor_(self_);
+    // Copy the destructor to a local variable so that we can destroy `this`
+    // object within the destructor.
+    auto fn = std::move(destructor_);
+    fn();
   }
 }
 
-void VFS::SetToSelfDestruct(std::function<void(mjVFS*)> destructor) {
+void VFS::SetToSelfDestruct(std::function<void()> destructor) {
   destructor_ = std::move(destructor);
 }
 

src/user/user_vfs.h

@@ -96,7 +96,7 @@ class VFS {
   // This is useful for when you want to create a temporary VFS instance with
   // a lifetime tied to a single mjResource to be opened. The `destructor`
   // should be set to `delete this` and any other cleanup that needs to happen.
-  void SetToSelfDestruct(std::function<void(mjVFS*)> destructor);
+  void SetToSelfDestruct(std::function<void()> destructor);
 
   // Converts the public C-API pointer to the internal C++ class.
   static VFS* Upcast(mjVFS* vfs);
@@ -117,13 +117,13 @@ class VFS {
   // that `this` will be invalidated after this call.
   void MaybeSelfDestruct();
 
-  mjVFS* self_;
+  mjVFS wrapped_vfs_;
   std::mutex mutex_;  // Protects open_resources_ and mounts_.
   std::unordered_map<mjResource*, ResourcePtr> open_resources_;
   std::unordered_map<std::string, ResourcePtr> mounts_;
   mjResource default_mount_;
   mjpResourceProvider default_provider_;
-  std::function<void(mjVFS*)> destructor_;
+  std::function<void()> destructor_;
 };
 
 }  // namespace mujoco::user

test/user/user_mesh_test.cc

@@ -1086,6 +1086,71 @@ TEST_F(MjCMeshTest, MeshScale) {
   mj_deleteModel(model);
 }
 
+TEST_F(MjCMeshTest, NegativeScaleUserMeshCompiles) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <asset>
+      <mesh name="example_mesh" scale="-1 1 1" inertia="exact"
+        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
+        face="0 2 1  0 3 2  1 3 0  1 2 3" />
+    </asset>
+    <worldbody>
+      <geom type="mesh" mesh="example_mesh"/>
+    </worldbody>
+  </mujoco>
+  )";
+  char error[1024];
+  mjModel* model = LoadModelFromString(xml, error, sizeof(error));
+  ASSERT_THAT(model, NotNull()) << error;
+  mj_deleteModel(model);
+}
+
+TEST_F(MjCMeshTest, NegativeScaleUserMeshMatchesPositiveScale) {
+  static constexpr char pos_xml[] = R"(
+  <mujoco>
+    <asset>
+      <mesh name="pos_mesh"
+        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
+        face="0 2 1  0 3 2  1 3 0  1 2 3" />
+    </asset>
+    <worldbody>
+      <geom type="mesh" mesh="pos_mesh"/>
+    </worldbody>
+  </mujoco>
+  )";
+
+  static constexpr char neg_xml[] = R"(
+  <mujoco>
+    <asset>
+      <mesh name="neg_mesh" scale="-1 1 1"
+        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
+        face="0 2 1  0 3 2  1 3 0  1 2 3" />
+    </asset>
+    <worldbody>
+      <geom type="mesh" mesh="neg_mesh"/>
+    </worldbody>
+  </mujoco>
+  )";
+
+  char error[1024];
+  mjModel* pos_model = LoadModelFromString(pos_xml, error, sizeof(error));
+  ASSERT_THAT(pos_model, NotNull()) << error;
+
+  mjModel* neg_model = LoadModelFromString(neg_xml, error, sizeof(error));
+  ASSERT_THAT(neg_model, NotNull()) << error;
+
+  ASSERT_EQ(pos_model->nmeshface, neg_model->nmeshface);
+
+  for (int i = 0; i < pos_model->nmeshface; i++) {
+    EXPECT_EQ(pos_model->mesh_face[3*i + 0], neg_model->mesh_face[3*i + 0]);
+    EXPECT_EQ(pos_model->mesh_face[3*i + 1], neg_model->mesh_face[3*i + 2]);
+    EXPECT_EQ(pos_model->mesh_face[3*i + 2], neg_model->mesh_face[3*i + 1]);
+  }
+
+  mj_deleteModel(pos_model);
+  mj_deleteModel(neg_model);
+}
+
 TEST_F(MjCMeshTest, ShellInertiaTest) {
   static constexpr char xml[] = R"(
   <mujoco>

