Merge branch 'google-deepmind:main' into usd-integration

CMakeLists.txt

@@ -28,7 +28,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco
-  VERSION 3.0.1
+  VERSION 3.0.2
   DESCRIPTION "MuJoCo Physics Simulator"
   HOMEPAGE_URL "https://mujoco.org"
 )

cmake/MujocoDependencies.cmake

@@ -39,7 +39,7 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    e8515f78ac098329ab9f8cab21c87caede090a3f
+    aa6964bf3a34fd607837dd8123bc42465185c4f8
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 

dist/mujoco.rc

@@ -1,6 +1,6 @@
 1 VERSIONINFO
-FILEVERSION 3,0,1,0
+FILEVERSION 3,0,2,0
-PRODUCTVERSION 3,0,1,0
+PRODUCTVERSION 3,0,2,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -9,9 +9,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.0.1"
+      VALUE "ProductVersion", "3.0.2"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.0.1"
+      VALUE "FileVersion", "3.0.2"
       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 3,0,1,0
+FILEVERSION 3,0,2,0
-PRODUCTVERSION 3,0,1,0
+PRODUCTVERSION 3,0,2,0
 FILEOS 0x4
 FILETYPE 0x1
 {
@@ -11,9 +11,9 @@ FILETYPE 0x1
     BLOCK "040904b0"
     {
       VALUE "ProductName", "MuJoCo"
-      VALUE "ProductVersion", "3.0.1"
+      VALUE "ProductVersion", "3.0.2"
       VALUE "FileDescription", "MuJoCo"
-      VALUE "FileVersion", "3.0.1"
+      VALUE "FileVersion", "3.0.2"
       VALUE "InternalName", "simulate.exe"
       VALUE "OriginalFilename", "simulate.exe"
       VALUE "CompanyName", "Google DeepMind"

doc/APIreference/APIglobals.rst

@@ -522,7 +522,7 @@ shown in the table below. Their names are in the format ``mjKEY_XXX``. They corr
      - Maximum number of UI rectangles.
        Defined in `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`_.
    * - ``mjVERSION_HEADER``
-     - 301
+     - 302
      - The version of the MuJoCo headers; changes with every release. This is an integer equal to 100x the software
        version, so 210 corresponds to version 2.1. Defined in  mujoco.h. The API function :ref:`mj_version` returns a
        number with the same meaning but for the compiled library.

doc/computation/index.rst

@@ -656,6 +656,11 @@ MoCap poses: ``mocap_pos`` and ``mocap_quat``
   6D poses from a motion-capture device. The default values set by :ref:`mj_resetData` are the poses of the bodies at
   the default configuration.
 
+Equality constraint toggle: ``eq_active``
+  ``mjData.eq_active`` is a byte-valued array that allows the user to toggle the state of equality constraints at
+  runtime. The initial value of this array is ``mjModel.eq_active0`` which can be set in XML using the
+  :ref:`active<equality-connect-active>` attribute of :ref:`equality constraints<coEquality>`.
+
 User data: ``userdata``
   ``mjData.userdata`` acts as a user-defined memory space untouched by the engine. For example it can be used by
   callbacks. This is described in more detail in the :ref:`Programming chapter<siSimulation>`.

doc/mjx.rst

@@ -171,7 +171,7 @@ The following features are **fully supported** in MJX:
 .. list-table::
    :width: 90%
    :align: left
-   :widths: 1 5
+   :widths: 2 5
    :header-rows: 1
 
