Merge branch 'main' of https://github.com/google-deepmind/mujoco into feature/unity-hmap-dyn

Merge with main to keep branch up to date

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.3.0.2.dylib",
+                "/mujoco.framework/Versions/Current/libmujoco.3.1.2.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-3.0.2/lib/libmujoco.so.3.0.2",
+                "/.mujoco/mujoco-3.1.2/lib/libmujoco.so.3.1.2",
                 mujocoPath + "/libmujoco.so");
             AssetDatabase.Refresh();
           }

unity/Editor/Components/MjMouseSpring.cs

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#if UNITY_EDITOR
 using System;
 using UnityEditor;
 using UnityEngine;
@@ -23,7 +22,7 @@ namespace Mujoco {
   // and left mouse drag will apply a force on the body.  Holding shift down will change the applied
   // force direction between World XZ plane and Y[camera-up].
 
-  [CustomEditor(typeof(MjBody))]
+  [CustomEditor(typeof(MjComponent), true)]
   public class MjMouseSpring : Editor {
     private bool _lastShiftKeyState = false;
 
@@ -102,7 +101,11 @@ namespace Mujoco {
         return;
       }
 
-      MjBody body = target as MjBody;
+      var targetObject = target as MjComponent;
+      MjBody body = targetObject.GetComponentInParent<MjBody>();
+      if(!body)
+        return;
+
       Vector3 bodyPosition =
           body != null ? body.transform.position : Vector3.zero;
       var scene = MjScene.Instance;
@@ -188,4 +191,3 @@ namespace Mujoco {
     }
   }
 }
-#endif

unity/Editor/Components/MjShapeComponentEditor.cs

@@ -22,7 +22,7 @@ namespace Mujoco {
 
 [CustomEditor(typeof(MjShapeComponent), true)]
 [CanEditMultipleObjects]
-public class MjShapeComponentEditor : Editor {
+public class MjShapeComponentEditor : MjMouseSpring {
 
   public override void OnInspectorGUI() {
 

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 = 302;
+public const int mjVERSION_HEADER = 312;
 
 
 // ------------------------------------Enums------------------------------------
@@ -191,10 +191,11 @@ public enum mjtGeom : int{
   mjGEOM_ARROW1 = 101,
   mjGEOM_ARROW2 = 102,
   mjGEOM_LINE = 103,
-  mjGEOM_FLEX = 104,
-  mjGEOM_SKIN = 105,
-  mjGEOM_LABEL = 106,
-  mjGEOM_TRIANGLE = 107,
+  mjGEOM_LINEBOX = 104,
+  mjGEOM_FLEX = 105,
+  mjGEOM_SKIN = 106,
+  mjGEOM_LABEL = 107,
+  mjGEOM_TRIANGLE = 108,
   mjGEOM_NONE = 1001,
 }
 public enum mjtCamLight : int{
@@ -301,6 +302,7 @@ public enum mjtObj : int{
   mjOBJ_TUPLE = 23,
   mjOBJ_KEY = 24,
   mjOBJ_PLUGIN = 25,
+  mjNOBJECT = 26,
 }
 public enum mjtConstraint : int{
   mjCNSTR_EQUALITY = 0,
@@ -6093,6 +6095,7 @@ public unsafe struct model {
   public int nnames;
   public int npaths;
   public int nsensordata;
+  public int narena;
   public mjOption_ opt;
   public mjVisual_ vis;
   public mjStatistic_ stat;
@@ -6285,6 +6288,7 @@ public unsafe struct data {
   public int* wrap_obj;
   public double* ten_length;
   public double* wrap_xpos;
+  public double* bvh_aabb_dyn;
   public byte* bvh_active;
   public int* island_dofadr;
   public int* island_dofind;
@@ -6294,6 +6298,7 @@ public unsafe struct data {
   public double* flexvert_xpos;
   public mjContact_* contact;
   public double* efc_force;
+  public void* arena;
 }
 
 [StructLayout(LayoutKind.Sequential)]

unity/package.json

@@ -1,7 +1,7 @@
 {
   "name": "org.mujoco",
   "displayName": "MuJoCo",
-  "version": "3.0.2",
+  "version": "3.1.2",
   "description": "MuJoCo importer and runtime plug-in",
   "dependencies": {},
   "author": {