test/user/user_vfs_test.cc

@@ -407,5 +407,29 @@ TEST_F(UserVfsTest, StackedMounts) {
   EXPECT_EQ(test2, expect2);
   EXPECT_EQ(test3, expect3);
 }
+
+TEST_F(UserVfsTest, MoveVfs) {
+  // Create and move a VFS to another address.
+  mjVFS* original = new mjVFS();
+  mj_defaultVFS(original);
+  mjVFS vfs = *original;
+  delete original;
+
+  std::string buffer = "<mujoco/>";
+  mj_addBufferVFS(&vfs, "model", static_cast<const void*>(buffer.c_str()),
+                  buffer.size());
+
+  mjResource* resource = mju_openResource("", "model", &vfs, nullptr, 0);
+  ASSERT_THAT(resource, NotNull());
+
+  const void* out = nullptr;
+  const int size = mju_readResource(resource, &out);
+  EXPECT_GT(size, 0);
+  EXPECT_THAT(out, NotNull());
+
+  mju_closeResource(resource);
+  mj_deleteVFS(&vfs);
+}
+
 }  // namespace
 }  // namespace mujoco

unity/Editor/Bindings/MujocoBinaryRetriever.cs

@@ -37,7 +37,7 @@ public class MujocoBinaryRetriever {
           if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/mujoco.dylib") == null) {
             File.Copy(
                 "/Applications/MuJoCo.app/Contents/Frameworks" +
-                "/mujoco.framework/Versions/Current/libmujoco.3.6.0.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.7.0.dylib",
                 mujocoPath + "/mujoco.dylib");
             AssetDatabase.Refresh();
           }
@@ -45,7 +45,7 @@ public class MujocoBinaryRetriever {
           if (AssetDatabase.LoadMainAssetAtPath(mujocoPath + "/libmujoco.so") == null) {
             File.Copy(
                 Environment.GetFolderPath(Environment.SpecialFolder.UserProfile) +
-                "/.mujoco/mujoco-3.6.0/lib/libmujoco.so.3.6.0",
+                "/.mujoco/mujoco-3.7.0/lib/libmujoco.so.3.7.0",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }

unity/Runtime/Bindings/MjBindings.cs

@@ -112,7 +112,7 @@ public const int mjMAXLINEPNT = 1001;
 public const int mjMAXPLANEGRID = 200;
 public const bool THIRD_PARTY_MUJOCO_MJXMACRO_H_ = true;
 public const bool THIRD_PARTY_MUJOCO_MUJOCO_H_ = true;
-public const int mjVERSION_HEADER = 3006000;
+public const int mjVERSION_HEADER = 3007000;
 
 
 // ------------------------------------Enums------------------------------------

unity/package.json

@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.6.0",
+  "version": "3.7.0",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {

wasm/README.md

@@ -307,7 +307,7 @@ The function `mjv_updateScene` populates an `mjvScene` object with information
 from `mjModel` and `mjData`.
 ```typescript
 // Create instances of the necessary structs.
-const model = mujoco.MjModel.loadFromXML(xmlContent);
+const model = mujoco.MjModel.from_xml_string(xmlContent);
 const data = new mujoco.MjData(model);
 const scene = new mujoco.MjvScene(model, 1000);
 const option = new mujoco.MjvOption();
@@ -348,23 +348,31 @@ mujoco.mjtDisableBit.mjDSBL_CLAMPCTRL.value
 ```
 
 ### Constants
-Scalar constants will be accessed the same way they are on python, simply:
+Scalar constants can be accessed as properties:
 
 ```javascript
 mujoco.mjNEQDATA
 ```
 
-Due to Embind limitations, more complex constants that are not scalar, but are
+Non-scalar constants like `mjFRAMESTRING` are also accessed as properties, and
-represented in more dimensions are exposed as functions. E.g. to use
+return JavaScript arrays:
-`mujoco.mjFRAMESTRING` you will need to call a function:
 
 ```javascript
-mujoco.get_mjFRAMESTRING()
+mujoco.mjFRAMESTRING
 ```
 
 This will return a javascript array representation of the values in MuJoCo
 `mjFRAMESTRING`.
 