    * - Category
@@ -182,9 +182,12 @@ The following features are **fully supported** in MJX:
      - ``FREE``, ``BALL``, ``SLIDE``, ``HINGE``
    * - :ref:`Transmission <mjtTrn>`
      - ``TRN_JOINT``
-   * - :ref:`Actuation <geactuation>`
+   * - :ref:`Actuator Dynamics <mjtDyn>`
-     - ``DYN_NONE``, ``DYN_INTEGRATOR``, ``DYN_FILTER``, ``GAIN_FIXED``, ``GAIN_AFFINE``, ``BIAS_NONE``,
+     - ``NONE``, ``INTEGRATOR``, ``FILTER``
-       ``BIAS_AFFINE``
+   * - :ref:`Actuator Gain <mjtGain>`
+     - ``FIXED``, ``AFFINE``
+   * - :ref:`Actuator Bias <mjtBias>`
+     - ``NONE``, ``AFFINE``
    * - :ref:`Geom <mjtGeom>`
      - ``PLANE``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH``
    * - :ref:`Constraint <mjtConstraint>`
@@ -207,7 +210,7 @@ The following features are **in development** and coming soon:
 .. list-table::
    :width: 90%
    :align: left
-   :widths: 1 5
+   :widths: 2 5
    :header-rows: 1
 
    * - Category
@@ -216,8 +219,16 @@ The following features are **in development** and coming soon:
      - :ref:`Inverse <mj_inverse>`
    * - :ref:`Transmission <mjtTrn>`
      - ``TRN_TENDON``
+   * - :ref:`Actuator Dynamics <mjtDyn>`
+     - ``MUSCLE``
+   * - :ref:`Actuator Gain <mjtGain>`
+     - ``MUSCLE``
+   * - :ref:`Actuator Bias <mjtBias>`
+     - ``MUSCLE``
+   * - :ref:`Tendon Wrapping <mjtWrap>`
+     - ``NONE``, ``JOINT``, ``PULLEY``, ``SITE``, ``SPHERE``, ``CYLINDER``
    * - :ref:`Geom <mjtGeom>`
-     - ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``, ``SDF``
+     - ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``
    * - :ref:`Constraint <mjtConstraint>`
      - ``CONTACT_FRICTIONLESS``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
    * - :ref:`Integrator <mjtIntegrator>`
@@ -233,24 +244,32 @@ The following features are **in development** and coming soon:
    * - :ref:`Equality <mjtEq>`
      - ``TENDON``
    * - :ref:`Sensors <mjtSensor>`
-     - All except ``mjSENS_PLUGIN``, ``mjSENS_USER``
+     - All except ``PLUGIN``, ``USER``
 
 The following features are **unsupported**:
 
 .. list-table::
    :width: 90%
    :align: left
-   :widths: 1 5
+   :widths: 2 5
    :header-rows: 1
 
    * - Category
      - Feature
    * - :ref:`Transmission <mjtTrn>`
-     - ``TRN_JOINTINPARENT``, ``TRN_SLIDERCRANK``, ``TRN_SITE``, ``TRN_BODY``, ``MUSCLE``
+     - ``TRN_JOINTINPARENT``, ``TRN_SLIDERCRANK``, ``TRN_SITE``, ``TRN_BODY``
+   * - :ref:`Actuator Dynamics <mjtDyn>`
+     - ``FILTEREXACT``, ``USER``
+   * - :ref:`Actuator Gain <mjtGain>`
+     - ``USER``
+   * - :ref:`Actuator Bias <mjtBias>`
+     - ``USER``
    * - :ref:`Solver <mjtSolver>`
      - ``PGS``
-   * - :ref:`Callbacks <glphysics>`
+   * - :ref:`Sensors <mjtSensor>`
-     - ``mjDYN_USER``, ``mjGAIN_USER``, ``mjBIAS_USER``, ``mjSENS_USER``
+     - ``PLUGIN``, ``USER``
+   * - :ref:`Geom <mjtGeom>`
+     - ``SDF``
 
 .. _MjxSharpBits:
 
@@ -276,17 +295,20 @@ Large, complex scenes with many contacts
   bodies in a scene.  MJX ships with a simple branchless broad-phase algorithm (see performance tuning) but it is not as
   powerful as the one in MuJoCo.
 