+> [!NOTE]
+> You will notice constants like `mjFRAMESTRING` are typed as `any`. This is
+> because they are bound using `emscripten::val::array()` in C++, and Embind
+> maps `emscripten::val` to `any` in TypeScript definition files. While
+> `EMSCRIPTEN_DECLARE_VAL_TYPE(StringArray)` could be used to define
+> `StringArray` as an alias for `emscripten::val` and hint to Embind how to
+> handle conversions in function signatures or when using `.as()` it does not
+> change how `emscripten::constant` infers types for properties.
+
 ## Development
 
 In order to change the bindings you will need to change the [`bindings.cc`](codegen/generated/bindings.cc)

wasm/codegen/generated/bindings.cc

@@ -17,6 +17,7 @@
 
 #include <emscripten.h>
 #include <emscripten/bind.h>
+#include <emscripten/em_asm.h>
 #include <emscripten/val.h>
 
 #include <algorithm>
@@ -8361,6 +8362,39 @@ std::unique_ptr<MjModel> mj_loadModel_wrapper(std::string filename, const MjVFS&
   return std::unique_ptr<MjModel>(new MjModel(model));
 }
 
+std::unique_ptr<MjModel> from_xml_string_wrapper_1(const std::string& xml) {
+  mjVFS vfs;
+  mj_defaultVFS(&vfs);
+  const char* filename = "model.xml";
+  int add_result = mj_addBufferVFS(&vfs, filename, xml.c_str(), xml.length());
+  if (add_result != 0) {
+    mj_deleteVFS(&vfs);
+    mju_error("Could not add XML string to VFS: %d", add_result);
+  }
+  char error[1000];
+  mjModel* model = mj_loadXML(filename, &vfs, error, sizeof(error));
+  mj_deleteVFS(&vfs);
+  if (!model) {
+    mju_error("Loading error: %s\n", error);
+  }
+  return std::unique_ptr<MjModel>(new MjModel(model));
+}
+
+std::unique_ptr<MjModel> from_xml_string_wrapper_2(const std::string& xml, const MjVFS& vfs) {
+  std::string filename = "model.xml";
+  int add_result = mj_addBufferVFS(vfs.get(), filename.c_str(), xml.c_str(), xml.length());
+  if (add_result != 0) {
+    mju_error("Could not add XML string to VFS: %d", add_result);
+  }
+  char error[1000];
+  mjModel* model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
+  mj_deleteFileVFS(vfs.get(), filename.c_str());
+  if (!model) {
+    mju_error("Loading error: %s\n", error);
+  }
+  return std::unique_ptr<MjModel>(new MjModel(model));
+}
+
 std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
   char error[1000];
   mjSpec *ptr = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
@@ -8599,7 +8633,7 @@ void mj_fwdVelocity_wrapper(const MjModel& m, MjData& d) {
   mj_fwdVelocity(m.get(), d.get());
 }
 
-mjtNum mj_geomDistance_wrapper(const MjModel& m, const MjData& d, int geom1, int geom2, mjtNum distmax, const val& fromto) {
+mjtNum mj_geomDistance_wrapper(const MjModel& m, MjData& d, int geom1, int geom2, mjtNum distmax, const val& fromto) {
   UNPACK_NULLABLE_VALUE(mjtNum, fromto);
   CHECK_SIZE(fromto, 6);
   return mj_geomDistance(m.get(), d.get(), geom1, geom2, distmax, fromto_.data());
@@ -11596,9 +11630,16 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .property("useexisting", &MjLROpt::useexisting, &MjLROpt::set_useexisting, reference())
     .property("uselimit", &MjLROpt::uselimit, &MjLROpt::set_uselimit, reference());
   emscripten::class_<MjModel>("MjModel")
+    // mj_loadXML is deprecated and will be removed in a future release
     .class_function("mj_loadXML", emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))
     .class_function("mj_loadXML", emscripten::select_overload<std::unique_ptr<MjModel>(std::string, const MjVFS&)>(&mj_loadXML_wrapper_2))
+    // mj_loadModel is deprecated and will be removed in a future release
     .class_function("mj_loadModel", &mj_loadModel_wrapper)
+    .class_function("from_binary_path", &mj_loadModel_wrapper)
+    .class_function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1))
+    .class_function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2))
+    .class_function("from_xml_path", emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))
+    .class_function("from_xml_path", emscripten::select_overload<std::unique_ptr<MjModel>(std::string, const MjVFS&)>(&mj_loadXML_wrapper_2))
     .constructor<const MjModel &>()
     // Binds the functions on MjModel that return accessors.
     #define X_ACCESSOR(NAME, Name, OBJTYPE, field_name, nfield) \
@@ -13379,6 +13420,8 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   // as using std::optional<MjVFS> caused memory errors due to missing copy/move constructors.
   function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&)>(&mj_compile_wrapper_1));
   function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&, const MjVFS&)>(&mj_compile_wrapper_2));
+  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1));
+  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2));
 
   emscripten::class_<WasmBuffer<float>>("FloatBuffer")
       .constructor<int>()
@@ -13409,6 +13452,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
       .function("GetView", &WasmBuffer<uint8_t>::GetView);
 
   emscripten::register_vector<std::string>("mjStringVec");
+  emscripten::register_vector<std::vector<std::string>>("mjStringVecVec");
   emscripten::register_vector<int>("mjIntVec");
   emscripten::register_vector<mjIntVec>("mjIntVecVec");
   emscripten::register_vector<float>("mjFloatVec");
@@ -13453,7 +13497,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   emscripten::constant("mjPI", mjPI);
   emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
 
-  // These complex constants are bound using function() rather than constant()
   emscripten::function("get_mjDISABLESTRING", &get_mjDISABLESTRING);
   emscripten::function("get_mjENABLESTRING", &get_mjENABLESTRING);
   emscripten::function("get_mjFRAMESTRING", &get_mjFRAMESTRING);
@@ -13461,6 +13504,31 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   emscripten::function("get_mjRNDSTRING", &get_mjRNDSTRING);
   emscripten::function("get_mjTIMERSTRING", &get_mjTIMERSTRING);
   emscripten::function("get_mjVISSTRING", &get_mjVISSTRING);
+  // Bind these complex constants as properties on the module object.
+  // We use emscripten::constant with emscripten::val::array() to type them
+  // as `any` in TypeScript. At runtime, the EM_ASM block below overrides
+  // these properties with getters that return native JavaScript arrays
+  // (string[] or string[][]) via the get_ functions above, which is more
+  // performant and idiomatic than vector wrappers.
+  emscripten::constant("mjDISABLESTRING", emscripten::val::array());
+  emscripten::constant("mjENABLESTRING", emscripten::val::array());
+  emscripten::constant("mjFRAMESTRING", emscripten::val::array());
+  emscripten::constant("mjLABELSTRING", emscripten::val::array());
+  emscripten::constant("mjRNDSTRING", emscripten::val::array());
+  emscripten::constant("mjTIMERSTRING", emscripten::val::array());
+  emscripten::constant("mjVISSTRING", emscripten::val::array());
+  EM_ASM({
+    if (typeof Module !== "undefined") {
+      "mjDISABLESTRING mjENABLESTRING mjFRAMESTRING mjLABELSTRING mjRNDSTRING mjTIMERSTRING mjVISSTRING".split(" ").forEach(function(name) {
+        Object.defineProperty(Module, name, {
+          get: function() { return Module["get_" + name](); },
+          set: function(v) { },
+          enumerable: true,
+          configurable: true
+        });
+      });
+    }
+  });
 }
 
 }  // namespace mujoco::wasm

wasm/codegen/generators/structs.py

@@ -549,6 +549,9 @@ def _build_struct_bindings(
       MJDATA_ACCESSORS
     #undef X_ACCESSOR""".lstrip())
     elif w == "MjModel":
+      builder.line(
+          "// mj_loadXML is deprecated and will be removed in a future release"
+      )
       builder.line(
           '.class_function("mj_loadXML",'
           " emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))"
@@ -561,7 +564,31 @@ def _build_struct_bindings(
       f2 = common.wrapped_function_name(
           introspect_functions.FUNCTIONS["mj_loadModel"]
       )
+      builder.line(
+          "// mj_loadModel is deprecated and will be removed in a future"
+          " release"
+      )
       builder.line(f'.class_function("mj_loadModel", &{f2})')
+      builder.line(f'.class_function("from_binary_path", &{f2})')
+      builder.line(
+          '.class_function("from_xml_string",'
+          " emscripten::select_overload<std::unique_ptr<MjModel>(const"
+          " std::string&)>(&from_xml_string_wrapper_1))"
+      )
+      builder.line(
+          '.class_function("from_xml_string",'
+          " emscripten::select_overload<std::unique_ptr<MjModel>(const"
+          " std::string&, const MjVFS&)>(&from_xml_string_wrapper_2))"
+      )
+      builder.line(
+          '.class_function("from_xml_path",'
+          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string)>(&mj_loadXML_wrapper_1))"
+      )
+      builder.line(
+          '.class_function("from_xml_path",'
+          " emscripten::select_overload<std::unique_ptr<MjModel>(std::string,"
+          " const MjVFS&)>(&mj_loadXML_wrapper_2))"
+      )
       builder.line(".constructor<const MjModel &>()")
       builder.line("""
   // Binds the functions on MjModel that return accessors.