-  To see how this affects simulation, let us consider a physics scene with increasing numbers of physics bodies.  We
+  To see how this affects simulation, let us consider a physics scene with increasing numbers of humanoid bodies,
-  simulate a scene with a variable number of humanoids (from 1 to 10) and then compare MJX's performance on an Nvidia
+  varied from 1 to 10. We simulate this scene using CPU MuJoCo on an Apple M1 Pro and a 64-core AMD 3995WX and time
-  A100 GPU to MuJoCo on a 12-core workstation:
+  it using :ref:`testspeed<saTestspeed>`, using ``2 x numcore`` threads. We time the MJX simulation on an Nvidia
+  A100 GPU using a batch size of 8192 and an 8-chip
+  `v5 TPU <https://cloud.google.com/blog/products/compute/announcing-cloud-tpu-v5e-and-a3-gpus-in-ga>`__
+  machine using a batch size of 16384. Note the vertical scale is logarithmic.
 
-  .. figure:: images/mjx/mujoco_vs_mjx_large_scene.png
+  .. figure:: images/mjx/SPS.svg
-   :width: 658px
+     :width: 95%
-   :align: center
+     :align: center
 
-  Notice that as we increase the number of humanoids (which increases the number of potential contacts in a scene), MJX
+  The values for a single humanoid (leftmost datapoints) for the four timed architectures are **320K**, **1.8M**,
-  performance degrades more rapidly than MuJoCo.  At the limit, for such a large scene, MuJoCo performance nearly
+  **950K** and **2.7M** steps per second, respectively. Note that as we increase the number of humanoids (which
-  matches MJX.
+  increases the number of potential contacts in a scene), MJX throughput decreases more rapidly than MuJoCo.
 
 Scenes with collisions between meshes with many vertices
   MJX supports mesh geometries and can determine if two meshes are colliding using branchless versions of

doc/unity.rst

@@ -30,14 +30,14 @@ _____
 
 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.3.0.1.dylib`` (it can be
+``/Applications/MuJoCo.app/Contents/Frameworks/mujoco.framework/Versions/Current/libmujoco.3.0.2.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-3.0.1/lib/libmujoco.so.3.0.1`` and rename it as ``libmujoco.so``.
+``~/.mujoco/mujoco-3.0.2/lib/libmujoco.so.3.0.2`` and rename it as ``libmujoco.so``.
 
 Windows
 _______

include/mujoco/mujoco.h

@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 // header version; should match the library version as returned by mj_version()
-#define mjVERSION_HEADER 301
+#define mjVERSION_HEADER 302
 
 // needed to define size_t, fabs and log10
 #include <stdlib.h>

mjx/mujoco/mjx/integration_test/collision_driver_test.py

@@ -41,7 +41,7 @@ def _assert_attr_eq(mjx_d, mj_d, attr, name, atol):
   np.testing.assert_allclose(mjx_d, mj_d, err_msg=err_msg, atol=atol)
 
 
-class CollisionDriverTest(parameterized.TestCase):
+class CollisionDriverIntegrationTest(parameterized.TestCase):
 
   @parameterized.parameters(list(range(256)))
   def test_collision_driver(self, seed):

mjx/mujoco/mjx/integration_test/forward_test.py

@@ -30,7 +30,7 @@ def _assert_attr_eq(a, b, attr, step, fname, atol=1e-3, rtol=1e-3):
   np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
 
 
-class ActuationTest(parameterized.TestCase):
+class ActuationIntegrationTest(parameterized.TestCase):
 
   @parameterized.parameters(list(range(30)))
   def test_actuation(self, seed):

mjx/mujoco/mjx/integration_test/smooth_test.py

@@ -34,7 +34,7 @@ def _assert_attr_eq(a, b, attr, step, fname, atol=1e-5, rtol=1e-5):
   np.testing.assert_allclose(a, b, err_msg=err_msg, atol=atol, rtol=rtol)
 
 
-class TransmissionTest(parameterized.TestCase):
+class TransmissionIntegrationTest(parameterized.TestCase):
 
   @parameterized.parameters(list(range(30)))
   def test_transmission(self, seed):

mjx/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name="mujoco-mjx"
-version = "3.0.1"
+version = "3.0.2"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -31,13 +31,13 @@ dependencies = [
     "etils[epath]",
     "jax",
     "jaxlib",
-    "mujoco>=3.0.1.dev0",
+    "mujoco>=3.0.2.dev0",
     "scipy",
     "trimesh",
 ]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Documentation = "https://mujoco.readthedocs.io/en/3.0.1"
+Documentation = "https://mujoco.readthedocs.io/en/3.0.2"
 Repository = "https://github.com/google-deepmind/mujoco/tree/main/mjx"
-Changelog = "https://mujoco.readthedocs.io/en/3.0.1/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.0.2/changelog.html"

python/mujoco/CMakeLists.txt

@@ -84,7 +84,7 @@ 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.3.0.1.dylib
+          ${MUJOCO_FRAMEWORK}/mujoco.framework/Versions/A/libmujoco.3.0.2.dylib
       )
       target_compile_options(mujoco INTERFACE -F${MUJOCO_FRAMEWORK})
     endif()
@@ -92,7 +92,7 @@ if(NOT TARGET mujoco)
 
   if(NOT MUJOCO_FRAMEWORK)
     find_library(
-      MUJOCO_LIBRARY mujoco mujoco.3.0.1 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
+      MUJOCO_LIBRARY mujoco mujoco.3.0.2 HINTS ${MUJOCO_LIBRARY_DIR} REQUIRED
     )
     find_path(MUJOCO_INCLUDE mujoco/mujoco.h HINTS ${MUJOCO_INCLUDE_DIR} REQUIRED)
     message("MuJoCo is at ${MUJOCO_LIBRARY}")
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  e8515f78ac098329ab9f8cab21c87caede090a3f
+  aa6964bf3a34fd607837dd8123bc42465185c4f8
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL

python/mujoco/mjpython/Info.plist

@@ -7,13 +7,13 @@
     <key>CFBundleIdentifier</key>
     <string>org.mujoco.mjpython</string>
     <key>CFBundleVersion</key>
-    <string>3.0.1</string>
+    <string>3.0.2</string>
     <key>CFBundleGetInfoString</key>
-    <string>3.0.1</string>
+    <string>3.0.2</string>
     <key>CFBundleLongVersionString</key>
-    <string>3.0.1</string>
+    <string>3.0.2</string>
     <key>CFBundleShortVersionString</key>
-    <string>3.0.1</string>
+    <string>3.0.2</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 = "3.0.1"
+version = "3.0.2"
 authors = [
     {name = "Google DeepMind", email = "mujoco@deepmind.com"},
 ]
@@ -36,9 +36,9 @@ dynamic = ["readme", "scripts"]
 
 [project.urls]
 Homepage = "https://github.com/google-deepmind/mujoco"
-Documentation = "https://mujoco.readthedocs.io/en/3.0.1"
+Documentation = "https://mujoco.readthedocs.io/en/3.0.2"
 Repository = "https://github.com/google-deepmind/mujoco"
-Changelog = "https://mujoco.readthedocs.io/en/3.0.1/changelog.html"
+Changelog = "https://mujoco.readthedocs.io/en/3.0.2/changelog.html"
 
 [tool.setuptools]
 include-package-data = false

sample/CMakeLists.txt

@@ -24,7 +24,7 @@ set(MSVC_INCREMENTAL_DEFAULT ON)
 
 project(
   mujoco_samples
-  VERSION 3.0.1
+  VERSION 3.0.2
   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 3.0.1
+  VERSION 3.0.2
   DESCRIPTION "MuJoCo simulate binaries"
   HOMEPAGE_URL "https://mujoco.org"
 )