wasm/codegen/templates/bindings.cc

@@ -17,6 +17,7 @@
 
 #include <emscripten.h>
 #include <emscripten/bind.h>
+#include <emscripten/em_asm.h>
 #include <emscripten/val.h>
 
 #include <algorithm>
@@ -746,6 +747,39 @@ std::unique_ptr<MjModel> mj_loadModel_wrapper(std::string filename, const MjVFS&
   return std::unique_ptr<MjModel>(new MjModel(model));
 }
 
+std::unique_ptr<MjModel> from_xml_string_wrapper_1(const std::string& xml) {
+  mjVFS vfs;
+  mj_defaultVFS(&vfs);
+  const char* filename = "model.xml";
+  int add_result = mj_addBufferVFS(&vfs, filename, xml.c_str(), xml.length());
+  if (add_result != 0) {
+    mj_deleteVFS(&vfs);
+    mju_error("Could not add XML string to VFS: %d", add_result);
+  }
+  char error[1000];
+  mjModel* model = mj_loadXML(filename, &vfs, error, sizeof(error));
+  mj_deleteVFS(&vfs);
+  if (!model) {
+    mju_error("Loading error: %s\n", error);
+  }
+  return std::unique_ptr<MjModel>(new MjModel(model));
+}
+
+std::unique_ptr<MjModel> from_xml_string_wrapper_2(const std::string& xml, const MjVFS& vfs) {
+  std::string filename = "model.xml";
+  int add_result = mj_addBufferVFS(vfs.get(), filename.c_str(), xml.c_str(), xml.length());
+  if (add_result != 0) {
+    mju_error("Could not add XML string to VFS: %d", add_result);
+  }
+  char error[1000];
+  mjModel* model = mj_loadXML(filename.c_str(), vfs.get(), error, sizeof(error));
+  mj_deleteFileVFS(vfs.get(), filename.c_str());
+  if (!model) {
+    mju_error("Loading error: %s\n", error);
+  }
+  return std::unique_ptr<MjModel>(new MjModel(model));
+}
+
 std::unique_ptr<MjSpec> parseXMLString_wrapper(const std::string &xml) {
   char error[1000];
   mjSpec *ptr = mj_parseXMLString(xml.c_str(), nullptr, error, sizeof(error));
@@ -845,6 +879,8 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   // as using std::optional<MjVFS> caused memory errors due to missing copy/move constructors.
   function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&)>(&mj_compile_wrapper_1));
   function("mj_compile", emscripten::select_overload<std::unique_ptr<MjModel>(const MjSpec&, const MjVFS&)>(&mj_compile_wrapper_2));
+  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&)>(&from_xml_string_wrapper_1));
+  function("from_xml_string", emscripten::select_overload<std::unique_ptr<MjModel>(const std::string&, const MjVFS&)>(&from_xml_string_wrapper_2));
 
   emscripten::class_<WasmBuffer<float>>("FloatBuffer")
       .constructor<int>()
@@ -875,6 +911,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
       .function("GetView", &WasmBuffer<uint8_t>::GetView);
 
   emscripten::register_vector<std::string>("mjStringVec");
+  emscripten::register_vector<std::vector<std::string>>("mjStringVecVec");
   emscripten::register_vector<int>("mjIntVec");
   emscripten::register_vector<mjIntVec>("mjIntVecVec");
   emscripten::register_vector<float>("mjFloatVec");
@@ -919,7 +956,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   emscripten::constant("mjPI", mjPI);
   emscripten::constant("mjVERSION_HEADER", mjVERSION_HEADER);
 
-  // These complex constants are bound using function() rather than constant()
   emscripten::function("get_mjDISABLESTRING", &get_mjDISABLESTRING);
   emscripten::function("get_mjENABLESTRING", &get_mjENABLESTRING);
   emscripten::function("get_mjFRAMESTRING", &get_mjFRAMESTRING);
@@ -927,6 +963,31 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
   emscripten::function("get_mjRNDSTRING", &get_mjRNDSTRING);
   emscripten::function("get_mjTIMERSTRING", &get_mjTIMERSTRING);
   emscripten::function("get_mjVISSTRING", &get_mjVISSTRING);
+  // Bind these complex constants as properties on the module object.
+  // We use emscripten::constant with emscripten::val::array() to type them
+  // as `any` in TypeScript. At runtime, the EM_ASM block below overrides
+  // these properties with getters that return native JavaScript arrays
+  // (string[] or string[][]) via the get_ functions above, which is more
+  // performant and idiomatic than vector wrappers.
+  emscripten::constant("mjDISABLESTRING", emscripten::val::array());
+  emscripten::constant("mjENABLESTRING", emscripten::val::array());
+  emscripten::constant("mjFRAMESTRING", emscripten::val::array());
+  emscripten::constant("mjLABELSTRING", emscripten::val::array());
+  emscripten::constant("mjRNDSTRING", emscripten::val::array());
+  emscripten::constant("mjTIMERSTRING", emscripten::val::array());
+  emscripten::constant("mjVISSTRING", emscripten::val::array());
+  EM_ASM({
+    if (typeof Module !== "undefined") {
+      "mjDISABLESTRING mjENABLESTRING mjFRAMESTRING mjLABELSTRING mjRNDSTRING mjTIMERSTRING mjVISSTRING".split(" ").forEach(function(name) {
+        Object.defineProperty(Module, name, {
+          get: function() { return Module["get_" + name](); },
+          set: function(v) { },
+          enumerable: true,
+          configurable: true
+        });
+      });
+    }
+  });
 }
 
 }  // namespace mujoco::wasm

wasm/demo_app/app.ts

@@ -205,10 +205,7 @@ class App {
   }
 
   loadModel(xmlContent: string) {
-    // Write xml as a file so that mujoco can find it
+    this.mjModel = mujoco.MjModel.from_xml_string(xmlContent);
-    (mujoco as any).FS.writeFile('/working/model.xml', xmlContent);
-
-    this.mjModel = mujoco.MjModel.mj_loadXML('/working/model.xml');
     if (!app.mjModel) {
       throw new Error('Failed to load model');
     }
@@ -437,8 +434,6 @@ function setupWindowEvents() {
   // Tip: put "window.dispatchEvent(new Event('unload'))" in the console to test
   window.addEventListener('unload', () => {
     app.dispose();
-
-    (mujoco as any).FS.unmount('/working');
   });
 
   window.addEventListener('keydown', (event) => {
@@ -464,10 +459,6 @@ async function main() {
   try {
     mujoco = await loadMujoco();
 
-    // Set up emscripten virtual file system
-    (mujoco as any).FS.mkdir('/working');
-    (mujoco as any).FS.mount((mujoco as any).MEMFS, {root: '.'}, '/working');
-
     app = new App();
 
     setupWindowEvents();

wasm/package.npm.json

@@ -1,10 +1,10 @@
 {
-  "name": "mujoco",
+  "name": "@mujoco/mujoco",
   "version": "0.0.0",
   "description": "MuJoCo WASM bindings",
   "repository": {
     "type": "git",
-    "url": "https://github.com/google-deepmind/mujoco.git",
+    "url": "git+https://github.com/google-deepmind/mujoco.git",
     "directory": "wasm"
   },
   "homepage": "https://github.com/google-deepmind/mujoco/tree/main/wasm",