simulate/simulate.cc

@@ -718,12 +718,12 @@ void MakePhysicsSection(mj::Simulate* sim, int oldstate) {
   };
   mjuiDef defDisableActuator[] = {
     {mjITEM_SEPARATOR, "Actuator Group Enable", 1},
-    {mjITEM_CHECKBYTE,  "Act Group 0",  2, sim->enableactuator+0,    " 0"},
+    {mjITEM_CHECKBYTE,  "Act Group 0",  2, sim->enableactuator+0,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 1",  2, sim->enableactuator+1,    " 1"},
+    {mjITEM_CHECKBYTE,  "Act Group 1",  2, sim->enableactuator+1,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 2",  2, sim->enableactuator+2,    " 2"},
+    {mjITEM_CHECKBYTE,  "Act Group 2",  2, sim->enableactuator+2,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 3",  2, sim->enableactuator+3,    " 3"},
+    {mjITEM_CHECKBYTE,  "Act Group 3",  2, sim->enableactuator+3,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 4",  2, sim->enableactuator+4,    " 4"},
+    {mjITEM_CHECKBYTE,  "Act Group 4",  2, sim->enableactuator+4,     ""},
-    {mjITEM_CHECKBYTE,  "Act Group 5",  2, sim->enableactuator+5,    " 5"},
+    {mjITEM_CHECKBYTE,  "Act Group 5",  2, sim->enableactuator+5,     ""},
     {mjITEM_END}
   };
 

src/engine/engine_support.c

@@ -38,8 +38,8 @@
 
 //-------------------------- Constants -------------------------------------------------------------
 
- #define mjVERSION 301
+ #define mjVERSION 302
-#define mjVERSIONSTRING "3.0.1"
+#define mjVERSIONSTRING "3.0.2"
 
 // names of disable flags
 const char* mjDISABLESTRING[mjNDISABLE] = {

src/xml/xml_urdf.cc

@@ -367,7 +367,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
     throw mjXError(joint_elem, "invalid joint type in URDF joint definition");
   }
   ReadAttrTxt(joint_elem, "name", jntname, true);
-
+  jntname = GetPrefixedName(jntname);
   // get parent, check
   elem = FindSubElem(joint_elem, "parent", true);
   ReadAttrTxt(elem, "link", name, true);

test/testdata/flex.xml

@@ -28,15 +28,16 @@
       <inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01"/>
       <freejoint/>
 
-      <flexcomp name="f1" type="ellipsoid" rgba=".8 .2 .2 1" radius="0.001" count="5 5 5"
+      <flexcomp name="f1" type="ellipsoid" rgba=".8 .2 .2 1" radius="0.001" count="4 4 4"
                 spacing=".025 .025 .025" dim="3" mass="1">
         <edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
       </flexcomp>
     </body>
 
-    <flexcomp name="f2" type="grid" rgba="1 1 0 1" radius="0.003" dim="2" pos="0 0 .6"
+    <flexcomp name="f2" type="grid" rgba="1 1 0 1" radius="0.003" dim="2" pos="0 0 .1"
-              zaxis="1 1 1" count="7 7 1" mass="1" spacing="0.02 0.03 0.04" material="grid">
+              zaxis="0 0 1" count="6 6 1" mass="1" spacing="0.02 0.03 0.04" material="grid">
       <edge equality="true" solref="0.15 0.2" stiffness="0" damping="0"/>
+      <pin id="0"/>
     </flexcomp>
 
     <flexcomp name="f3" type="grid" rgba=".6 .5 .1 1" radius="0.003" dim="3" pos="0 0 .3"

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.3.0.1.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.0.2.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-3.0.1/lib/libmujoco.so.3.0.1",
+                "/.mujoco/mujoco-3.0.2/lib/libmujoco.so.3.0.2",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }

unity/Runtime/Bindings/MjBindings.cs

@@ -108,7 +108,7 @@ public const int mjMAXLINEPNT = 1000;
 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 = 301;
+public const int mjVERSION_HEADER = 302;
 