wasm/tests/bindings_test.ts

@@ -683,24 +683,24 @@ describe('MuJoCo WASM Bindings', () => {
 
   it('should check constants values', () => {
     expect(mujoco.mjNEQDATA).toBe(11);
-    expect(mujoco.get_mjDISABLESTRING()).toEqual([
+    expect(mujoco.mjDISABLESTRING).toEqual([
       'Constraint', 'Equality', 'Frictionloss', 'Limit', 'Contact', 'Spring',
       'Damper', 'Gravity', 'Clampctrl', 'Warmstart', 'Filterparent',
       'Actuation', 'Refsafe', 'Sensor', 'Midphase', 'Eulerdamp', 'AutoReset',
       'NativeCCD', 'Island'
     ]);
-    expect(mujoco.get_mjRNDSTRING()).toEqual([
+    expect(mujoco.mjRNDSTRING).toEqual([
       ['Shadow', '1', 'S'], ['Wireframe', '0', 'W'], ['Reflection', '1', 'R'],
       ['Additive', '0', 'L'], ['Skybox', '1', 'K'], ['Fog', '0', 'G'],
       ['Haze', '1', '/'], ['Depth', '0', ''], ['Segment', '0', ','],
       ['Id Color', '0', ''], ['Cull Face', '1', '']
     ]);
-    expect(mujoco.get_mjFRAMESTRING().length)
+    expect(mujoco.mjFRAMESTRING.length).toEqual(mujoco.mjtFrame.mjNFRAME.value);
-        .toEqual(mujoco.mjtFrame.mjNFRAME.value);
+    expect(mujoco.mjVISSTRING.length)
-    expect(mujoco.get_mjVISSTRING().length)
         .toEqual(mujoco.mjtVisFlag.mjNVISFLAG.value);
-    expect(mujoco.get_mjVISSTRING()[mujoco.mjtVisFlag.mjVIS_INERTIA.value])
+    expect(mujoco.mjVISSTRING[mujoco.mjtVisFlag.mjVIS_INERTIA.value]).toEqual([
-        .toEqual(['Inertia', '0', 'I']);
+      'Inertia', '0', 'I'
+    ]);
   });
 
   it('should create a spec from XML', () => {
@@ -2603,4 +2603,56 @@ describe('MuJoCo WASM Bindings', () => {
     }
   });
 
+  it('should load a model from an XML string', () => {
+    let model: MjModel|null = null;
+    try {
+      model = mujoco.from_xml_string(TEST_XML);
+      assertExists(model);
+      expect(model.nbody).toBe(5);
+      expect(model.ngeom).toBe(3);
+    } finally {
+      model?.delete();
+    }
+  });
+
+  it('should load a model from an XML string with VFS', () => {
+    const xml = `
+    <mujoco>
+      <asset>
+        <mesh file="cube.obj"/>
+      </asset>
+      <worldbody>
+        <geom type="mesh" mesh="cube"/>
+      </worldbody>
+    </mujoco>`;
+
+    const cube1 = `
+    v -1 -1  1
+    v  1 -1  1
+    v -1  1  1
+    v  1  1  1
+    v -1  1 -1
+    v  1  1 -1
+    v -1 -1 -1
+    v  1 -1 -1`;
+
+    let model: MjModel|null = null;
+    let vfs: MjVFS|null = null;
+    try {
+      vfs = new mujoco.MjVFS();
+      vfs.addBuffer('cube.obj', new TextEncoder().encode(cube1));
+      assertExists(vfs);
+
+      model = mujoco.from_xml_string(xml, vfs);
+      assertExists(model);
+      expect(model.nmesh).toBe(1);
+
+      const meshId =
+          mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_MESH.value, 'cube');
+      expect(meshId).toBeGreaterThanOrEqual(0);
+    } finally {
+      model?.delete();
+      vfs?.delete();
+    }
+  });
 });

wasm/tests/sandbox/main.ts

@@ -20,9 +20,6 @@ declare function loadMujoco(): Promise<MainModule>;
 async function main() {
   const mujoco: MainModule = await loadMujoco();
 
-  (mujoco as any).FS.mkdir('/working');
-  (mujoco as any).FS.mount((mujoco as any).MEMFS, {root: '.'}, '/working');
-
   const xmlContent = `
     <mujoco model="Box falling">
       <option viscosity="1"/>
@@ -37,13 +34,12 @@ async function main() {
       </worldbody>
     </mujoco>`;
 
-  (mujoco as any).FS.writeFile('/working/hello.xml', xmlContent);
   let model: MjModel|undefined;
   let data: MjData|undefined;
 
   try {
     console.log('Hello world!: Loading model');
-    model = mujoco.MjModel.mj_loadXML('/working/hello.xml');
+    model = mujoco.MjModel.from_xml_string(xmlContent);
     if (!model) {
       throw new Error('Failed to load model');
     }
@@ -57,7 +53,6 @@ async function main() {
   } finally {
     model?.delete();
     data?.delete();
-    (mujoco as any).FS.unmount('/working');
   }
 }