 
 // ------------------------------------Enums------------------------------------

unity/Runtime/Components/MjGlobalSettings.cs

@@ -34,10 +34,6 @@ public enum IntegratorType {
   @implicitfast
 }
 
-public enum CollisionCheckType {
-  all
-}
-
 public enum FrictionConeType {
   pyramidal,
   elliptic
@@ -151,7 +147,7 @@ public struct MjSizeStruct {
   };
 
   public void ParseMjcf(XmlElement mjcf) {
-    Memory = mjcf.GetAttribute("memory");
+    Memory = mjcf.GetStringAttribute("memory", "-1");
   }
 
   public XmlElement ToMjcf(XmlElement mjcf) {
@@ -183,8 +179,6 @@ public struct MjOptionStruct {
   public SolverImpedance OverrideSolImp;
   [Tooltip("Numerical integrator.")]
   public IntegratorType Integrator;
-  [Tooltip("What collision types should be checked.")]
-  public CollisionCheckType Collision;
   [Tooltip("How to model the friction cone.")]
   public FrictionConeType Cone;
   [Tooltip("How to represent the constraint Jacobian.")]
@@ -217,7 +211,6 @@ public struct MjOptionStruct {
     OverrideSolRef = SolverReference.Default,
     OverrideSolImp = SolverImpedance.Default,
     Integrator = IntegratorType.Euler,
-    Collision = CollisionCheckType.all,
     Cone = FrictionConeType.pyramidal,
     Jacobian = JacobianType.auto,
     Solver = ConstraintSolverType.Newton,
@@ -260,7 +253,6 @@ public struct MjOptionStruct {
     OverrideSolImp.FromMjcf(mjcf, "o_solimp");
 
     Integrator = mjcf.GetEnumAttribute<IntegratorType>("integrator", localDefault.Integrator);
-    Collision = mjcf.GetEnumAttribute<CollisionCheckType>("collision", localDefault.Collision);
     Cone = mjcf.GetEnumAttribute<FrictionConeType>("cone", localDefault.Cone);
     Jacobian = mjcf.GetEnumAttribute<JacobianType>("jacobian", localDefault.Jacobian);
     Solver = mjcf.GetEnumAttribute<ConstraintSolverType>("solver", localDefault.Solver);
@@ -295,7 +287,6 @@ public struct MjOptionStruct {
     OverrideSolImp.ToMjcf(mjcf, "o_solimp");
 
     mjcf.SetAttribute("integrator", Integrator.ToString());
-    mjcf.SetAttribute("collision", Collision.ToString());
     mjcf.SetAttribute("cone", Cone.ToString());
     mjcf.SetAttribute("jacobian", Jacobian.ToString());
     mjcf.SetAttribute("solver", Solver.ToString());

unity/Tests/Editor/Components/MjGlobalSettingsTests.cs

@@ -69,7 +69,6 @@ public class MjGlobalSettingsGenerationTests {
     Assert.That(_doc.OuterXml, Does.Contain(@"o_margin=""4.5"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"integrator=""RK4"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"cone=""elliptic"""));
-    Assert.That(_doc.OuterXml, Does.Contain(@"collision=""all"""));  // the default value.
     Assert.That(_doc.OuterXml, Does.Contain(@"jacobian=""dense"""));
     Assert.That(_doc.OuterXml, Does.Contain(@"o_solref="));
     Assert.That(_doc.OuterXml, Does.Contain(@"o_solimp="));
@@ -143,7 +142,6 @@ public class MjGlobalSettingsParsingTests {
     _option.SetAttribute("o_margin", "4.5");
     _option.SetAttribute("integrator", "RK4");
     _option.SetAttribute("cone", "elliptic");
-    _option.SetAttribute("collisionchecktype", "all");
     _option.SetAttribute("jacobian", "dense");
     _option.SetAttribute("solver", "PGS");
     _option.SetAttribute("iterations", "12");

unity/package.json

@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.0.1",
+  "version": "3.0.2",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {